Manipulator and vehicle comprising a manipulator of this type

Abstract

The invention relates to a manipulator (1) for mounting on a vehicle, in particular a stacker, excavator, folding crane, with said manipulator (1) comprising at least one base unit (2) with at least one connecting section (20) for connecting the manipulator (1) to the vehicle, at least one torsion-resistant, telescopic and foldable unit (3) and at least one tool connection unit (11) for connecting the manipulator (1) to at least one tool (10), wherein the at least one tool connection unit (11) is arranged at the end of the at least one torsion-resistant, telescopic and foldable unit (3) and the at least one torsion-resistant, telescopic and foldable unit (3) is rotatably mounted on and relative to the at least one base unit (2).

Description

[0001] Manipulator and vehicle with at least one such manipulator

[0002] The invention relates to a manipulator for attachment to a vehicle, in particular a forklift truck, excavator or folding crane, as well as to a vehicle with at least one connecting device for connection to at least one attachment.

[0003] Manipulators for attachment to a vehicle as well as vehicles with attachments, for example in the form of a forklift truck, excavator, folding crane, etc., are known in the prior art. Such manipulators serve, for example, to grasp objects using gripping elements at the end of the manipulator and to move them from a first position to a second position. An anthropomorphic manipulator is known, for example, from DE 22 28 598 A. This consists of a torso, arms with hands and legs with feet, or of two arms with hands and a pair of shoulders, or of one shoulder, one arm with one hand. It has joints that allow a variable angular position of the individual limbs of the manipulator relative to one another and / or their rotation relative to one another. Furthermore, the manipulator has motors that effect the desired movements of the limbs.Each of the joints is composed of two parts that rotate against each other and together form a hollow joint capsule with flat floors, to which the two limbs belonging to the joint are attached. Both the motor and a gearbox to support the rapid rotation of the motor shaft are housed inside the joint capsule. The motor shaft, the input and output shafts of the gearbox, the shaft of an angle measuring device, and the cylindrical axis of the joint capsule are arranged coaxially with each other. One shoulder joint capsule can be rotated about a first axis, a second shoulder joint capsule about a second axis, an upper arm joint capsule about a third axis, an elbow joint capsule about a fourth axis, and a forearm joint capsule about a fifth axis. Furthermore, a hand pliers is arranged at the end of the forearm joint capsule.

[0004] DE 694 02 444 T2 and FR 2 653 761 disclose a method for hybrid position / force control for a robot manipulator and a robot manipulator. The robot manipulator comprises a macro-manipulator combined with a micro-manipulator with an end effector. The robot manipulator comprises a large, motorized support with an elongated, elastically deformable structure, as well as a motorized compensator with a low-inertia structure, which supports an end effector capable of gripping a load. The support is the so-called macro-manipulator and comprises a fixed or rolling frame that ensures connection to the ground of the construction site on which the robot is installed and used. The fixed or rolling frame supports, via a motorized orientation device, a rotating frame on which a mast is mounted, which can thus rotate about a vertical axis.Furthermore, a counterweight is attached to the rotating frame behind the base of the mast. A folding boom is attached to the top of the mast around a horizontal axis. This boom consists of four consecutive elements, each hinged to one another around horizontal axes parallel to the horizontal axis around which the folding boom is mounted. The first element of the boom can be pivoted relative to the mast, the second element relative to the first element, the third element relative to the second element, and the fourth element relative to the third element, with the fourth element being kept approximately vertical during operation.

[0005] The present invention is based on the object of providing a manipulator for attachment to a vehicle, wherein an operator should be able to operate the manipulator alone, in particular from the vehicle or the cab of a driver of a vehicle, wherein the manipulator should be moved in the manner of a human hand and be very stable, i.e. be able to absorb large forces.

[0006] The object is achieved for a manipulator for attachment to a vehicle in that the manipulator comprises at least one base unit with at least one connecting section for connecting the manipulator to the vehicle, at least one torsion-resistant, telescopic and foldable unit and at least one tool connecting device for connecting the manipulator to at least one tool, wherein the at least one tool connecting device is arranged at the end of the at least one torsion-resistant, telescopic and foldable unit and the at least one torsion-resistant, telescopic and foldable unit is rotatably mounted on and opposite the at least one base unit.For a vehicle with at least one connecting device for connecting to at least one attachment, the object is achieved in that the at least one attachment is at least one such manipulator, wherein the at least one manipulator is connectable or connected by at least one connecting section to the at least one connecting device of the vehicle and is or can be supplied by the vehicle or another source with electrical energy and / or pressurized hydraulic fluid for driving the drive devices of the manipulator and / or at least one tool arranged on the at least one manipulator. Further developments of the invention are defined in the dependent claims.

[0007] This creates a manipulator for attachment to a vehicle, such as a forklift, telehandler, excavator, material handler, folding crane, or another vehicle that can be equipped with one or more attachments. The manipulator has at least one base unit provided with at least one connecting section that serves to connect the manipulator to the vehicle. In particular, the manipulator is arranged as a head on an arm of the vehicle, such as a folding crane, excavator, or forklift. The manipulator has at least one torsion-resistant, telescopic, and foldable unit that is rotatably mounted on and opposite the at least one base unit of the manipulator. By providing torsion stability, it is possible to prevent the telescopic and foldable unit from twisting during unfolding and folding or telescoping.Since the at least one tool connection device and at least one tool are arranged at the end of the unit, twisting could otherwise occur, especially in the unfolded or extended position of the unit, if the load in the form of the at least one tool connection device and the at least one tool is comparatively high. However, this can be effectively prevented by providing torsional stability.

[0008] The torsion-resistant, telescopic, and foldable unit can perform a folding movement for unfolding and folding, and thus also telescoping the unit, allowing a forward and backward movement of a tool attached to the manipulator. The torsion-resistant, telescopic, and foldable unit can also be rotated relative to the base unit. At one end, the torsion-resistant, telescopic, and foldable unit is thus rotatably mounted on the at least one base unit, and at its opposite second end, it has at least one tool connection device for connecting the manipulator to at least one tool. The at least one tool arranged at the end of the manipulator can thus be moved in multiple dimensions and rotated 360° relative to the base unit and thus to the vehicle or an arm on the vehicle to which the base unit of the manipulator is attached.Such a tool could, for example, be a gripping or spreading tool. This tool, especially a gripping or spreading tool, can thus be moved into a wide variety of positions, allowing the operator inside or outside the vehicle to control the manipulator and thus the tool on it to perform a wide variety of actions. The manipulator thus forms an extended arm of the operator, or the tool forms an extended hand. The manipulator can be used, for example, on a construction site, in a hall, in tunnel construction, or at any other location where a wide variety of activities are to be performed.

[0009] By providing at least one torsion-resistant, telescopic, and foldable unit, which is rotatably mounted on the at least one base unit of the manipulator, wherein the at least one base unit is or can be connected to the vehicle, in contrast to the prior art of DE 694 02 444 T2, no mast, i.e. no large structure, is provided, but rather a direct connection of the manipulator to a vehicle, so that the manipulator is compact in comparison to the arrangement according to DE 694 02 444 T2. Furthermore, the manipulator can be transported by means of the vehicle to any desired location, and there the torsion-resistant, telescopic, and foldable unit can be extended or retracted as required in order to perform the desired activities. No laborious assembly and disassembly of the manipulator is required.This is easily attached as a unit to a vehicle or its at least one connecting device via the at least one connecting device on the at least one base unit of the manipulator and can be used directly after connecting electrical lines and / or hydraulic lines of the manipulator to a source of electrical energy and / or pressurized hydraulic fluid that is provided on or in the vehicle or outside of it. A control unit, such as a proportional control block, electrical components or a PLC control unit, can be arranged in particular in the area of ​​or in the base unit of the manipulator. By providing the torsion-resistant, telescopic and foldable unit, it is possible to absorb even high forces without the unit being damaged, in particular without becoming distorted. In this way, the torsion-resistant, telescopic and foldable unit can be used via the end of the manipulator orThe tool, which is arranged in a torsion-resistant, telescopic, and foldable unit, can grasp and handle even heavy loads without damaging the manipulator. This also differs from the anthropomorphic manipulator arm according to DE 22 28 598 A. While a wide variety of rotary movements are possible, this does not allow expansion and compression or telescoping, and therefore also does not allow forward and backward movement of the hand pliers arranged at its end. The anthropomorphic manipulator arm is also not torsion-resistant, in particular cannot absorb high forces, and is neither foldable nor telescopic.

[0010] The at least one tool connection device and / or the at least one tool, such as at least one gripping or spreading tool or another type of tool, can advantageously also be rotatably mounted relative to the at least one torsion-resistant, telescopic, and foldable unit. This not only allows rotation of the torsion-resistant, telescopic, and foldable unit relative to the base unit of the manipulator, but also allows rotation of the tool connection device and / or the tool itself relative to the torsion-resistant, telescopic, and foldable unit. A further degree of freedom can thus be provided, via which further movement of the at least one tool on the manipulator is possible, so that the tool can be moved into all conceivable positions.In particular, objects or elements can be grasped even in the most remote locations, for example, in undercuts of other objects, in a building, tunnel, or any other location, actuated via the manipulator, and / or moved from a first to at least a second position. The tool connection device can in particular be designed as an adapter device and / or comprise one so that it can be connected to a wide variety of tools.

[0011] Further advantageously, at least one first drive device is provided for driving the at least one torsion-resistant, telescopic, and foldable unit. This can in particular be at least one hydraulic drive and / or an electric drive. The at least one first drive device can serve to rotate and / or unfold and fold the at least one torsion-resistant, telescopic, and foldable unit. Furthermore, further advantageously, at least one second drive device can be provided for driving the at least one tool connecting device and / or the at least one tool. The at least one second drive device can also be, for example, at least one hydraulic drive and / or an electric drive. The at least one second drive device can in particular serve to rotate and / or open and close the at least one tool, in particular the at least one gripping or spreading tool.For example, a drive device for driving the.

[0012] Tool connection direction, in particular for rotating it, and at least one further drive device for opening and closing the at least one tool. Furthermore, at least one drive device for rotating the torsion-stable, telescopic and foldable unit can be provided, and at least one further drive device, such as at least one telescoping device, for unfolding and folding the at least one torsion-stable, telescopic and foldable unit. If a spreading or gripping tool is provided, this can have at least its own drive device for opening and closing the tool in order to grip objects accordingly or to spread the jaws or legs of the gripping or spreading tool apart and bring them together again.

[0013] The at least one torsion-resistant, telescopic, and foldable unit is further advantageously a multi-joint arrangement with joint legs that are arranged parallel to one another and spaced from one another and connected to one another via connecting and / or joint axes. The multi-joint arrangement further advantageously comprises at least one kinematic chain, in particular at least two kinematic chains coupled to one another. Kinematic open and closed chains that are coupled to one another can be or will be formed from the joint legs, wherein pairs of joint legs are provided to enable stability during telescoping of the torsion-resistant, telescopic, and foldable unit. The pairs of joint legs are each provided with two joint legs that are arranged parallel to one another and shaped accordingly, between which connecting axes orJoint axes are arranged to, on the one hand, establish a connection between the joint legs and, on the other hand, to form joint scissors between each two joint legs that are connected to one another by an articulated joint. This frame-like structure of the multi-joint arrangement makes it possible to create torsional stability, since the provision of the joint legs arranged parallel to one another and spaced apart from one another, with joint axes or connecting axes arranged between them, creates a torsion-stable structure similar to a frame. This simultaneously enables the unfolding and folding, thus telescoping, of the torsion-stable, telescopic, and foldable unit or its multi-joint arrangement.

[0014] The multi-joint arrangement can comprise at least one first articulated scissor assembly with a first pair of joint legs and a second pair of joint legs, wherein the two pairs of joint legs can be pivoted relative to one another by at least one first telescoping device, and the at least one first telescoping device engages with its first end on a first joint axis mounted on a base section of the torsion-resistant, telescopic, and foldable unit and with its second end on a third joint axis arranged between the joint legs of the second pair of joint legs, wherein the first pair of joint legs and the second pair of joint legs can be pivoted relative to one another about a second joint axis. The at least one first telescoping device can, for example, be at least one hydraulic cylinder and / or an electrically operated telescoping device.The multi-joint arrangement thus comprises at least two pairs of joint legs that form a first articulated scissor assembly. The two pairs of joint legs can be moved towards and away from each other via the at least one first telescoping device, such as a hydraulic cylinder. Furthermore, the two pairs of joint legs are advantageously connected to each other in an articulated manner via a third joint axis and can be pivoted relative to each other. However, the at least one first telescoping device does not engage this third joint axis in order to pivot the two pairs of joint legs of the first articulated scissor assembly relative to each other, but rather engages with its first end on a first joint axis mounted on the base unit of the manipulator and with its second end on a second joint axis arranged between the second pair of joint legs.The second joint axis is thus adjacent to, but spaced from, the third joint axis, around which the first pair of joint legs and the second pair of joint legs are arranged so as to be pivotable relative to, or against, each other. The first joint axis, the second joint axis, and the third joint axis are advantageously aligned approximately parallel to each other. The two pairs of joint legs, together with the joint axes, form, in particular, a closed kinematic chain.

[0015] The multi-joint arrangement can further comprise at least one second articulated scissors, containing the second pair of joint legs and a third pair of joint legs, wherein the two pairs of joint legs can be pivoted towards or against each other about a fourth joint axis, wherein at least one second telescoping device, in particular at least one hydraulic cylinder and / or an electric drive device, is provided for pivoting, which engages with its first end on a fifth joint axis arranged between two fastening tabs connected in a rotationally fixed manner to the second pair of joint legs, and with its second end engages on a sixth joint axis mounted on or in joint legs of a fourth pair of joint legs. The fastening tabs are connected in a rotationally fixed manner to the two joint legs of the second pair of joint legs.The at least one second articulated scissors thus also contains two pairs of joint legs, namely the second pair of joint legs and the third pair of joint legs, which can be moved relative to or against each other by the at least one second telescoping device. However, the at least one second telescoping device does not directly engage the second and third pair of joint legs to pivot them against each other, but rather the sixth joint axis mounted between the joint legs of the fourth pair of joint legs.

[0016] The second pair of joint legs, the third pair of joint legs, and the fourth pair of joint legs are advantageously mechanically coupled to one another by a closed kinematic chain. This makes it possible to move all the joint legs of the closed kinematic chain when engaging the sixth joint axis. The joint legs of the fourth pair of joint legs can further be articulated relative to the joint legs of the second pair of joint legs via a seventh joint axis, in particular the seventh joint axis can be mounted in or on fastening tabs arranged on the outside of the joint legs of the second pair of joint legs. Further advantageously, a fifth pair of joint legs with joint legs can be provided and can be articulated to the joint legs of the fourth pair of joint legs via the sixth joint axis and articulated to the joint legs of the third pair of joint legs via an eighth joint axis.It is particularly advantageous if the joint legs of the fourth pair of joint legs are curved joint legs or toggle levers. This allows for particularly good application of equal forces to both sides of the torsion-resistant, telescopic, and foldable unit, thus enabling particularly good and stable pivoting of the joint legs of the various pairs of joint legs against and around each other.

[0017] The third pair of joint legs is advantageously designed like a frame and can be provided with or is provided with the at least one tool connecting device. The frame-like design can be achieved, for example, by arranging transverse or stiffening struts between the joint legs of the third pair of joint legs. The tool can be fastened to the tool connecting device and, in particular, driven via the at least one second drive device, and in particular also rotated, in order to be able to move the tool into any desired position. Precisely because of the arrangement of the tool connecting device on the third pair of joint legs and of the at least one tool on the tool connecting device, the torsional rigidity of the third pair of joint legs orof the pair of joint legs which is or is provided with the tool connection device, is particularly desirable in order to be able to move the tool easily and precisely into all desired or required positions and to grasp and carry loads without the manipulator or its torsion-resistant, telescopic and foldable unit, which comprises the pairs of joint legs and joint axes, twisting.

[0018] All of the joint axes of the multi-joint arrangement are advantageously aligned parallel or at least substantially parallel to one another, with the at least one first telescoping device and the at least one second telescoping device advantageously being arranged substantially perpendicular to the respective joint axes on which the at least one first telescoping device and the at least one second telescoping device engage. In particular, the at least one first telescoping device and the at least one second telescoping device can engage approximately centrally on the respective joint axes, i.e. approximately in the middle of their longitudinal extent between the respective joint legs or fastening tabs in which the joint axes are mounted. By providing the joint axes also as a stabilizing cross bracing between the pairs of joint legs orMounting brackets allow for high torsional stability of the multi-joint assembly and thus of the manipulator's telescopic and foldable unit. This creates a particularly stable, yet tightly foldable multi-joint assembly of the torsion-resistant, telescopic, and foldable unit.

[0019] In addition to the two kinematic chains coupled to one another, as formed by the pairs of joint legs, joint axes and telescoping devices described above, further chains can be provided and coupled to these and / or to one another.

[0020] Further advantageously, at least one remote control device can be provided for actuating the at least one first drive device and / or the at least one second drive device and the at least one telescoping device of the at least one torsion-resistant, telescoping and foldable unit and can be operatively connected to them or is operatively connected thereto. At least one hydraulic drive and / or at least one electric drive are particularly suitable as the first drive device and as the second drive device. The at least one telescoping device can also be provided with a hydraulic drive, for example in the form of a hydraulic cylinder and / or be designed as a telescoping device driven by at least one electric drive. The at least one remote control device thus enables the drive devices and the telescoping devices or their drives to be controlled remotely, e.g.from a driver's cab of a vehicle or by at least one operator positioned next to or on a vehicle to which the manipulator is attached. An operator can therefore control the manipulator in a targeted manner from a distance from the location at which an activity is to be carried out by the manipulator. If the manipulator or at least a tool mounted on it is to carry out activities in a location that is not visible or at least difficult to see from the outside, a camera unit, if necessary in combination with at least one light source, can also be provided in the area of ​​the tool, the image material from which is sent via cable or wirelessly to the operator or a receiving unit that can be monitored by the operator. This means that the activities to be carried out by the manipulator can be carried out optimally even from a distance and even without visual contact.The individual drive devices and telescoping devices can also be controlled individually and independently of one another by at least one remote control device.

[0021] In order to enable sufficient stability, in particular torsional stability, in conjunction with a desired range when expanding the torsional-stable, telescopic and foldable unit, the latter can be designed relative to the at least one base unit of the manipulator, for example, in such a way that the at least one torsional-stable, telescopic and foldable unit is arranged at an angle a to the vertical on the at least one base unit, in particular at an angle of approximately a = 30 to 45 °, so that the boom range of the expanded or unfolded, torsional-stable, telescopic and foldable unit is comparatively large and this unit is at the same time sufficiently stable to ensure a desired sufficient stability and range of the manipulator orof which at least one torsion-resistant, telescopic and foldable unit is to be provided.

[0022] To further explain the invention, an embodiment of the invention is described in more detail below with reference to the drawings. These show:

[0023] Figure 1 is a perspective view of a first embodiment of a manipulator according to the invention in the folded state with a tool arranged at the end of the manipulator,

[0024] Figure 2 is a plan view of the manipulator according to Figure 1,

[0025] Figure 3 is a plan view of the manipulator according to Figure 1 in its extended or expanded state, Figure 4 is a perspective view of the manipulator according to Figure 1 in the extended position of Figure 3, wherein no tool is attached to the end of the manipulator,

[0026] Figure 5 is a perspective view of the manipulator according to Figure 1 in the extended position according to Figure 3, with the tool arranged at the end thereof,

[0027] Figure 6 is a side view of the manipulator according to Figure 1 in the position according to Figure 5,

[0028] Figure 7 is a side view of the manipulator according to Figure 1 in the fully folded state,

[0029] Figure 8 is a further perspective view of the folded manipulator according to Figure 1,

[0030] Figure 9 is a perspective top view of the manipulator according to Figure 1 in the fully folded state,

[0031] Figure 10 is a perspective top view of the manipulator according to Figure 1 and Figure 5 in the fully extended position,

[0032] Figure 11 is a further perspective top view of the manipulator according to Figure 1 in the embodiment without the tool attached to the end according to Figure 4, and

[0033] Figure 12 is a front view of the manipulator according to Figure 1 with an operator standing next to it as a size comparison between manipulator and operator.

[0034] Figures 1 to 12 each show a manipulator 1 that can be attached to a vehicle, such as a forklift truck, excavator, folding crane, etc. The manipulator 1 comprises a base unit 2 and a torsion-resistant, telescopic, and foldable unit 3. To connect the manipulator 1 to the vehicle (not shown in Figure 1), the base unit 2 has a connecting section 20 that is designed as a polygonal profile or polygonal tube. The connecting section 20 can accordingly be connected to a corresponding receptacle or a corresponding connecting device of the vehicle by inserting the connecting section 20 into the receptacle or connecting device. The connecting section 20 has, as can be seen particularly clearly in Figure 1, a number of reinforcing elements 21 along its outer longitudinal extent, which are applied to the connecting section 20 designed as a polygonal tube.On the one hand, the reinforcing elements 21 can be used to hold the connecting section 20 in a corresponding receptacle or

[0035] connecting device of the vehicle, on the other hand the stability of the connecting section 20 itself in this area, in order to be able to particularly well prevent an unwanted deformation and thus loosening of the connection to the vehicle, especially when expanding the manipulator.

[0036] The base unit 2 is designed as a stable, box-shaped unit provided with a base plate 22 and three side walls 23, 24, 25. It can be shaped like a conventional excavator bucket, as shown here as an example, or in another dimensionally stable configuration. The base unit 2 is therefore very dimensionally and torsionally stable and robust. It can not only be attached to a vehicle or vehicle arm, such as an excavator arm, via the connecting section 20, but can also be placed on its base plate 22 on the loading area of ​​a vehicle.

[0037] A swivel unit 4 is arranged on the base unit 2 at an angle a to the vertical, as can be clearly seen, for example, in Figures 6 and 7. A torsion-resistant, telescopic, and foldable unit 3 is attached to the swivel unit 4. A tool 10 is arranged and secured at the end of the torsion-resistant, telescopic, and foldable unit 3 via a tool connection device 11 arranged there.

[0038] The torsion-resistant, telescopic, and foldable unit 3 is mounted so as to be rotatable, in particular rotatable through 360°, relative to the base unit 2 via the rotary joint unit 4. In order to enable rotation, the rotary joint unit 4 comprises a first drive device 40 in the form of a rotary drive, which is designed as a hydraulic drive in Figures 1 to 12. Instead of a hydraulic drive, an electric drive, for example, can also be provided or used. An annular base section 30 of the torsion-resistant, telescopic, and foldable unit 3 is received on the rotary joint unit 4, as can be seen particularly well in Figures 3 to 5 and 10 and 11. This annular base section 30 is provided with fastening tabs 31, 32, 33, 34 on two opposite sides. Between the fastening tabs 31, 32 and 33, which extend in pairs at a distance from one another and approximately parallel to one another, there is a space between the fastening tabs 31, 32 and 34.33, 34 each have a joint axis 130, 131 arranged thereon, wherein the joint axis 130 is referred to below as the first joint axis and the joint axis 131 as the second joint axis. The two fastening tabs 33, 34 form two joint legs of a first pair of joint legs 301 of the torsion-resistant, telescopic, and foldable unit 3, wherein the second joint axis 131 is mounted in these. To form a first joint scissors, the two joint legs 33, 34 of the first pair of joint legs 301 are pivotally connected to a second pair of joint legs 302 with two joint legs 35, 36 arranged parallel to one another via the second joint axis 131.In order to pivot the two pairs of joint legs 301, 302 relative to one another and thus unfold and fold the torsion-resistant, telescopic, and foldable unit 3, a first telescoping device 5 is provided in combination with a third joint axis 132 arranged between the two joint legs 35, 36 of the second pair of joint legs 302. The first telescoping device 5 engages with its first end 50 on the first joint axis 130 and with its second end 51 on the third joint axis 132, as can be clearly seen in Figures 3, 4, 5, and 11. When expanding or extending the first telescoping device 5, which may, for example, be a hydraulic cylinder as indicated in the figures, the first articulated scissors are extended or contracted, thus expanding or folding the unit 3 in its first section or its first kinematic chain.

[0039] The torsion-resistant, telescopic, and foldable unit 3 further comprises a third pair of joint legs 303, which is pivotally connected to the second pair of joint legs 302 via a fourth joint axis 133. A second telescoping device 6 is used to pivot the second pair of joint legs 302 relative to the third pair of joint legs 303. This second telescoping device 6 engages with its first end 60 on a fifth joint axis 134, which is arranged between two fastening tabs 37, 38 arranged on the outside of the two joint legs 35, 36 and is supported at their ends. With its second end 61, the telescoping device 6 engages with a sixth joint axis 135, which extends between two toggle levers 230, 231 at their respective first ends 234, as can be seen in particular in Figures 4 and 6. The two toggle levers 230, 231 form a fourth pair of joint legs 304.As can be seen in particular from Figure 6, the two toggle levers 230, 231 are connected in the region of their respective second end 236 via a seventh joint axis 136 in an articulated manner relative to the joint legs 35, 36 of the second pair of joint legs 302, wherein the seventh joint axis 136 is mounted at the end in the two toggle levers 230, 231 and further in fastening tabs 237, 238 arranged on the outside of the two joint legs 35, 36 (see in particular Figures 5 and 6).

[0040] In order to create a connection, in particular an articulated connection, between the joint legs 39, 239 of the third pair of joint legs 303 and the toggle levers 230, 231 of the fourth pair of joint legs 304 and to close the kinematic chain in this area of ​​the multi-joint arrangement of the torsion-resistant, telescopic, and foldable unit 3, two further joint legs 240, 241 of a fifth pair of joint legs 305 and an eighth joint axis 137 are provided. The eighth joint axis 137 extends between the two joint legs 39, 239 of the third pair of joint legs 303. The two joint legs 240, 241 also engage with their respective first ends on the eighth joint axis 137, as can be seen in particular from Figures 3, 4, 5, and 11.With their respective second ends, the two joint legs 240, 241 of the fifth joint leg pair 305 engage the sixth joint axis 135 and are thus articulated to the two toggle levers 230, 231. By telescoping or, conversely, retracting the second telescoping device 6, the sixth joint axis 135 is engaged and moved toward or away from the fifth joint axis 134. The closed kinematic chain in the area of ​​the four joint axes 133, 135, 136, 137 and the four pairs of joint legs 302, 303, 304, 305 engaging thereon enables a particularly torsion-resistant folding and unfolding of the unit 3 in this second section.

[0041] To stiffen the third joint leg pair 303, it has a frame shape. Two cross struts 250, 251 extend parallel to the various joint axes 130 to 137 and thus approximately perpendicular to the two joint legs 39, 239 of the third joint leg pair 303. This creates a torsion-resistant frame in the region of this third joint leg pair 303. Adjacent to the third joint leg pair 303 and in particular its cross strut 251, the manipulator 1 has the tool connection device 11. This comprises, as can be clearly seen in Figures 2, 3, 5, 6, and 11, a mounting plate 110, via which the tool connection device 11 is or can be firmly or detachably connected to the third joint leg pair 303 or its cross strut 251.

[0042] Furthermore, the tool connection device 11 comprises a rotary joint unit 111, which comprises a second drive device 112, here in the form of a rotary drive. The rotary drive or the second rotary drive device 112 can be designed, for example, in the form of a hydraulic drive and / or in the form of an electric drive. A mounting plate 113 is connected to the rotary joint unit 111. The tool 10 can be mounted on this. This can be designed in a variety of ways. In the figures, it is shown by way of example as a gripping tool with four clamping jaws 104, 105, 106, 107. Of course, the tool 10 can also be designed in a different way. The tool 10 is connected to the tool connection device 11 of the manipulator 1 via the mounting plate 113, thus the tool 10 is fastened to the mounting plate 113. The tool 10 comprises two further drive devices 102, 103, which are arranged on the mounting plate 113.The two drive devices 102, 103 serve to actuate, thus spreading apart and moving toward each other, the respective clamping jaw pairs 104 and 105, or 106 and 107, of the tool 10. The two drive devices 102, 103 are shown as hydraulic drives by way of example. However, a different configuration of the tool 10 itself, on the one hand, and of its drive device(s) 102, 103, on the other hand, such as an electric drive device(s), can also be provided. The embodiment shown therefore serves merely as a basic illustration.

[0043] By actuating the first telescoping device 5, the first section 310 of the torsion-resistant, telescopic and foldable unit 3, which is connected to the annular base section 30, or its joint legs 33, 34, 35, 36 and joint axes 130, 131, 132, can be moved towards and away from each other, in particular to move the second pair of joint legs 302 in the direction of the annular base section 30 here and thus to be able to fold the unit 3 and accordingly also the manipulator 1. For complete folding into a folded position shown in Figure 1 and Figures 2, 7, 8, 9 and 12, the second telescoping device 6 is additionally actuated and thereby pulls the second section 311 of the torsion-resistant, telescopic and foldable unit 3 or its pairs of joint legs 303, 304, 305 and joint axes 133, 134, 135, 136, 137 in the direction of the annular base section 30 of the unit 3.Conversely, to achieve the fully extended position of the manipulator 1, as shown in Figures 3, 4, 5, 6, 10 and 11, the first telescoping device 5 and the second telescoping device 6 are moved into an extended position, in particular a maximum extended position, so that the joint leg pairs 302 to 305 are moved into the maximum possible remote position with respect to the annular base section 30 of the unit 3. The maximum extension path s of the manipulator 1 or of its unit 3 can be, for example, 800 mm (see Figure 6). Even in this maximum extended or extended position of the manipulator 1, it continues to have torsional stability, so that even large loads can be gripped and moved with the tool 10, such as loads in the range of 1,000 kg.In this case, rotation of the torsion-resistant, telescopic, and foldable unit 3 of the manipulator 1 relative to its base unit 2 is easily possible. Due to the arrangement and orientation of the annular base section 30 of the unit 3 at an angle α to the vertical, the manipulator 1 can be held and moved stably even in its maximally extended position. The angle α can, for example, be α = 20 to 45°, in particular 30°. Other angles are of course also possible. For example, it can be provided that different angles α of the annular base section 30 relative to the base unit 2 of the manipulator 1 can be set depending on the application. In this case, at least one angle adjustment device can be provided for this purpose, although this is not shown in the figures.

[0044] As can be seen from Figure 12, the manipulator 1 can be made comparatively small, so that it can also be easily transported on or attached to smaller vehicles, in particular arranged at the end of one of the arms of these vehicles and connected to them, in particular via the connecting section 20. Despite the small dimensions of the manipulator 1 shown in Figure 12 compared to an operator, it can absorb heavy loads. By providing the swivel joint unit 4 and the swivel joint unit 111 in conjunction with the torsion-resistant, telescopic and foldable unit 3, the manipulator 1 can be moved and pivoted in multiple dimensions in order to be able to use it even in work locations that are difficult to access. The manipulator 1 can be controlled and operated by the operator 12, in particular via a remote control device, such as a radio remote control device.For this purpose, the individual drive units, such as the rotary joint unit 4, the rotary joint unit 111, the two telescoping devices 5 and 6, and the drive devices 102, 103, can be equipped with corresponding receiving units for receiving control signals. This is not shown in the figures. Also not shown in the figures are supply lines for supplying the drive units or drive devices, for example in the form of hydraulic drives, with hydraulic fluid. Such supply lines can, for example, be connected to a vehicle on or to which the manipulator 1 is attached, and from there supplied with pressurized hydraulic fluid, and accordingly the rotary joint units 4, 111, the two telescoping devices 5, 6, and the drive devices 102, 103 can be supplied with pressurized hydraulic fluid.The drive devices 102, 103 can, in particular, be designed as one or more linear motors. If electric drives are provided, one or more electrical connections to at least one electrical energy source, which is arranged, for example, on or at the vehicle, can be provided accordingly. For example, if hydraulic drives are provided, at least one proportional control block can be provided on the base unit 2, and if electric drives are provided, at least one electrical energy source and further electrical components and control components, such as a PLC switching unit, such as a PLC control box, can be provided.

[0045] For electrically driving the manipulator or its swivel joint units 4, 111, its telescoping devices 5, 6, and the drive devices 102, 103 of the tool 10, one or more electric motors, such as 12- to 24-volt electric motors, can be provided. A 12- or 24-volt connection is usually present in a vehicle, allowing the drive devices of the manipulator or the manipulator to be easily supplied via this connection. Electrical energy sources and hydraulic supply devices can also be provided outside the vehicle, and the manipulator can be connected to them.

[0046] The tool connection device 11 can be designed in a wide variety of ways to enable connection to a wide variety of tools 10. The tool connection device 11 serves in particular as an adapter or is provided with at least one adapter device in order to be able to be connected to as many different tools 10 as possible without any problems. The mounting plate 113 of the manipulator 1 serves as an adapter plate. The individual drive devices or swivel joint units can also be controlled individually in order to be able to move the manipulator 1 into any desired position and also to hold it in this position. The manipulator 1 can be designed in a wide variety of dimensions, depending on the application. In particular, the connecting section 20 can also be designed to suit the vehicle to which the connecting section 20 of the manipulator 1 is to be connected.Examples of suitable vehicles include telehandlers or stackers, excavators such as material handlers, folding cranes, etc. The manipulator 1 can be easily connected to these via its connecting section 20, which can be adapted accordingly. The respective tool 10 attached to the tool connection device 11 of the manipulator 1 can be designed not only as a gripping or spreading tool, but also as any other tool that is intended to carry out handling activities via the manipulator 1, for example on a construction site, in a hall, in tunnel construction, or in the area of ​​another application. The operator can sit in the vehicle and control the manipulator 1 from there so that, for example, an object can be grasped and mounted at a desired location or at least moved there.

[0047] In addition to the embodiments of a manipulator according to the invention described above and shown in the figures, numerous further embodiments can be provided, in particular any desired combinations of the aforementioned features thereof, wherein the manipulator comprises at least one base unit with at least one connecting section for connecting the manipulator to a vehicle, at least one torsion-resistant, telescopic, and foldable unit, and at least one tool connection device for connecting the manipulator to at least one tool. The at least one tool connection device is arranged at the end of the at least one torsion-resistant, telescopic, and foldable unit, and the unit is rotatably mounted on and relative to the at least one base unit of the manipulator. List of Reference Symbols

[0048] 1 manipulator

[0049] 2 base units

[0050] 3 torsion-resistant, telescopic and foldable units

[0051] 4 Swivel joint unit

[0052] 5 first telescoping device

[0053] 6 second telescopic device

[0054] 10 tools

[0055] 11 Tool connection device

[0056] 12 operators

[0057] 20 connecting section

[0058] 21 Reinforcing element

[0059] 22 Base plate

[0060] 23 Side wall

[0061] 24 side wall

[0062] 25 side wall

[0063] 30 Base section

[0064] 31 Mounting tab

[0065] 32 mounting tab

[0066] 33 Mounting bracket / joint leg

[0067] 34 Mounting bracket / joint leg

[0068] 35 joint legs

[0069] 36 joint legs

[0070] 37 Mounting tab

[0071] 38 Mounting tab

[0072] 39 joint legs

[0073] 40 first drive device / rotary drive

[0074] 50 first end of 5

[0075] 51 second end of 5

[0076] 60 first end of 6

[0077] 61 second end of 6

[0078] 102 Drive device

[0079] 103 Drive device clamping jaw

[0080] clamping jaw

[0081] clamping jaw

[0082] clamping jaw

[0083] Mounting plate

[0084] Swivel joint unit second drive device / rotary drive

[0085] Mounting plate first joint axis second joint axis third joint axis fourth joint axis fifth joint axis sixth joint axis seventh joint axis eighth joint axis

[0086] Knee lever

[0087] Knee lever first end second end

[0088] Mounting tab

[0089] Mounting tab

[0090] Joint leg

[0091] Joint leg

[0092] Joint leg

[0093] cross brace

[0094] Cross brace first pair of joint legs second pair of joint legs third pair of joint legs fourth pair of joint legs fifth pair of joint legs first section of 3 second section of 3 a angle s extension path

Claims

Claims Manipulator (1 ) for mounting on a vehicle, in particular a forklift, excavator, folding crane, wherein the manipulator (1 ) comprises at least one base unit (2) with at least one connecting section (20) for connecting the manipulator (1 ) to the vehicle, at least one torsionally stable, telescopic and foldable unit (3) and at least one tool connecting device (11 ) for connecting the manipulator (1 ) to at least one tool (10) comprising, wherein the at least one tool joining device (11) arranged at the end of the at least one torsionally stable, telescopic and foldable unit (3), and the at least one torsionally stable, telescopic and foldable unit (3) is rotatably mounted on and relative to the at least one base unit (2). Manipulator (1) according to claim 1, characterized in that the at least one tool connection device (11) and / or the at least one tool (10), in particular the at least one gripping or spreading tool, is rotatably mounted on and / or relative to the at least one torsionally stable, telescopic and foldable unit (3).Manipulator (1) according to claim 1 or 2, characterized in that at least one drive device (5, 6, 40), in particular a hydraulic drive and / or an electric drive, is provided for driving the at least one torsionally stable, telescopic and foldable unit (3), in particular for rotating and / or unfolding and folding the at least one torsionally stable, telescopic and foldable unit (3). Manipulator (1) according to one of the preceding claims, characterized in that. at least one drive device (102, 103, 112), in particular a hydraulic drive and / or an electric drive, is provided for driving the at least one tool connection device (11) and / or the at least one tool (10), in particular for rotating and / or for opening and closing the at least one tool (10), in particular the at least one gripping or spreading tool. Manipulator (1) according to one of the preceding claims, characterized in that the at least one torsionally stable, telescopic and foldable unit (3) is a multi-joint arrangement with joint legs (33, 34, 35, 36, 39, 230, 231, 239, 240, 241) arranged parallel to each other and spaced apart from each other and connected to each other via joint axes (130, 131, 132, 133, 134, 135, 136, 137).Manipulator (1 ) according to claim 5, characterized in that the multi-link arrangement comprises at least one kinematic chain, in particular at least two coupled kinematic chains.Manipulator (1) according to claim 5 or 6, characterized in that the multi-joint arrangement comprises at least a first articulated scissor joint with a first pair of joint legs (301) and a second pair of joint legs (302), wherein the two pairs of joint legs (301, 302) are pivotable relative to each other by at least a first telescopic device (5), in particular at least one hydraulic cylinder, and the at least one first telescopic device (5) engages with its first end (50) a first joint axis (130) mounted on a base section (30) of the torsionally stable, telescopic and foldable unit (3) and with its second end (51) a third joint axis (132) arranged between the joint legs (35, 36) of the second pair of joint legs (302), wherein the first. The first pair of joint legs (301) and the second pair of joint legs (302) can be moved relative to each other about a second joint axis (131). Manipulator (1) according to claim 7, characterized in that the multi-joint arrangement comprises at least a second articulated scissor joint, comprising the second pair of joint arms (302) and a third pair of joint arms (303), wherein the two pairs of joint arms (302, 303) are pivotable relative to each other about a fourth joint axis (133), wherein at least a second telescopic device (6), in particular at least one hydraulic cylinder, is provided for pivoting, the first end (60) of which engages a fifth joint axis (134) arranged between two mounting lugs (37, 38) which are rotationally fixed to the second pair of joint arms (302), and the second end (61) of which engages a sixth joint axis (135) mounted on or in joint arms (230, 231) of a fourth pair of joint arms (304).Manipulator (1) according to claim 8, characterized in that the second pair of joint legs (302), the third pair of joint legs (303), and the fourth pair of joint legs (304) are mechanically coupled to one another by a closed kinematic chain. Manipulator (1) according to claim 8 or 9, characterized in that the joint legs (230, 231) of the fourth pair of joint legs (304) are arc-shaped joint legs or toggle levers. Manipulator (1) according to any one of claims 8 to 10, characterized in that the joint legs (230, 231) of the fourth pair of joint legs (304) are pivotally mounted relative to the joint legs (35, 36) of the second pair of joint legs (302) via a seventh joint axis (136). In particular, the seventh articulation axis (136) is mounted in or on mounting lugs (237, 238) arranged on the outside of the articulation legs (35, 36) of the second pair of articulation legs (302). Manipulator (1) according to one of claims 8 to 11, characterized in that a fifth pair of articulation legs (305) with articulation legs (240, 241) is provided and is articulated via the sixth articulation axis (135) to the articulation legs (230, 231) of the fourth pair of articulation legs (304) and via an eighth articulation axis (137) to the articulation legs (39, 239) of the third pair of articulation legs (303). Manipulator () according to one of claims 8 to 12, characterized in that the third pair of joint legs (303) is designed in a frame-like manner and can be provided or equipped with at least one tool connection device (11 ).Manipulator () according to one of claims 3 to 12, characterized in that at least one remote control device for actuating the at least one drive unit (40, 102, 103, 112), in particular the at least one hydraulic drive and / or electric drive, and the at least one telescoping device (5, 6) of the at least one torsionally stable, telescopic and foldable unit (3) is provided and is operatively connectable or connected to these. Vehicle, in particular forklift, excavator, folding crane, with at least one connection device for connecting to at least one attachment, characterized in that the at least one attachment is at least one manipulator (1) according to one of the preceding claims, wherein the at least one manipulator (1) is connectable or connected to the at least one connection device of the vehicle via at least one connection section (20). from the vehicle or another source of electrical energy and / or pressurized hydraulic fluid to drive the drive devices (5, 6, 40, 102, 103, 112) of the manipulator (1) and / or at least one tool (10) arranged on the at least one manipulator (1).

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