Tilting device for swiveling objects and use of the tilting device

Description

[0001] The present invention relates to a tilting device for pivoting objects about two independent axes.

[0002] Various basic principles are known from the state of the art that allow objects to be pivoted around two axes.

[0003] For example, a gimbal mount, used among other things to compensate for ship movements when mounting a marine compass, allows the compass to be tilted or pivoted around two axes. The problem here is that as the tilt increases, the plane of the compass rose dips into the plane of the outer mount. This means that only objects whose dimensions fit within the inner mount can be tilted, thus limiting its uses and applications.

[0004] Furthermore, azimuth and elevation platforms or azimuth and elevation drives, for example for light and radio telescopes, are known from the prior art. However, these have the disadvantage that very rapid azimuth movements may be required, for example, when an object being observed moves close to the zenith in a light or radio telescope. Moreover, the application of known azimuth and elevation drives is limited by the fact that the azimuth drive must be highly efficient or capable of providing high power, since the elevation drive must be moved in conjunction with the azimuth drive.Furthermore, the known technology has the disadvantage that, with unlimited swiveling around an axis (Nx360°), a complex and maintenance-intensive slip ring is required to supply system components above the azimuth drive with, for example, electrical and electrotechnical as well as data technology and also with gases and liquids.

[0005] Furthermore, devices are known from the field of photovoltaic systems and solar thermal power plants for tracking collectors and mirrors to the sun or its position. These devices typically have two orthogonal joints located at the top of a pylon or similar substructure. Particularly due to wind load, a considerable torque acts at the base of the pylon, which is why a robust foundation or base, usually in the form of a massive concrete block, is necessary. The construction and dismantling of such foundations or bases involve considerable effort and expense.

[0006] Furthermore, a hexapod device is known from CN 211 315 592 U, which compensates for vibrations and movements acting on a platform by means of electromagnetic telescopic actuators.

[0007] WO 2017 / 108997 A1 discloses a foldable platform which can be converted from a folded to an unfolded state by a rotary movement, wherein the support mechanism is designed as a linkage mechanism.

[0008] From CN 202 100 903 U a parallel kinematic system is known, which includes cable pulleys and a rod.

[0009] Based on this prior art, the present invention aims to provide a tilting device for pivoting objects about two independent axes and a use of the tilting device that overcomes the disadvantages of the prior art and in particular enables efficient, especially energy-efficient, pivoting of objects, especially energy-free maintenance of the set pivoting and tilting of objects, which in particular can project beyond the coupling without collision, preferably without significant torques in or at the base of the tilting device.

[0010] This problem is solved with a tilting device having the features of claim 1. With regard to its use, the problem is solved by the features of independent claim 14.

[0011] Advantageous embodiments are the subject of the following description, figure description, figures and dependent claims.

[0012] The tilting device according to the invention for pivoting objects about two independent axes comprises a coupler and a base, wherein the coupler and the base are connected to each other via three swing arms and wherein the connection of the base and the coupler to the swing arms is made via joints, wherein the joints for connection to the base and the joints for connection to the coupler are each arranged such that they span an equilateral triangle in a coupler plane and a base plane.

[0013] The invention recognizes that such an arrangement of base, coupling, and pivot allows objects mounted and / or attached to the coupling to pivot about two independent axes, with no or only minimal torque being transmitted to or acting on the base. Furthermore, in most positions of the coupling relative to the base, a stable position is achieved in which no energy needs to be expended or power fed into the system to maintain the position of the coupling, and consequently that of the pivoted object, relative to the base. This particularly advantageously enables the use of a highly energy-efficient and energy-saving drive concept, which will be discussed in more detail below.

[0014] In other words, the invention recognizes that objects on the coupling can be easily and effectively pivoted about two independent axes, and, after pivoting, can also be held in a final or temporary final state with particular energy efficiency if the tilting device has the design according to the invention. There is little to no restriction with regard to the shape or volume of the object to be pivoted.

[0015] According to a first, particularly advantageous embodiment of the tilting device, the equilateral triangles can be configured to have a circumcircle with identical radii. Alternatively, the radii of the circumcircles can be slightly different. Equal radii result in optimal performance of the tilting device. However, even with slightly different radii, very good performance can still be achieved for large angular ranges and different objects being tilted.

[0016] In one embodiment of the invention, the distance between joints connected by a rocker arm is 2.3 to 2.7 times, preferably 2.5 times, the radius of a circumcircle of the equilateral triangles, provided the center of gravity of the object to be pivoted lies substantially in the coupling plane. The distance between the joints is to be understood classically as the shortest connection between the joint points or the centers or centers of gravity of the joints. As will be described in more detail below, this does not necessarily mean that the rocker arms connecting the respective joints also run on or along this connecting line. The rocker arms can also be longer than the distance between the joints, resulting in a non-straight or non-linear shape.

[0017] The distance between the joints should be identical for all three swing arms and, according to the present embodiment, should be 2.3 to 2.7 times, preferably two and a half times, the radius of the circumcircle.

[0018] The invention has recognized that, with the particularly preferred ratio between joint spacing and circumradius, a situation arises in which, for a particularly large part of the positions and / or orientations of the coupling relative to the base that can be adjusted or approached with the tilting device, only a minimal change in height occurs or is caused.

[0019] This is particularly advantageous because it allows a correspondingly large number of stable end positions and / or stable end positions to be achieved, in which the system or tilting device, together with the object mounted on the coupling, can and will remain after reaching the end position without further energy input or without further force being applied.

[0020] In the context of this description, the position or orientation of the coupling is understood to be a combination of two swivel angles, representing a swivel of the coupling relative to the base about each of the independent axes.

[0021] It is particularly preferred that the first axis allows or enables the coupling to be tilted relative to the base by an angle of 0° to +90°. The second axis can enable the coupling to pivot by a swivel angle, preferably from 0° to 360°, and particularly preferably from 0° to n times 360°, thus achieving or accomplishing this endlessly or without stops. However, it should be noted at this point that for the majority of technical applications of the tilting device, significantly smaller angular ranges, especially for the tilt angle, are necessary or required.

[0022] According to the present embodiment, a tilt of up to 40° can be achieved particularly advantageously without any significant or noticeable change in height occurring for any swivel angle, thus eliminating the need for additional force or energy to fix or stabilize a corresponding end position or orientation of the coupling. Furthermore, it is advantageous that, depending on the swivel angle, a tilt of up to 90° can even be achieved without any significant change in the height of the coupling or its center of gravity.

[0023] In a further embodiment of the invention, it is also provided that the distance between joints connected to each other via a rocker arm is 2.05 to 2.3 times, preferably the 5 -times the radius of a circumcircle of the equilateral triangles, if the center of gravity of the object to be pivoted lies above the coupling plane.

[0024] For flat objects, such as photovoltaic modules, the tilting device can be designed or implemented so that the center of gravity of the object to be tilted, for example, the center of gravity of the photovoltaic module, is located essentially in or only slightly above the coupling plane. For other objects to be tilted with the device, such as simulation devices and / or amusement rides, which have a significantly greater height, it can be difficult or even very impractical to design the tilting device so that the center of gravity lies entirely in or only slightly above the coupling plane.

[0025] In these cases, where the center of gravity of the objects to be pivoted is located essentially above the coupling plane in a rational or simple construction, the ratio between the distance of the joints and the radius of the circumcircle of the equilateral triangles is suitable. 5 This is particularly advantageous because it also allows the object to be pivoted into a stable end position for tilt angles of up to 40°, regardless of the swivel angle, and for certain swivel angles, it is also possible to pivot beyond this, for example up to 70° or even up to 90° without any noticeable or significant change in the height of the center of gravity of the coupling or the system consisting of the coupling and the object to be pivoted.

[0026] In the embodiments described above, the ratios are to be based on the radius of the circumcircle of the base if the radii of the circumcircles of the equilateral triangles of the base and the coupling are not identical.

[0027] In a particularly advantageous embodiment, the joints of the base and / or the coupling can further be provided with a torsional spring. The torsional spring is matched to the mass of the respective rocker arm and maintains its center of gravity at the midpoint between the connected joints. Consequently, the common center of gravity of all three rocker arms remains at half the height of the center of gravity of the coupling. Furthermore, mounting the rocker arms by means of torsional springs reduces their unwanted or unintended contact with the base, the coupling, and each other.

[0028] In a further, particularly advantageous embodiment of the tilting device, a torsional spring of a rocker arm can comprise a torsional spring in or on a joint of the base and in or on a joint of the coupling, thus being distributed between both joints. The torsional spring makes it possible to maintain the rocker arm's center of gravity at mid-height between the joints.

[0029] According to a particularly preferred embodiment of the tilting device, the rocker arms can also be provided with a curvature and a greater length than the distance between joints connected by a rocker arm. As previously indicated, rocker arms that do not connect the joints in a straight line along the shortest path or along the distance can be particularly advantageous for increasing the freedom of movement of the tilting device, especially the angular ranges of the two independent axes, or at least not restricting them. This restriction can occur if the rocker arms collide within a certain angular range of the axes. Accordingly, simply curved rocker arms can be used, which avoid collisions between the rocker arms and still allow, if possible, a tilt of up to 90° and pivoting through n times 360°.

[0030] Alternatively, the rocker arms can be designed as rods interrupted by a ring, with the rings of the different rocker arms preferably having different sizes, particularly different radii. This embodiment also serves essentially to prevent collisions between the rocker arms and thus to increase or maintain the freedom of movement of the tilting device, especially with regard to the achievable position and / or orientation of the coupling relative to the base. The center of gravity of these rocker arms lies centrally between the connected joints, so that the torsional suspension described above is not required.

[0031] Another particularly advantageous embodiment of the wing arms can provide that the wing arms are designed as rings comprising a narrow and a wide arc, with the joints arranged at the transitions between the arcs. This curved shape of the wing arms also enables the advantageous ratios described above between the distance of the joints and the largest possible angular ranges for inclination and pivoting of the coupling relative to the base, without the wing arms colliding.

[0032] Furthermore, it can be advantageously provided that the tilting device comprises two independent, preferably identical, drives, wherein a first drive causes a movement of the coupling about a first independent axis and the second drive causes a movement of the coupling about a second independent axis. Particularly preferably, a first drive causes the coupling to tilt by a certain angle and the second drive causes the coupling to pivot by a certain angle. The independent drives ensure simple and reliable control of the coupling with respect to its movement about the two independent axes. The advantageous implementation using identical drives also simplifies the design and construction of the tilting device.

[0033] In this context, it should be clarified that two independent drives are not necessarily synonymous with, or should be understood as, two independent and separately implemented drive trains or transmission paths. Rather, in a particularly advantageous embodiment of the invention, it may be provided that the two independent drives transmit their drive energy to or couple it into a common drive train, in particular a gear arrangement, which then accomplishes both the movement of the coupling with respect to the first independent axis and the movement of the coupling relative to the base with respect to the second independent axis.

[0034] According to a further advantageous embodiment, the drives can be designed as self-locking drives. Particularly preferably, or alternatively, a drive train for transmitting the drive energy from the drive to the coupling can be designed to be self-locking. The design of the drives and / or the drive train(s) has the advantage that, in conjunction with unavoidable friction, it ensures that the coupling remains in a sufficiently large angular range along the first and second axes after assuming a certain position and / or orientation, without requiring any additional energy or force. This significantly increases the angular range or ranges in which the tilting device can be operated with particular energy efficiency and practicality.

[0035] Furthermore, a torsion lock can particularly preferably be provided, connecting the centers of the coupling and the base by means of a hinge, which prevents the coupling from twisting relative to the base. The torsion lock prevents unwanted movements of the coupling relative to the base and limits the possible movements to the intended movement about the two independent axes, in particular to pivoting and tilting the center of gravity of the coupling. If the torsion lock is arranged between the circumcenters of the base and the coupling, it can also be ensured that there is no collision or risk of collision with the swing arms.In other words, this means that with a torsion lock guided through the circumcenters, a correspondingly large range of tilt and pivot angles can be maintained by the previously described design options for the swing arms, without a collision occurring between the torsion lock and the swing arms.

[0036] According to a further, particularly advantageous embodiment, it can also be provided that the torsion lock simultaneously forms part of a drive train of the tilting device, with which the drive energy of the first and / or second drive is transferred to the coupling.

[0037] According to another particularly desirable embodiment of the tilting device, the coupling can be provided with receiving and / or fastening devices for interchangeable and / or movable trim weights. The shape and mass distribution of the object to be pivoted, as well as other masses, such as the masses of the swing arms, the torsion lock, and other device components, can ensure that the center of gravity of the coupling, or the center of gravity of the coupling and the object to be pivoted mounted on it, is located neither at nor above the circumcenter of the coupling's joints.In this case, the present embodiment, in which receiving and / or fastening devices for interchangeable and / or movable trim weights are provided as part of the coupling, allows the change of the center of gravity relative to a perpendicular on the coupling plane through the circumcenter of the joints of the coupling plane to be achieved by removing, adding, and / or moving trim weights. Thus, the tilting device can be balanced or calibrated particularly easily and effectively.

[0038] The aforementioned problem is also solved by using a tilting device according to one of the preceding embodiments, which is used to pivot objects arranged close to the coupling, preferably photovoltaic modules, solar collectors, mirrors or flat antennas, or as a replacement for a hexapod (Stewart Platform), preferably for simulation devices and / or rides, or as a base for a piece of seating furniture, preferably a chair or stool, in which the seat is arranged in or on the coupling plane.

[0039] In principle, numerous other uses are possible. Limitations arise less from the object to be swiveled than from manufacturing processes and material parameters. The use of the tilting device according to the invention for aligning a mirror field in a headlight is just as conceivable as swiveling a radio telescope the size of a football field.

[0040] All these applications or uses of the tilting device are particularly advantageous because they enable a particularly effective and efficient tilting and pivoting of the coupling relative to the base over wide ranges, without any noticeable change in height occurring in any end position, and / or without requiring any energy input to maintain the position in the end position, and / or without significant torques having to act on or be dissipated at the base.

[0041] The invention will now be explained using purely schematic example illustrations showing exemplary embodiments. These illustrations show: Fig. 1: a schematic representation of the basic principle of the tilting device according to the invention; Fig. 2: a schematic representation of a first embodiment of the tilting device according to the invention; Fig. 3: a two-dimensional representation of the device shown in theFig. 2 Figure 4: a schematic representation of a tilting device according to a second embodiment of the invention; Figure 5: a two-dimensional representation of the position and height profile of the coupling shown in the Fig. 4 Figure 6: depicts the position and height profile of the center of gravity of the object to be pivoted; Figure 6: an exemplary embodiment of the tilting device according to a third embodiment; Figure 7: a side view of the embodiment of the Fig. 6 ; Fig. 8: a side view of a second embodiment with an exemplary configuration of the swing arms as rod-ring swing arms; Fig. 9: a side view of a third embodiment with an exemplary configuration of the swing arms comprising a narrow and a wide arc.

[0042] Fig. 1 Figure 1 shows a schematic representation of the tilting device 01 according to the invention. For better illustration, the tilting device 01 is shown in a perspective view in a three-dimensional Cartesian coordinate system. Tilt or tilt angle is to be understood as an inclination relative to the z-axis of the coordinate system. Swiveling is to be understood as a rotation in the xy-plane of the coordinate system. Accordingly, the tilt angle θ and the swivel angle φ are defined.

[0043] The tilting device 01 comprises a base 02 with a base plane in the XY plane of the coordinate system. The base has base hinges 05 (not shown in detail) at three vertices 03 of an equilateral triangle 04. The vertices 03 and the hinges 05 are located in the coordinate system of Fig. 1 The system is arranged such that the circumcircle 06 around the equilateral triangle 04 passes through the origin of the coordinate system. From the three vertices 03 and the joints 05 located there, three arms 07 extend from the base 02 to a coupling 08. The coupling 08 comprises three coupling joints 09, which are connected to the arms 07. The coupling joints, or their midpoints or centers of mass, form a coupling plane 10. The joints 09 of the coupling 08 also form the vertices 03 of an equilateral triangle 11. The circumcenter is shown in the diagram. Fig. 1 , in which coupling 08 is actually restricted to the equilateral triangle 11, by the centroid 12 of coupling 08. As in the Fig. 1 As already indicated, the swing arms 07 can be bent or curved.

[0044] The distance between the joints 05, 09, each connected to the other via a rocker arm 07, exhibits a constant, straight, shortest distance I away from or outside the rocker arms 07, which will subsequently also be referred to as the joint distance I. As will be shown in detail below, depending on the application or the object to be pivoted, which is shown in the illustration of the Fig. 1 Since the coupling 08 essentially consists of itself, a different ratio of joint distance I to circumradius r is provided. With respect to the circumradius r, the equilateral triangles 04 and 11 should preferably, but not necessarily, be designed such that an identical circumcircle 06 or an identical circumradius r is achieved. In other words, this means that the side lengths of the equilateral triangles 04 and 11 are identical.

[0045] The Fig. 2 shows a modified representation of the Fig. 1 The essential addition of Fig. 2 opposite Fig. 1 is a representation of the curved surface 13 in which the center of gravity 12 of the coupling 08 moves when the coupling 08 is tilted by an angle of inclination θ between 0° and 90° or pivoted by any swivel angle φ. The in the Fig. 2 The solid lines depicted on the curved surface 13, on which the center of gravity 12 of the coupling 08 moves, represent areas with the same inclination angle θ (closed contours) or lines with an identical swivel angle φ (radial lines). It is already apparent that a significant or noticeable vertical displacement of the center of gravity 12 of the coupling 08 occurs only in three boundary regions of the curved surface 13. However, this only occurs at large inclination angles θ, as can be seen from the closed contours of the curved surface 13.

[0046] It is already apparent from this that for a tilting range and a swiveling range, which is essential or significant for almost all technical applications, in the embodiment of the Fig. 2 , where the ratio of the distance I of the joints 05, 09, which are connected to each other via a rocker arm 07, is 2.5 times the circumradius r, a tilting and pivoting of the coupling 08 is possible, in which the height of the center of gravity 12 of the coupling 08 remains approximately unchanged. For a better illustration of this, reference is made to the following Fig. 3 and reference is made to the following Table 1, in which, based on the values ​​of the circumradius r = 2 and the distance of the joints I = 5, the change in height of the center of gravity 12 of the coupling 08 is shown and illustrated as a function of the inclination angle θ and as a function of the swivel angle φ.

[0047] In the Fig. 3 A projection of the curved surface 13 into a two-dimensional coordinate system has been performed, whereby the height of the centroid 12 of coupling 08 is illustrated by corresponding contour lines and elevation contours. Solid lines represent points with the same inclination. Dashed lines represent areas with the same swivel angle. The dash-dotted lines represent the actual contour lines or limit values ​​of the height of the centroid 12 of the coupling. The corresponding elevation values ​​are also shown as examples in Table 1. Since the areas where the centroid 12 of coupling 08 is located are trisymmetric, only the swivel angle φ from 0° to 60° is considered, as the values ​​repeat themselves for corresponding further swivel angles φ according to the symmetry.

[0048] The chosen numerical example clearly shows that a noticeable change in the height of the center of gravity 12 of the coupling 08 only occurs for tilt angles θ above 40° within certain ranges of the swivel angle φ. However, a tilt of 40° is perfectly adequate for the vast majority of technical applications of the tilting device according to the invention. For objects whose center of gravity 12 lies in the coupling plane or slightly below or above it, and whose centers of gravity can be moved or shifted into or slightly above the center of gravity 12 of the coupling 08, either fundamentally or by means of appropriate trim weights—that is, particularly flat objects—the chosen ratio of 2.5 between the circumradius r and the joint spacing I allows for a particularly advantageous, energy-efficient, and robust tilting and swiveling within the horizontal surface 24. Fig. 3 This is achieved in conjunction with the unavoidable internal friction of the tilting device 01. By means of a self-locking drive or drives, the range in which a stable end position is reached after tilting and pivoting can be extended to the entire area represented by the curved surface 13.

[0049] The Fig. 4 und 5 Table 2 below shows a modified example of the tilting device 01 according to the invention, in which the center of gravity 22 of the object 21 to be pivoted is not arranged within the coupling plane 10, but is centered on a perpendicular line through the center of gravity 12 of the coupling plane 10 above the coupling plane 10. In the example of the Fig. 4 The object 21 to be pivoted is designed as a cube. For this embodiment, a distance I between the joints 09, 05 is particularly advantageous, where the distance I between the joints 09, 05 5 -times the radius r of the circumcircle of the equilateral triangles 04, 11 through the vertices 3 or through the joints 05, 09.

[0050] Also in the Fig. 4 A curved surface 13 is already drawn, illustrating the movement of the center of gravity 22 of the object 21 to be swiveled on the coupling 08 or above the coupling plane 10. Closed contours again correspond to positions with identical inclination angle θ. Radially extending lines or rays correspond to positions with identical swivel angle φ. This is also shown in the perspective view of the Fig. 4 It is already apparent that the curved surface 13 experiences a minimal or negligible change in height over large areas of the tilt angle θ and over equally large areas of the swivel angle φ, which is significant both for the stability of the end position of the coupling 08 and the object 21 to be swivelled on it, and for the energy-efficient tilting and swivelling of the object 21 to be swivelled.

[0051] In analogous representation to Fig. 3 and analogous to the Table 1 shown above, the following is presented in the Fig. 5 and Table 2, also reproduced below, again illustrates the change in the center of gravity 22 of the object 21 to be pivoted, in particular the change in height of the center of gravity 22 of the object 21 to be pivoted as a function of the pivot angle φ and the tilt angle θ. Here, too, it is evident that for each combination of tilt angle and pivot angle, in conjunction with the unavoidable internal friction of the tilting device 01 within the horizontal surface (24), only an extremely small and therefore negligible vertical displacement or change in the center of gravity 22 of the object 21 to be pivoted occurs.

[0052] It follows that the previously described ratio of distance I of joints 05, 09 to radius r of circumcircle 06 of 5 This method is particularly well suited for pivoting objects whose center of gravity 22 is located above the coupling plane 10 and above the center of gravity 12 of the coupling plane 10. As mentioned at the beginning, the centers of gravity 12 and 22 of the coupling plane 10 and of the object 21 to be pivoted, respectively, are arranged one above the other with respect to the coupling plane 10, or rather, both lie on a perpendicular line through the coupling plane 10. For objects that deviate from the very theoretical example of Fig. 4 Since the center of gravity 22 of the object 21 to be pivoted cannot be arranged so centrally, trim weights can be used to ensure that it is positioned as ideally as possible. Fig. 4 This can be achieved by trim weights arranged on or attached to the coupling 08. Preferably, the coupling 08 can have receiving and / or fastening devices for interchangeable and / or movable trim weights.

[0053] The Fig. 6 Figure 1 shows a more concrete realization of the tilting device 01 according to the invention in an exemplary embodiment, including a drive for tilting and pivoting the coupling 08. In addition to the base 02 and the coupling 08, the tilting device 01 comprises three rocker arms 07, which connect the joints 05 and 09. Torsion springs 20 are arranged at each of the joints 05 and 09, which hold the center of gravity of the rocker arms 07 at mid-height between the joints 05 and 09 during tilting and pivoting.

[0054] Furthermore, a torsion lock 19 extends through the center of gravity 32 of the base 02 and through the center of gravity 12 of the coupling 08. The torsion lock 19 rigidly connects the coupling 08 to the base 02. The joints 18 for mounting the torsion lock 19 on or in the base 02 and the coupling 08 are designed as cardan joints. This is particularly advantageous if the tilting device 01 is a driven mechanism or a driven device. Alternatively, a double-shaft joint with a sliding sleeve according to DIN 808 can be used, the two outer clevises of which are part of the coupling 08 and / or part of the base 02, and whose joints 18 are positioned accordingly at the centers of gravity 12 and 32 of the base 02 and the coupling 08.

[0055] In the example of the Fig. 6 Below the base 02, a drive unit 17 and parts of a drive train 16 are arranged. In the example shown, the torsional lock 19 is also designed to transmit drive energy for tilting and pivoting the coupling 08 and thus serves not only for a torsionally rigid coupling between base 02 and coupling 08, but also for tilting and pivoting the coupling 08 relative to the base 02.

[0056] Details of the drive unit 17 and further details of the tilting device 01 are given with reference to Fig. 7 explained.

[0057] The Fig. 7 shows a side view of the embodiment of the Fig. 6 The illustration shows a model of the tilting device 01 according to the invention with two manually operated drives 15, 14. In an alternative, larger-scale embodiment, an electric motor or another suitable drive could, of course, also be used. The drives 14, 15 are preferably identical. The drive train 16 is designed according to the principle of a Hoecken mechanism. The Hoecken mechanism consists of a connecting rod 41, which is connected to the crankshaft 44 via the pivot joint 43. The axis of the vertical shaft 42 is arranged centrally in the extension of the joint 18.

[0058] The axis of the crankshaft bearing 45 is perpendicular to the axis of the vertical shaft 42. In the illustrated embodiment, the lower joint 18 is a sliding pivot joint. Actuating the crankshaft 44, starting from its lowest point, causes the connecting rod 41 to tilt and rise. Rotating the tilting mechanism about the vertical shaft 42 causes the connecting rod head to rotate. The tilting mechanism, and consequently the tilting device 01, is in its home position when the pivot joint 43 is at bottom dead center.In order to adapt the illustrated exemplary Hoecken mechanism as drive train 16 to the advantageous ratio of the side length of the equilateral triangles 04, 11 and / or their circumradius r and the distance I of the joints 05, 09, the following are essentially required: the crank radius of the crankshaft 44, the vertical distance between the center of the joint 18 and the axis of the crankshaft bearing 45, the length of the connecting rod 41 between the center of the upper joint 18 and the axis of the pivot joint 43, and the required horizontal displacement of the center of the upper joint 18, which can be derived from the required inclination according to the preceding figures.

[0059] By appropriate adjustment, the Hoecken mechanism used as drive train 16 can be designed such that the upper end of the connecting rod 41 or the connecting rod head performs a linear movement while the crank is moved between -90° and +90°. In the example of the Fig. 6 and 7The base of the Hoecken mechanism is manually rotated using the hand crank via a chain drive (not shown for clarity), causing the crankshaft bearing 45 to rotate around the vertical shaft 42. This setup allows a swivel angle φ of n times 360°. Similarly, the vertical shaft 42 is manually driven using the hand crank via the chain drive (not shown). This drives the crown gear 51, which moves the pivot joint via the crankshaft 44. The movement of the crankshaft 44 is limited by stops at the base of the Hoecken mechanism, so that the pivot joint 43 can only move a maximum of ±90° from bottom dead center. The connecting rod 41 tilts with the pivot joint 43, which in turn tilts the coupling 08 via the lower joint 18. The dotted circle 23 in Fig. 3 encompasses the area of ​​the one associated with the Fig. 6 and Fig. 7 The model shown has an adjustable tilt angle Θ and swivel angle φ of the coupling 08.

[0060] The Fig. 8 shows an alternative embodiment of the tilting device 01 from Fig. 6 The essential difference to the design of the Fig. 6 The design of the swing arms 07 consists of the rod-ring swing arms. In this case, this means that all the swing arms 07 are designed as rods 26 interrupted by a ring 25, with the rings 25 of the swing arms 07 having different sizes, in particular radii. This effectively prevents collisions between the swing arms 07 without restricting the coupling's range of motion. It can be seen that for the swing arm 07 with the largest ring 25, the rod on both sides is reduced to a common connection area with the joints 05 and 09, and thus, apart from the connection area to the joints 05 and 09, could also be considered a pure ring swing arm.

[0061] The Fig. 9 shows an alternative embodiment of the tilting device 01. The essential difference to the variants of the Fig. 6 and Fig. 8 This again consists in the design of the swing arms 07, which are formed as rings 27 comprising a narrow arc 28 and a wide arc 29, with the joints 05, 09 being arranged at the transitions of the arcs 28, 29. As already mentioned above with reference to the Fig. 8 As indicated, mixed forms of different swing arms 07 may also be provided, in which, for example, non-linear rod swing arms are combined with rod-ring swing arms and / or ring swing arms.

[0062] A motor-driven drive of the base of the Hoecken mechanism and the crankshaft 44 eliminates the need for the gearboxes shown in the model. Reference sign

[0063] 01 Tilting device 02 Base 03 Vertices 04 Equilateral triangle in the base 05 Base joints 06 Circumference 07 Swings 08 Coupling 09 Coupling joints 10 Coupling plane 11 Equilateral triangle in the coupling 12 Center of gravity of the coupling 13 Curved surface 14 Drives tilt angle 15 Drives swivel angle 16 Drive train 17 Drive unit 18 Joints of the torsion lock 19 Torsion lock 20 Torsion springs 21 Object to be swiveled 22 Center of gravity of the object to be swiveled 23 Dotted circle 24 Horizontal surface (= Part of the curved surface) 25 Ring 26 Rod 27 Ring 28 Tight arc 29 Wide arc 32 Center of circumference 41 Connecting rod 42 Vertical shaft 43 Swivel joint 44 Crankshaft 45 Crankshaft bearing 51 Crown gear

Claims

1. A tilting device (01) configured for pivoting objects about two independent axes and having a couple (08) and a base (02), the couple (08) and the base (02) being connected to each other via three rockers (07), and the base (02) and the couple (08) being connected to the rockers (07) via joints (05, 09) and the joints (05) for being connected to the base (02) and the joints (09) for being connected to the couple (08) each being disposed in such a manner that they span an equilateral triangle (04, 11) in a couple plane (10) and a base plane, characterized in that the distance of joints (05, 09) connected to each other via a rocker (07) is 2.3 to 2.7 times, preferably 2.5 times, the radius of a circumference (06) of the equilateral triangles (04, 11) when the center of gravity (22) of the object (21) to be pivoted is mostly in the couple plane (10) or the distance of joints (05, 09) connected to each other via a rocker (07) is 2.05 to 2.3 times, preferably √5 times, the radius of a circumference (06) of the equilateral triangles (04, 11) when the center of gravity (22) of the object (21) to be pivoted is above the couple plane (10).

2. The tilting device according to claim 1, characterized in that the equilateral triangles (04, 11) have a circumference (06) with an identical radius.

3. The tilting device according to any one of the claims 1 or 2, characterized in that the joints (05, 09) of the base (02) and / or the couple (08) comprise a torsion spring (20).

4. The tilting device according to any one of the claims 1 to 3, characterized in that the rockers (07) have a curvature and a longer length than the distance of joints (05, 09) connected to each other via a rocker (07).

5. The tilting device according to any one of the claims 1 to 4, characterized in that the rockers (07) are formed as rods (26) interrupted by a ring (25), the rings (25) of the rockers (07) preferably having different sizes, in particular radii.

6. The tilting device according to any one of the claims 1 to 5, characterized in that the rockers (07) are designed as rings (27) which comprise a tight arc (28) and a wide arc (29), the joints (05, 09) being disposed at the transitions to the arcs (28, 29).

7. The tilting device according to any one of the claims 1 to 6, characterized by two independent, preferably identical, drive mechanisms (14, 15), a first drive mechanism (14) tilting the couple (08) by an inclination angle θ and the second drive mechanism (15) pivoting the couple (08) by a pivoting degree φ.

8. The tilting device according to claim 7, characterized in that the drive mechanisms (14, 15) are designed as self-locking drive mechanisms (14, 15).

9. The tilting device according to any one of the claims 1 to 8, characterized by a torsional lock (19) which articulately joins the centers of gravity (12) and (32) of the couple (08) and the base (02) and prevents the couple (08) from pivoting in relation to the base (02).

10. The tilting device according to claim 9, characterized in that the torsional lock (19) transfers the drive energy of both drive mechanisms (14, 15) to the couple (08).

11. The tilting device according to any one of the claims 1 to 10, characterized in that the couple (08) has receiving and / or fastening devices for exchangeable and / or movable trim weights.

12. A usage of a tilting device according to any one of the claims 1 to 11, for pivoting objects disposed close to the couple (08), the objects preferably being photovoltaic modules, solar panels, mirrors or flat antennas, or as a substitute of a hexapod (Stewart platform), preferably for simulation devices and / or carnival rides or as a substructure for a seat, preferably a chair or stool, whose seat is disposed on the couple plane (10).