Manipulation apparatus with parallel movement units for fastening element

摘要

A manipulation device for manipulating and/or processing a workpiece includes a first motion unit for generating a linear motion of a first component and a second motion unit for generating a linear motion of a second component. The motion units are arranged relative to each other such that the motions that can be generated by the motion units are aligned parallel to each other. The first and second components are connected via first and second hinge joints, respectively, to a fastening element that is suitable for receiving a workpiece and/or a tool. The first and second hinge joints comprise first and second guide arms, respectively, which are coupled to the first and second components, respectively, via revolute joints. The first and second guide arms are coupled directly or indirectly to each other by at least one revolute joint so as to be pivotable relative to each other.

主权项

1. A manipulation apparatus for at least one of handling and processing a workpiece comprising a first movement unit for generating a linear movement of a first component and a second movement unit for generating a linear movement of a second component,
wherein the first and second movement units are arranged relative to one another such that the movements of the first component and of the second component which can be generated by the first and second movement units are aligned in parallel with one another; wherein the first component is connected via a first pivotal connection and the second component is connected via a second pivotal connection to a fastening element which is suitable for taking up at least one of the workpiece and a tool; wherein the first pivotal connection includes a first guide arm which is coupled to the first component by means of a first pivot joint; wherein the second pivotal connection includes a second guide arm which is coupled to the second component by means of a second pivot joint; wherein the first guide arm and the second guide arm are coupled to one another directly or indirectly in a manner pivotable relative to one another by at least one pivot joint; wherein the first guide arm and the second guide arm are coupled to the fastening element by separate pivot joints; and wherein the fastening element includes a base plate and a work plate, with the first guide arm and the second guide arm being coupled to the base plate by the separate pivot joints, and with a third guide arm of the first pivotal connection and a fourth guide arm of the second pivotal connection being coupled to the work plate by separate pivot joints.