POSITIONING DEVICE

Description

[0001] The invention relates to a device for positioning, moving, lifting, lowering and / or locking a load, comprising a drive device for performing an oscillating movement along a first direction of movement and along a second opposite direction of movement, an output device for positioning the load along a first positioning direction and along a second positioning direction, a toggle lever mechanism, driven by the drive device, with a first toggle lever pair for transmitting a force for a relative movement between the drive device and the output device, wherein the toggle lever pair comprises a first toggle lever arrangement and a second toggle lever arrangement.

[0002] A linear drive or linear drive system is generally referred to as any drive system that results in translational movement. Linear drives enable the movement of machine elements and system components in a straight line or other specified path. Linear drives can be classified according to various criteria: Type of kinetic energy introduced: mechanical, electrical, pneumatic or hydraulic Means of motion transmission: spindle, piston, toothed belt / chain, magnet Type of positioning: time-controlled energy supply, fixed stop (or stops for multiple positions), electrical impulses (stepper motor), servo technology (servo motors, servo valve technology for pneumatics and hydraulics).

[0003] Linear drives are characterized by high dynamics, good positioning accuracy, high force application and a good availability of technically sophisticated solutions on the market.

[0004] However, conventional linear drives also have various disadvantages. In order to maintain the position, a constant energy supply must generally be maintained in the drive system, or additional components (brakes) are required. If high positioning and repeatability are required, linear drive systems are often expensive to purchase. Additional expensive gears are required to amplify the force. Complex control via controllers / PLCs is often necessary. In some cases, a large amount of space is required in relation to the energy input. Finally, scalability, i.e., extending the strokes or increasing the force, is only possible to a limited extent.

[0005] DE 23 58 680 A1 describes a stepper motor in which discrete positions are controlled by toothed disks to generate a rotary motion. An essential component of the stepper motor is four toggle levers, two of which are assigned to each pair of toothed disks. Two toggle levers move the device in a first direction, and two further toggle levers move the device in the opposite direction.

[0006] US 229 727 A relates to a device designed for lifting loads. A lever is moved up and down by means of a handle. Pawls are pivotally mounted at the ends of the lever. By moving the lever up and down, the ends of the pawls alternately engage with racks arranged on either side of a hollow column. The lever is also centrally connected to a vertical working strut, which is mounted in the hollow column. The load, which can be positioned at the head of the working strut, is lifted together with the lever, with the toggle levers alternately engaging with a column.

[0007] US 2,498,422 A relates to a lowering and securing device on car lifts, specifically two different toggle lever assemblies with different functions. An upper toggle lever assembly is designed for the controlled lowering of loads. The fingers of the toggle levers are alternately brought into engagement with the centrally arranged racks by a swinging pendulum. A lower toggle lever assembly is brought into engagement with the rack by a spring mechanism only if the upper toggle lever assembly fails.

[0008] It is the object of the present invention to eliminate the disadvantages of the prior art and to provide a simplified and easily scalable positioning device with which a load can be moved to any position and held there with little energy expenditure.

[0009] The object is achieved by the positioning device according to claim 1. Advantageous embodiments of the invention emerge from the subclaims.

[0010] A positioning device according to the invention of the type described above is characterized in that the first toggle lever arrangement and the second toggle lever arrangement are connected to the drive device and are further alternately connected or connectable to the output device in a force-transmitting manner.

[0011] To achieve the stated inventive task, the principle of the toggle lever is used. Two toggle lever arms form a toggle lever arrangement. Two toggle lever assemblies that are alternately connected to transmit force or driven in opposite directions form a toggle lever pair. One or more toggle lever pairs form the toggle lever mechanism of the positioning device. Positioning in the sense of the claimed device is understood to mean any driving, moving, lifting, lowering, or locking of a load or other resistance. The load can be placed on either the drive device or the output device. The positioning devices can be designed for both linear and rotary positioning movements. The positioning direction for linear movements can be horizontal, vertical, or in any orientation in between. This means that a central axis of the positioning device can run in any spatial direction.Two counter-rotating toggle lever assemblies of a toggle lever pair are alternately connected, temporarily transmitting force, to a counterpart of an output device, thus creating a continuous relative movement between the drive device and the output device. The toggle lever assemblies are connected to a drive device, in particular one or more push rods of a lifting device, via spreading levers or other coupling elements. This means that when the drive device oscillates and is limited by stops, one toggle lever assembly is simultaneously spread and the other is contracted. By interrupting the oscillating movement driving the toggle levers, the position is maintained even when an external load is applied. The drive requires an oscillating movement, with the number of pulses being directly proportional to the traveled drive path.The oscillating movement can be generated by mechanical, electromagnetic, pneumatic or hydraulic force.

[0012] By using counter-rotating toggle lever arrangements, the load can be moved to any desired position with high force amplification. Due to their geometric properties, toggle levers are capable of amplifying forces and holding them self-locking in the extended state. Expensive gears for force amplification and energy input to maintain the desired position can be eliminated. The device is easily scalable by using appropriately dimensioned toggle lever arrangements. The positioning device can be implemented in a smaller space requirement than conventional positioning devices. Control is simplified because driving the toggle levers essentially requires oscillating movements along two opposite directions of movement. Complex control via controllers or PLCs can be eliminated.

[0013] In a preferred embodiment of the invention, for positioning the load along the first positioning direction, alternately In a first positioning step, two toggle lever arms of the first toggle lever arrangement of the toggle lever pair can be transferred from a contracted position to a spread position for power transmission and two toggle lever arms of the second toggle lever arrangement can be transferred from a spread position to a contracted position and in a second positioning step directly or indirectly following the first positioning step, the two toggle lever arms of the first toggle lever arrangement can be transferred from the spread position to a contracted position and the two toggle lever arms of the second toggle lever arrangement can be transferred from the contracted position to a spread position for power transmission.

[0014] By changing the direction of movement of the drive device, a continuous movement of the toggle lever assemblies is created in pressure mode and a releasable force transmission, in particular a frictional connection, of the toggle lever assemblies with the output device is mutually generated. By moving a toggle lever assembly from the contracted position to the spread position, the drive force of the drive device is transferred to the output device and a relative movement is generated between the drive device and the output device. By moving a toggle lever assembly from the spread position to the contracted position, the toggle lever assembly of the toggle lever pair performs a rebound movement in order to be available again for additional relative movement in a subsequent positioning step.By using two pairs of opposing toggle lever arrangements driven in opposite directions by a common drive mechanism, linear positioning movements of a load can be achieved over a longer distance than with a single toggle lever spread. By appropriately dimensioning the drive and output mechanisms, the positioning device can be scaled as required.

[0015] A particularly good utilization of the drive energy used can be achieved if the toggle lever arrangements can each be transferred from the contracted position into the spread position by means of a spreading lever and the respective spreading lever in the spread position of the toggle lever arrangement encloses a spreading lever angle between 87° and 93°, preferably 90°, with a central axis or a line parallel to the central axis of the positioning device.

[0016] Particularly in linear devices, a central axis of the positioning device coincides with the direction of movement of the oscillation movement and / or the positioning direction. Before spreading the toggle lever arrangement, the respective spreading lever forms an acute spreading lever angle, e.g., 60°, with the central axis or a line parallel to the central axis of the positioning device. By using a spreading lever, the spreading movement of the toggle lever arrangement is thus also driven by a toggle lever mechanism. This results in a particularly effective force amplification from the drive device to the toggle lever arrangement and thus to the output device. In this way, the force applied to the drive device can be amplified many times over, e.g., 5-30 times or 15-30 times. A positioning movement along a smaller positioning interval allows for a particularly high force amplification with the same toggle lever arrangement.If, in a defined relative position, the spreader lever assumes an angle of approximately 90° with the central axis, self-locking occurs. In mechanics, self-locking generally describes the friction-induced resistance to slipping or twisting of two adjacent bodies. With a spreader lever angle between 87° and 93°, the spreader lever self-locks at the spreader lever connection joint. Without further oscillation and thus actuation of the spreader lever, this self-locking takes effect, minimizing the energy required to maintain a desired position.

[0017] In a design particularly suitable for linear drives, the drive device has one or more oscillating or oscillatable push rod(s) and / or a drive tube and / or drive housing and / or drive frame.

[0018] Oscillation is the movement of the push rod along the first and second directions of movement. By using counter-rotating toggle levers, the movement of the push rod in both directions of movement can be used to transmit power from the drive unit to the output device, enabling a particularly smooth positioning movement. Sliding, rolling, hydrostatic, or hydrodynamic guides can be used as guides between the drive device and output device. Particularly when multiple push rods are used, these are connected to a lifting plate, which also performs the drive movement along the directions of movement. The push rods connected to the lifting plate can thus oscillate synchronously and ensure the synchronous movement of the toggle assemblies, where necessary.

[0019] For particularly good repeatability and easy scalability, the output device has an engagement rod, in particular a rack, for engagement with a toggle lever arm for transmitting a force from the toggle lever mechanism to the engagement rod for each toggle lever arrangement.

[0020] For a positioning step using a rack as the engagement rod, the following possible sequence results. A toggle lever arm engages with an engagement element in a tooth gap between two teeth of the rack. When the first toggle lever arrangement is spread, the engagement element presses in the axial direction along the positioning direction and creates an axially compensating relative movement between the rack and toggle lever. This can, for example, move the output device firmly connected to the rack in the positioning direction. The engagement element of the toggle lever arm of the second, oppositely driven toggle lever arrangement of the same toggle lever pair is simultaneously contracted and thereby performs a reciprocating movement along the rack.During this rebound movement, the engagement element of the second toggle lever assembly jumps over one or more teeth of the gearing into the next tooth gap, depending on the desired force amplification in the subsequent positioning step. In the subsequent positioning step, the engagement element of the second toggle lever assembly remains engaged with the rack, while the engagement element of the first toggle lever assembly changes the tooth gap relative to the push rod. This means that the second toggle lever assembly takes over the further propulsion of the output unit, alternating with the first toggle lever assembly. If the positioning device uses a rotary drive rather than a linear drive, the output device can also use gears instead of racks.

[0021] In particular, the load is arranged at one end or end face of the one or more engagement rods such that a movement of the engagement rod(s) along a positioning direction results in a corresponding movement of the load.

[0022] In a first possible arrangement, the engagement rods are arranged in the region of the central axis. In this arrangement, one push rod generally oscillates per engagement rod, with this push rod being arranged radially at a distance from the central axis or the engagement rod (see Fig. Fig.15 ). These push rods can then be operated together via a common lifting plate.

[0023] In another possible arrangement, the engagement rod(s) are arranged at a distance, particularly at a distance in the radial direction, from the central axis. Preferably, the engagement rods run parallel to the central axis. In this case, an oscillating push rod arranged in the region of the central axis may be sufficient (see, for example, Fig.12 ) to drive the knee lifting mechanism.

[0024] Preferably, the positioning device comprises a base with a socket and a housing or frame surrounding the socket, wherein the housing surrounds the drive device, the output device and the toggle mechanism.

[0025] The housing and base can be arranged and designed to be stationary and surround the drive and output devices in a shielding manner from the environment, while the drive and output devices perform the corresponding relative movement along the direction of the central axis to position the load.

[0026] The load to be positioned can be coupled to the housing, the base, or a rack. Positioning is achieved by a relative displacement between the base and the housing, or between the base and the rack, and / or between the housing and the rack. The toggle lever assemblies can be arranged within a housing, with the housing having a round, square, or other cross-section perpendicular to the central axis. The load can be arranged at one end of one or more racks, so that movement of the rack results in movement of the load.

[0027] In a design that is particularly simple to implement, the base and the housing can be moved relative to each other by means of the toggle lever mechanism, with the drive device being assigned to the base and the output device to the housing.

[0028] The racks are then arranged around the central axis of the positioning device at equal radial spacing. The push rod of the drive mechanism lies on the central axis of the housing or the positioning device. The racks can be rigidly connected to the housing or designed to be movable relative to it.

[0029] In a design that is particularly simple to implement, the base and the housing can be moved relative to each other by means of the toggle lever mechanism, with the drive device being assigned to the housing and the output device to the base.

[0030] Alternatively, the toggle lever assemblies are attached to or near the housing or frame. The housing is then assigned to the drive device. The toggle levers are driven by push rods arranged around the toggle levers, each assigned to a toggle lever assembly or a spreading lever. These can be guided in the housing. The axial reaction forces caused by the spreading movement of the toggle lever assembly can be absorbed radially via the housing. The push rods are driven by a central lifting plate connected to all push rods. Alternatively, the toggle levers are driven by a drive tube arranged externally around the toggle levers in the form of a housing with a round or square cross-section.In both cases, the output device could be implemented with one rack per toggle lever arrangement, with the racks arranged along or around the central axis and their profiles directed radially outward toward the toggle lever arrangements. Thus, the drive device does not have to be fixedly connected to a base; the counterpart or output device can also be fixed, while the drive device moves to position the load.

[0031] If a load, e.g. caused by a spring or a weight, can provide the necessary driving force for a movement in the second positioning direction, a particularly simple design results in that, in order to position the load in the second positioning direction, the toggle lever pair changes from a pressure mode to a relief mode. For the relief mode, a return mechanism is provided which alternately separates the first toggle lever arrangement and the second toggle lever arrangement of the toggle lever pair from the output device. For the second positioning direction opposite to the first positioning direction, it is assumed that the force of the load acts in the direction of the second positioning direction. Such a design is particularly useful for lifting devices in which positioning involves lifting, while no drive supply is required for lowering.In load release mode, the toggle lever assemblies do not have a pushing function (push mode), but rather a relieving or controlled yielding function (release mode). To prevent jamming or unintentional self-locking of the opposing toggle levers, one toggle lever assembly of the toggle lever pair must always be separated from the output device, in particular from the gear rack of the output device. During this time, the other toggle lever assembly engages with the output device and releases in the direction of the force generated by the load. For this purpose, an additional reset lever is provided for each toggle lever assembly, which separates the engaged toggle lever arms from the output device via a driver tab, e.g., by pulling them out of the gear rack.This allows the toggle lever assemblies to be alternately moved from the contracted position to the spread position without any force being transferred between the separated toggle lever assembly and the output device. When the toggle lever assembly is in the spread position, the engagement element re-engages with the output device and the possibility of force transmission between the toggle lever arm and counterpart is restored. The transfer of the toggle lever assembly from the spread position to the contracted position occurs under the influence of the load in the direction of force with a corresponding oscillating movement of the push rod. Whether the positioning device operates in relief mode, i.e. whether the rocker arm alternately separates toggle lever arms from the output device, can be achieved by pulling a stop bolt. For example.By pulling a stop pin, the amplitude of the oscillating push rod is increased so that an additional overstroke along the central axis of the positioning device can trigger the rocker arm. A ball detent prevents the rocker arm from prematurely returning to its original position. This ensures that the toggle lever cannot engage the gearing while the device is being spread into the spread position. The rocker arm is then pivoted back to its original position, releasing the toggle lever arm, which then falls back into the gearing. In the second toggle lever arrangement of the toggle lever pair, this process is implemented simultaneously in such a way that at least one toggle lever arm per toggle lever pair always engages the gearing in a force-transmitting manner, thus ensuring that the output device or housing does not run through or slip due to the applied force.

[0032] A positioning device with a pair of toggle levers is only capable of one active positioning direction (pressure mode). An external load is always required for the second positioning direction (unloading mode).

[0033] To ensure a versatile positioning device that can be used without external load, the toggle lever mechanism therefore has at least a second pair of toggle levers.

[0034] The second toggle lever pair can be arranged so that it operates in pressure mode, while the first toggle lever pair simultaneously operates in relief mode. The second toggle lever pair uses pressure mode to implement the necessary load for the relative movement in relief mode of the first toggle lever pair. In order to actively implement a positioning movement in both directions, a second drive unit firmly connected to the first drive unit can be provided with opposing toggle lever pairs. The toggle lever pairs engage with the same rack of the output device and are driven via separate drive units or drive devices. Each push rod thus simultaneously drives two counter-rotating toggle lever assemblies located opposite each other with respect to the central axis, and the second push rod drives the counter-rotating toggle lever assemblies arranged offset along the central axis.One pair of toggle levers is always in compression mode, while the other pair, offset along the central axis, simultaneously operates in relief mode. Alternatively, the first pair of toggle levers and the second pair of toggle levers can operate simultaneously in compression mode or simultaneously in relief mode. This enables force compensation of the radial forces in a plane perpendicular to the central axis between the drive and output devices, particularly with regard to the central axis. Depending on the installation space, more pairs of toggle levers can also be used.

[0035] For a uniform displacement along both positioning directions, the first pair of toggle levers is operable or operated in a pressure mode, while at the same time a second pair of toggle levers is operated or operable in a relief mode.

[0036] In other words, the compression modes of the toggle lever pairs are directed in opposite axial directions for force transmission. If the first toggle lever pair is in compression mode when moving the load in a first positioning direction, the second toggle lever pair is in release mode when moving the load in the first positioning direction. Conversely, if the second toggle lever pair is in compression mode when moving the load in a second positioning direction, the first toggle lever pair is in release mode when moving the load in the second positioning direction. Preferably, the toggle lever pairs in this embodiment are arranged offset along the central axis of the positioning device.

[0037] Alternatively or additionally, in particular for compensation of the radial forces, the first toggle lever pair and at least one further toggle lever pair can be or are operated simultaneously in a pressure mode or simultaneously in a relief mode.

[0038] For force compensation or symmetrical force transmission with respect to the central axis between the drive and output devices, at least two toggle lever pairs are required. A toggle lever assembly of the first toggle lever pair, which is transferred, for example, from the spread position to the contracted position, is arranged with respect to the central axis opposite a toggle lever assembly of the second toggle lever pair, which is also simultaneously transferred from the spread position to the contracted position. Expanding toggle lever assemblies of different toggle lever pairs are arranged in pairs with point symmetrical relationship with respect to the central axis. The same applies to simultaneously contracting toggle lever assemblies.

[0039] Further details, features, feature (sub) combinations, advantages and effects based on the invention will become apparent from the following description of a preferred embodiment {or examples}of the invention and the drawings. These show in Fig. 1-4 schematic diagrams of exemplary embodiments of the positioning device according to the invention, in Fig. 5-6 side views of a toggle lever pair of an exemplary positioning device according to the invention in pressure mode, in Fig. 7-10 side views of a toggle lever arrangement of an exemplary positioning device according to the invention in relief mode, in Fig. 11 a top view of an exemplary embodiment of the positioning device according to the invention, in Fig. 12 a sectional view of an exemplary embodiment of the positioning device according to the invention, in Fig. 13 a sectional view of an exemplary embodiment of the positioning device according to the invention, in Fig. 14 a top view of an exemplary embodiment of the positioning device according to the invention and in Fig. 15 a sectional view of an exemplary embodiment of the positioning device according to the invention and in Fig.16 a sectional view of an exemplary alternative embodiment of the positioning device according to the invention. .

[0040] The figures are merely exemplary and serve only to clarify the invention. The same elements are designated by the same reference numerals.

[0041] Fig.1-4 each show an exemplary positioning device 100 with a stationary base 141 on a base 140 and with a housing 201 surrounding the base 141. In the Figures 1 and 2 the socket 141 stands on the base 140, in the Figures 3 and 4 The base 141 hangs on the base 140. The housing 201 is movable relative to the base 141 by the toggle mechanism (not shown) to position the load 200. In the Figures 1 and 2 the drive device 110 is assigned to the base 141 and the output device 120 to the housing 201. In the Figures 3 and 4The drive device 110 is assigned to the suspended housing 201, and the output device 120 is assigned to the base 141. The load 200 can be assigned to a displaceable housing 201. Alternatively (not shown), the housing 201 is assigned to a stationary base 140, while the load 200 can be assigned to a displaceable base 141. Further alternatively (not shown), the housing 201 and base 140 are stationary, while the output device 120, in particular the racks 121, 122 of the output device 120, are mounted displaceably relative to both.

[0042] Fig.5 and 6 show the pressure mode with alternating force transmission of the toggle lever pair 130 of the toggle lever mechanism between the drive device 110 and the output device 120 when moving the load 200 along the positioning direction P1, wherein the drive device 110 in Fig.5 an oscillatory movement along the direction of movement A1 and in Fig.6an oscillating movement along the opposite direction of movement A2. Fig.5 a first positioning step and in Fig.6 A second positioning step is carried out following the first positioning step. A push rod 111 of the drive device 110 oscillates, driven by an electric drive unit 146 (cf. Fig.12 ) along the directions of movement A1 and A2. The amplitude of the push rod 111 is limited by a stop 180 (cf. Fig.12). Two spreading levers 151, 161, each of a toggle lever arrangement 131, 132 of the same toggle lever pair 130, are connected to the push rod 111 by means of a joint each. These connecting joints 114, 115 between the push rod 111 and the spreading levers 151, 161 are offset with respect to the central axis Z, i.e., arranged at a distance from one another. Due to this distance, the spreading levers 151, 161 have a different position depending on the position of the push rod 111 or enclose a different spreading lever angle Φ1, Φ2 with the push rod 111 and the central axis Z. If the spreading lever angle Φ1, Φ2 between the spreading levers 151, 161 and the central axis is, for example, 90 degrees, the extension of the spreading levers 151, 161 in the radial direction r is maximum. The spreading levers 151, 161 move a knee lifting joint 152, 162 of an associated knee lever arrangement 131, 132, among others, along the radial direction r.The toggle lever joint 152, 162 connects a toggle lever arm 153, 163 assigned to the drive device 110 with a toggle lever arm 155, 165 assigned to the output device 120. The drive toggle lever arms 153, 163 are each rotatably connected to a connection piece 142, 143 of the stationary base 140 via a drive connection joint 154, 164. The output toggle lever arms 155, 165 have an engagement element 156, 166 that can releasably engage a rack 121, 122 of the output device 120. The racks 121, 122 are fixedly connected to the housing 201, which moves the load 200 along the positioning direction P1.

[0043] Fig.5shows, in print mode, a spreading movement of the first toggle lever arrangement 131 of the toggle lever pair 130 as part of the first positioning step. The movement of the push rod 111 of the drive device 110 along the direction of movement A1 (arrow direction) moves the connecting joint 115 and the spreading lever 151 (arrow direction) along the direction of movement A1. This leads to the spreading lever angle Φ1, which is enclosed by an imaginary extension of the spreading lever arm 151 with the central axis z, becoming smaller and the extension that the spreading lever 151 experiences in the radial direction r, becoming larger. As a result, the toggle lever joint 152 is pressed in the radial direction r (arrow direction), which causes the toggle lever arms 153, 155 to spread.While the drive lever arm 153 is firmly connected to the base 140 with respect to the axial direction z, the spreading movement of the toggle lever arrangement 131 causes a displacement of the output toggle lever arm 155 and the engagement element 156 also along the axial direction z and thus along the positioning direction P1. Due to the force transmission of the connection between the engagement element 156 and the rack 121, the load 200 is also moved according to the positioning direction P1. At the same time, during the first positioning step, the same movement of the push rod 111 along the direction of movement A1 causes the movement of the connecting joint 114 along the direction of movement A1 (arrow direction). This leads to the spreading lever angle Φ2, which is enclosed by an imaginary extension of the spreading lever arm 161 with the central axis Z, becoming smaller. As a result, the extension that the spreading lever 161 experiences in the radial direction r becomes smaller (arrow direction).This causes the toggle lever joint 162 to be pulled away from the rack 122 along the radial direction r (arrow direction). A torsion spring (not shown) on the toggle lever joint 162 causes a closing movement of the toggle lever arms 163, 165 and thus a retraction movement or return movement of the toggle lever arrangement 132 for a renewed spreading movement.

[0044] Fig.6shows, in print mode, the behavior of the toggle lever pair 130 during a second positioning step when the push rod 111 is moved along the direction of movement A2 (arrow direction). This movement causes the second toggle lever arrangement 132 to spread and the first toggle lever arrangement 131 to move into the contracted position. If the toggle lever arms 163, 165 are in the spread position, the spreading lever angle Φ2 of the spreading lever 161 with the central axis Z is approximately 90 degrees. If the desired end position is reached and the push rod 111 stops the oscillating movement in this position, self-locking occurs. In addition, the torsion spring (not shown) in the area of the joint 162 holds the toggle lever arms 163, 165 in engagement with the associated rack 122. This enables the desired position to be maintained without the need for energy.

[0045] Fig.7-10show the operation of the return mechanism for implementing the relief mode for moving the positioning device 100 with the same toggle lever pair 130 along the second positioning direction P2. For this purpose, the stop 180 active in pressure mode (see Fig.12 ) is removed, for example, by pulling out a stop pin of the push rod 111, so that the amplitude of the oscillating push rod 111 increases and an overstroke of the push rod is created. Due to the additional amplitude along the central axis (see Fig.8) a rocker arm 171 is pivoted about a rocker arm joint 172. The rocker arm 171 is preferably L-shaped with a transverse web as a driver web 173, which, by moving in the radial direction r towards the central axis Z, comes into contact with the driver cam 174 of a driver tab 175 connected to the output toggle lever arm 155 and moves the output toggle lever arm 155 of the toggle lever arrangement 131 towards the central axis. Fig.9The driver web 173 forces a spreading movement of the toggle lever arms 153, 155, so that the engagement element 156 of the output toggle lever arm 155 is separated from the rack 121 and the rack 121 can move unhindered along the positioning direction P2. The fixation of the rocker arm 171 in the swung-out or swung-in position is achieved via a ball detent-detent block system. For this purpose, the rocker arm 171 has a detent ball 176 spring-mounted in the blind hole (spring not shown), which engages in a detent block 177 of the positioning device 100, equipped with detent elements and firmly connected to the drive device 110, during the relief mode, thus preventing the rocker arm 171 from unintentionally pivoting back until the toggle lever arrangement 131 has been transferred back into the spread position.By reversing the stroke movement of the push rod into the opposite end position, which is equipped with an overstroke caused by the previously removed stop, according to . Fig. 10 contact is established between the bolt and the elongated hole of the link 179. The resulting engagement of the rocker arm 171 releases the locking connection between the locking projection 176 and the locking block 177, and the rocker arm 171 pivots back to its original position. The driver web 173 of the rocker arm 171 thereby releases the driver tab 175. Driven by the restoring force of the torsion spring (not shown) in the area of the toggle joint 152, the engagement element 156 reengages with the rack 121.

[0046] While the first toggle lever arrangement 131 is separated from the rack 121 in the relief mode, the second toggle lever arrangement 132 (cf. Fig.5, 6) of the toggle lever pair engages with the rack 122 and enables a controlled or guided movement of the housing 201 along the second positioning direction P2. In this case, the second toggle lever arrangement 132 is transferred from the spread to the contracted position. The driving force for the movement of the rack 121 along the positioning direction P2 is the load 200 in the unloading mode. The load 200 along the second positioning direction P2 can also be controlled by an additional toggle lever pair (cf. Fig.13 ) are provided.

[0047] Fig.11 and 12 show a positioning device 100, wherein Fig.12 a sectional view along the section line DD according to Fig.11The illustrated positioning drive 100 comprises a tube-like housing 201 in which four racks 121, 122 (two not shown) are arranged on the inner surface of the housing 201. The teeth of the racks 121, 122 are directed inwards in the radial direction r towards the central axis Z, wherein the imaginary extensions of the racks 121, 122 in the radial direction r enclose a central angle µ of 90° in pairs in the central axis Z. On the upper end face of the housing 201 is a housing cover 202 which can accommodate the load 200 (not shown) to be lifted. The electromagnetic drive (electric motor) 146 of the drive device 110 is placed in the housing 200. The electromagnetic drive 146 drives the push rod 110, which is movable via a stop 180 in both directions of movement A1, A2 (cf. Fig.5-6) stroke can be limited. The spreading levers 151, 161 establish the connection to the toggle lever assemblies 131, 132 consisting of the lever arm pairs 153, 155 and 163, 165 via a toggle lever joint 152, 162. The toggle lever arm 153, 163 assigned to the drive unit 110 is pivotally mounted on the base 140 of the drive device 110 via a bolt as a connecting joint 154, 164. The toggle lever arm 155, 165 assigned to the output device 120 is designed at one end with an engagement element 156, 166 such that it can releasably engage with the toothing of the racks 121, 122. Both toggle lever arms 153, 155 and 163, 165 of the same toggle lever assembly 131, 132 are connected by a torsion spring (not shown). The torsion springs prevent the output lever arms 155, 165 from accidentally falling out of the gearing of the racks 121, 122.The separation of the output lever arm 155, 165 and the racks 121, 122 is specifically brought about in the relief mode by the rocker arm 171. The rocker arm 171 is designed in such a way that it can pull a driver tab 175 of the toggle lever arrangement 131, 132 by a tilting or pivoting movement in the direction of the central axis Z, whereby the output lever arm 155, 165 is pulled out of the toothing and the relative movement in the relief mode (cf. Fig.7-10 ). The rocker arm 171 is driven by a link 179 as a driver (see also Fig.8). In this driver there is an elongated hole whose geometry is designed such that in the event of an overstroke, i.e., an additional amplitude of the push rod 111, the link 179 actuates the rocker arm 171, actuates the rocker arm joint 172, and pivots about the rocker arm pivot point. The overstroke of the push rod 111 for the relief mode is made possible by pulling out a stop pin of the stop 180. Thus, switching the positioning direction P1, P2 of the housing 201 is possible by actuating the stop 180 of the push rod 111. A switching cam 145 is adjustably connected to the push rod 111 via a threaded rod and serves to detect the position of the push rod 111. The drive device 110 is connected to a fixed base plate 144 or the like.

[0048] Fig.13shows an exemplary positioning device 100 with a drive device 110 assigned to the central axis Z and an output device 120 surrounding the drive device 110. The first toggle lever pair 130 and the second toggle lever pair 210 can be actuated simultaneously in pressure mode or simultaneously in relief mode. This enables compensation of the radial load on the push rod 111 caused by the spreading movement of the toggle lever arms (see Fig. 12) and, at the same time, a symmetrical distribution of the force on the housing 201. The toggle lever arrangement 131 of the first toggle lever pair 130, which is, for example, transferred from the spread position to the contracted position, is arranged with respect to the central axis Z opposite a first toggle lever arrangement 211 of the second toggle lever pair 210, which is also simultaneously transferred from the spread position to the contracted position. The same applies to the second toggle lever assemblies 132, 212 of the various toggle lever pairs 130, 210. In other words, if the toggle lever arrangement 131 is connected to the output device 120 in a force-transmitting manner, the toggle lever arrangement 211 is also connected to the output device 120 in a force-transmitting manner for force compensation. The toggle lever arrangements 131, 132 and 191, 192 of the same toggle lever pair 130, 190 enclose a central angle µ of 90° with the central axis Z.

[0049] Fig.14 and Fig.15show a positioning device 100, wherein Fig.15 a sectional view along the section line AA according to Fig.14 The illustrated positioning drive 100 also comprises a housing 201, wherein the four racks 121, 122 (two not shown) are not as in Fig.12are arranged on or in the area of the inner circumferential surface of the housing 201, but in the area of the central axis Z. The teeth of the racks 121, 122 are directed outwards in the radial direction r away from the central axis Z, wherein the imaginary extensions of the racks 121, 122 in the radial direction r enclose a central angle µ of 90° in pairs in the central axis Z. The load 200 to be lifted is arranged above the upper end face of the housing 201. The load 200 can be arranged at one end of the racks 121, 122, for example on a load carrier 203 designed as a basket, so that a movement of the racks 121, 122 along a positioning direction P1, P2 (cf. Figures 1-4) results in a corresponding movement of the load carrier 203. The electromagnetic drive (electric motor) 146 of the drive device 110 is placed in the housing 201 or in the area of the base 140. In this embodiment, the toggle levers are rotated by 180° compared to Fig.12 arranged in a rotated manner. The toggle lever arrangements 131, 132 are driven by push rods 111 arranged around the racks 121, 122, each associated with a toggle lever arrangement 131, 132. These can be guided in the housing 201 of the drive unit. The push rods 111 are driven via a central lifting plate 148 connected to all push rods 111. The electromagnetic drive 146 drives the common lifting plate 148 and the push rods 111 connected to the lifting plate 148, which can be moved in both directions of movement A1, A2 via a stop 180 (cf. Fig.5-6) stroke can be limited. In this case, the output device 120 could be realized with a rack 121, 122 per toggle lever arrangement 131, 132, wherein the racks are arranged along or around the central axis Z and their profiles are directed outwards in the radial direction r, "quasi quadrilaterally", and towards the toggle lever arrangements 131, 132.

[0050] Fig.16shows an exemplary positioning device 100 with a stationary base 141 assigned to the drive device 110 on a base 140 and a housing 201 assigned to the output device 120. For positioning the load 200, the housing 201 is displaceable relative to the base 141 by a first toggle lever pair 130 and at least one second toggle lever pair 190 arranged offset in the axial direction z along the central axis Z. The second toggle lever pair 190 is arranged such that it can operate in pressure mode, while the first toggle lever pair 130 can simultaneously operate in load relief mode. Thus, an active movement in opposite axial directions z, caused by opposingly acting toggle lever pairs 130 and 190, is possible.To actuate the toggle lever pairs 130, 190, the positioning device 100 has a second drive device 112 acting counter to the first drive device 110 and having a second electromagnetic drive 147. These can be operated alternately in pressure or relief mode. In the example shown, the drive device 110 is in pressure mode and the oppositely acting drive device 112 is in relief mode, whereby the push rod 113 of the second drive device 112 is in overtravel. This arrangement causes the positioning movement P1. If, however, the drive device 110 is in relief mode and the drive device 112 is in pressure mode, a positioning direction P2 is caused in the opposite direction to P1. With this arrangement, the external load 200 can act both in the direction of the positioning movement and against it. List of reference symbols

[0051] 100 Positioning device 110 First drive device 111 Push rod of the first drive device 112 Second drive device 113 Push rod of the second drive device 114, 115 Connecting joints 120 Output device 121, 122 Rack 130 First toggle lever pair 131, 132 First, second toggle lever arrangement 140 Base 141 Base 142, 143 First, second connecting piece 144 Base plate 145 Switching cam 146 First drive unit, in particular electromagnetic drive 147 Second drive unit, in particular electromagnetic drive 148 Lifting plate 151, 161 First, second spreading lever 152, 162 First, second toggle lever joint 153, 163 Drive toggle lever arm 154, 164 First, second drive connecting joint 155, 165 first, second output toggle lever arm 156, 166 first, second engagement element 171 rocker arm 172 rocker arm joint 173 driver web 174 driver cam 175 driver tab 176 locking ball 177 locking block 179 link 180 stop 190 second toggle lever pair 200 load 201 housing 202 housing cover 203 load carrier,in particular load basket 210further toggle lever pair 211first toggle lever arrangement of the further toggle lever pair 212second toggle lever arrangement of the further toggle lever pair µcentre angle Φ1, Φ2spreading lever angle ZZentral axis rradial direction zaxial direction,

Claims

1. A device (100) for positioning a load (200), comprising - a drive installation (110) for performing an oscillating movement along a first direction of movement (A1) and along a second, opposite direction of movement (A2), - a braking installation (120) for positioning the load (200), - a toggle lever mechanism, driven by the drive installation (110) with a first pair of toggle levers (130) for transmitting a force for a relative movement between the drive installation (110) and the braking installation (120), wherein the pair of toggle levers (130) comprises a first toggle lever arrangement (131) and a second toggle lever arrangement (132), wherein the first toggle lever arrangement (131) and the second toggle lever arrangement (132) are connected with the drive installation (110) and furthermore, are connected or can be connected to the braking installation (120) in an alternating force-transmitting manner, characterised in that the braking installation (120) for positioning the load (200) is arranged along a first positioning installation (P1) and along a second positioning installation (P2).

2. The positioning device (100) according to claim 1, characterised in that for positioning the load (200) in an alternating manner along the first positioning installation (P1) - in a first positioning step, two toggle lever arms (153, 155) of the first toggle lever arrangement (131) of the pair of toggle levers (130) can be transferred from a contracted position into an expanded position for transmitting a force, and two toggle lever arms (163, 165) of the second toggle lever arrangement (132) can be transferred from an expanded position into a contracted position, and - in a second positioning step following the first positioning step, the two toggle lever arms (153, 155) of the first toggle lever arrangement (131) can be transferred from the expanded position into a contracted position and the two toggle lever arms (163, 165) of the second toggle lever arrangement (132) can be transferred from the contracted position into an expanded position for transmitting a force.

3. The positioning device (100) according to any one of claims 1 or 2, characterised in that the toggle lever arrangements (131, 132) can each be transferred from the contracted position into the expanded position by an expanding lever (151, 161) and the respective expanding lever (151, 161) in the expanded position of the toggle lever arrangement (131, 132) encloses an expanding lever angle (Φ1, Φ2) of between 87° and 93°, preferably 90°, with a central axis (Z) of the positioning device (100).

4. The positioning device (100) according to one of the previous claims, characterised in that the drive installation (110) has one or more oscillating, or capable of oscillating, push rod(s) (111), and / or a drive tube for oscillation along the first and second directions of movement (A1, A2).

5. The positioning device (100) according to one of the previous claims, characterised in that the braking installation (120) for each toggle lever arrangement (131, 132) has an engagement rod (121, 122), especially a toothed rack, for the engagement of a toggle lever arm (155, 165) for transmitting a force from the toggle lever mechanism to the engagement rod (121, 122).

6. The positioning device (100) according to claim 5, characterised in that the load (200) is arranged at one end of the one or more engagement rods (121, 122), so that a movement of the engagement rod(s) (121, 122) along a positioning direction (P1, P2) results in a corresponding movement of the load (200), especially a load (200) arranged on a load carrier (203).

7. The positioning device (100) according to any one of claims 5 or 6, characterised in that the engagement rod(s) (121, 122) are arranged in the vicinity of the central axis (Z).

8. The positioning device (100) according to any one of claims 5 or 6, characterised in that the engagement rod(s) (121, 122) are arranged at a distance from the central axis (Z).

9. The positioning device (100) according to any one of the preceding claims, characterised in that the device (100) has a base (140) with a pedestal (141) and a housing (201) surrounding the pedestal (141), wherein the housing (201) surrounds the drive installation (110), the braking installation (120) and the toggle lever mechanism.

10. The positioning device (100) according to claim 9, characterised in that the base (141) and the housing (201) are displaceable relative to one another by the toggle lever mechanism, wherein the drive installation (110) is associated with the base (141) and the braking installation (120) is associated with the housing (201).

11. The positioning device (100) according to claim 9, characterised in that the base (141) and the housing (201) are displaceable relative to one another by the toggle lever mechanism, wherein the drive installation (110) is associated with the housing (201) and the braking installation (120) is associated with the base (141).

12. The positioning device (100) according to one of the preceding claims, characterised in that for positioning the load (200) in the second positioning direction (P2), the pair of toggle levers (130) changes from a pressure mode to a relief mode and a reset mechanism (170) is arranged for the relief mode, which alternately separates the first toggle lever arrangement (131) and the second toggle lever arrangement (132) of the pair of toggle levers (130) from the braking installation (120).

13. The positioning device (100) according to one of the preceding claims, characterised in that the toggle lever mechanism has at least a second pair of toggle levers (190, 210).

14. The positioning device (100) according to claim 13, characterised in that the first pair of toggle levers (130) can be operated or is operated in a pressure mode, while at the same time a second pair of toggle levers (190) is operated or can be operated in a relief mode.

15. The positioning device (100) according to claim 13, characterised in that the first pair of toggle levers (130) and at least one further pair of toggle levers (210) can be operated or are operated simultaneously in a pressure mode or simultaneously in a relief mode.