Lift and turn drive unit

Abstract

A lift and turn drive unit, comprising a working element which may be linearly displaced and rotated relative to at least one housing element, whereby the working element is formed from at least one lifting element and at least one turning element.

Description

[0001] The present invention relates to a lifting/swiveling drive having a working element which can move rotatably and linearly relative to at least one housing element.

[0002] Lifting/swiveling drives of this kind are known commercially and are customary in diverse forms and designs. They are used in different spheres essentially for carrying out an entirely determined lifting movement, for example of a tool, with simultaneous or subsequent rotational movement in order to machine a certain workpiece or, for example, to pick up a certain object and deposit it at another location. In this case, use is made in conventional lifting/swiveling drives of, for example, disk cam mechanisms which are subject to a high degree of wear and are thereby imprecise.

[0003] Furthermore, lifting/swiveling drives of this type are very slow in operation and can therefore only be used to a limited extent during production. For example, lifting/swiveling drives of this type are used in the production of compact disks (CD) which, for the coating of the plastic carrier, have to be inserted into a corresponding device for this. This insertion has to be able to take place very exactly, precisely and very rapidly. Manufacturing devices of this type are in operation 24 hours a day and require long service lives at high velocities. The precision is considerably impaired by the wear, which is disadvantageous. The consequence of higher velocities is a higher degree of wear and a higher breakdown rate, which is undesirable.

[0004] Furthermore, lifting/swiveling drives of this type can be used, for example, as “wafer handling” in the semiconductor industry. To date, it has not been possible to realize a hollow shaft with passage possibilities to an adequate extent. The conventional hollow shaft diameters of lifting/swiveling drives are too small.

[0005] It is also disadvantageous in conventional lifting/swiveling drives that the latter are relatively large and do not have a very compact construction, which is undesirable.

[0006] U.S. Pat. No. 5,404,983 discloses a lifting/swiveling drive which is formed from two actuators connected one behind the other in series. The first actuator executes a linear movement and is coupled to the second actuator. The second actuator is an actuator which can be rotated rotatively in order to drive a shaft rotatively.

[0007] EP 0 797 587A2 relates to a lifting/swiveling drive, a rotative actuator driving an actuating rod rotatively. In order to carry out the lift, the rotative actuator is moved linearly to and fro by means of a linear actuator. In order to precisely define the linear movement, the rotative actuator is guided on a guide rail.

[0008] The present invention is based on the object of providing a lifting/swiveling drive of the type mentioned at the beginning which eliminates the above-mentioned disadvantages and with which, in particular, the precision, the velocities and accelerations of rotative and linear type is [sic] to be considerably increased along with longer service lives. Furthermore, a control of the linear and rotative movement of the working element is to be possible in a highly precise and exact manner. In addition, a lifting/swiveling drive of this type is to be universally universally [sic] producible in particular as regards its overall sizes, its overall lengths and its diameter.

[0009] This object is achieved by the features of patent claims 1 and 2.

[0010] In the case of the present invention, reference is firstly made to the functioning of the lifting/swiveling drive according to DE 100 25 351.2. The present invention differs with respect thereto in that the working element is formed from a lifting element and at least one rotational element. It is of essential importance, in the case of the present invention, that the rotational element is decoupled rotatively relative to the lifting element. At least one bearing element is inserted between lifting element and rotational element in order to ensure the decoupling.

[0011] In a first exemplary embodiment, the lifting element, in particular its lifting module, is only moved linearly to and fro relative to a housing element by means of a linear drive. A rotational sleeve, in particular designed as a rotor, sits in a rotatively decoupled manner on the lifting module via a bearing element inserted in between, the rotational sleeve of the rotational element being rotatively driveable by means of a rotational drive.

[0012] The rotational drive is seated fixedly relative to a rotational drive housing which is immobile. The rotational sleeve is therefore designed to be longer by a lifting length in order to permit a lifting balance.

[0013] In order to reduce the overall length, the lifting module can engage coaxially completely or at least partly around the rotational element, in particular the rotational sleeve or the rotational drive thereof. By this means, a short construction is realized. If, however, lifting element and rotational drive are arranged adjoining each other directly behind each other, then a long, but cross-sectionally relatively small construction can be realized.

[0014] In a second exemplary embodiment of the present invention, lifting element and rotational element are arranged next to each other and parallel and are connected to each other via a connecting plate or a support element. In this case too, the rotational element or the rotational sleeve is decoupled rotatively relative to the lifting element or the lifting module via at least one bearing element. By means of the parallel arrangement, a small overall length of the lifting/swiveling drive is likewise ensured.

[0015] In a last variant of the lifting/swiveling drive, a lifting balance of the rotational element and of the rotational sleeve is omitted in that the entire rotational element together with rotational sleeve, rotational drive and rotational drive housing is moved linearly by means of the lifting element or lifting module. In this case, the rotational drive housing which supports the rotational drive is seated on the lifting module. The rotational sleeve, which is driven via the rotational drive, is decoupled rotatively relative to the lifting element via at least one bearing element, so that the lifting element only executes the linear movement and the rotational sleeve the rotative movement. It is advantageous here that the entire length of the lifting/swiveling drive is shortened and [sic] at least one lifting length.

[0016] At least one spring element can be inserted between a base plate of the housing element and the lifting element, for the damping of the end positions.

[0017] Furthermore, a measuring system for measuring the linear and rotative movement is respectively assigned to the lifting element and to the rotational element.

[0018] Also this embodiment that the complete rotational element is moved linearly by means of the lifting element or lifting module can be arranged linearly one behind the other or arranged coaxially one inside the other in the above-described manner [sic], so that the overall length of the lifting/swiveling drive can be reduced. This is likewise intended to be included within the scope of the present invention.

[0019] Further advantages, features and details of the invention emerge from the following description of preferred exemplary embodiments and with reference to the drawing, in which

[0020] FIG. 1 shows a schematically illustrated longitudinal section through a lifting/swiveling drive with lifting element and rotational element;

[0021] FIG. 2 shows a schematically illustrated longitudinal section through a further exemplary embodiment of the lifting/swiveling drive according to FIG. 1 with lifting element and rotational element;

[0022] FIG. 3 shows a schematically illustrated longitudinal section through a further exemplary embodiment of a lifting/swiveling drive with lifting element and rotational element in a parallel arrangement;

[0023] FIGS. 4a to 4c show further longitudinal sections through further exemplary embodiments for further lifting/swiveling drives with lifting element and rotational element in different arrangements;

[0024] FIG. 5 shows a schematically illustrated plan view of one possible arrangement of a lifting element according to the lifting/swiveling drive from FIG. 1.

[0025] According to FIG. 1, a lifting/swiveling drive R2 according to the invention has a housing element 1 in which a working element 2 is mounted. The working element 2 is formed from a lifting element 3, which permits a lifting movement of a lifting module 4 relative to the housing element 1, and a rotational element 12. The lifting element 3 can be moved along an axis A linearly, as illustrated in the double arrow direction X, by means of a linear drive 5. The linear drive 5 essentially comprises at least one primary part 6, which is assigned to the lifting element 3, and a secondary part 7, which is connected to the housing element 1. Furthermore, as is illustrated in particular in FIG. 5, the lifting module 4 can be assigned a measuring system 8 which measures a linear movement of the lifting module 4 relative to the housing element 1 and, by this means, a linear movement can be exactly controlled.

[0026] Furthermore, FIG. 5 reveals that at least one linear guide 9 is arranged between housing element 1 and lifting element 3 in order to permit a linear movement of the lifting module 4 relative to the housing element 1 in an exact and precise and, in particular, play-free manner. A plurality of linear guides or the like, bearing elements, guide carriages or the like can be provided to ensure linear guidance of the lifting module 4 relative to the housing element 1. It can furthermore be seen from FIG. 5 that a plurality of linear drives 5 having primary parts 6 and secondary parts 7 in each case are provided in order to move the lifting module 4 relative to the housing element 1 linearly along the axis A.

[0027] Furthermore, the lifting module 4 can also be assigned a mass balance 10 in order to convert the motor power which is available into a higher acceleration or dynamics. It may also be conceivable, as emerges in particular in FIG. 1, to assign to the housing element 1 a plurality of end position switches 11 which are spaced apart axially from one another in order in each case to recognize a maximum lift or the end positions of the lift of the lifting element 3.

[0028] It is important in the case of the present exemplary embodiment that the rotational element 12 adjoins the lifting element 3 on the end side in a linear manner, the rotational element 12 being designed as a rotational sleeve 13. The rotational sleeve 13 or the rotational element 12 likewise lies in the axis A of the lifting element 3 and adjoins it there on the end side. The special feature of the present invention is that the rotational element 12 or its rotational sleeve 13 is connected to the lifting element 3, in particular to the lifting module 4, via a bearing element 14 arranged in between. In this manner, a rotational movement of the rotational element 12 or of the rotational sleeve 13 is decoupled relative to the lifting element 3. The lifting element 3 can be moved linearly only along the double arrow direction X which is illustrated, the rotational element 12 being arranged in a manner such that it can be rotated about the axis A. In the present exemplary embodiment, the rotational sleeve 13 is designed as a secondary part 7. The rotational sleeve 13 is at least partially surrounded coaxially by a rotational drive 15 and is fixed relative to the housing element 1. The secondary part 7 or at least part of the rotational sleeve 13 can be designed as a permanent magnet. By this means, the rotational drive 15 can be used to form a rotational motor which drives the rotational sleeve 13 rotatively about the axis A. Any desired tool can be flanged onto the end side of said rotational sleeve 13 or any desired workpiece can be held thereon.

[0029] Furthermore, a measuring system 8 can likewise be assigned to the rotational drive 15 in order to record and to control a rotative movement. In the present exemplary embodiment, the housing element 1 is of two-part design, a rotational drive housing 16 being arranged within the housing element 1 and being mounted fixedly there. Said housing element 1 is used for holding the rotational drive 15.

[0030] However, the scope of the present invention is also to include the housing element 1 being of single-piece design.

[0031] A further advantage of the present lifting/swiveling drive R1 is that the latter can be designed to be cross-sectionally very small, but has a certain length. The lift can be defined and set as desired. Lifting module 4 and rotational sleeve 13 are of a length LL and LR, respectively, which length is determined from a length L1 of the rotational drive 15 and a lifting length LH or from a length L2 of the secondary part 7 plus the lifting length LH.

[0032] If a greater lifting length LH is desired, then lifting element 3 or lifting module 4 and rotational element 12 or rotational sleeve 13 have to be correspondingly lengthened in each case.

[0033] In the exemplary embodiment according to FIG. 2 a lifting/swiveling drive R2, which corresponds approximately to the above-described manner, is shown. The difference is that the lifting module 4 at least partially engages coaxially around the rotational drive housing 16 when being raised or moved linearly, and said rotational drive housing 16 or the rotational drive 15 can be accommodated on the end side within the lifting module 4. By this means, a smaller overall length of the lifting/swiveling drive R2 in comparison with rotational element 12 is ensured by the coaxial inter-engagement or moving of lifting module 4 or lifting element 3. Although an overall width or overall cross section of the lifting/swiveling drive R2 increases, a smaller overall length can thereby be realized.

[0034] The rotational element 12 is mounted in a manner such that it is likewise rotatable, driveable and is decoupled rotatively relative to the lifting element 3 or lifting module 4 via the bearing element 14.

[0035] In the case of the lifting/swiveling drive R3, a small overall length can likewise be realized by parallel arrangement of rotational element 12 and lifting element 3, as is illustrated in the exemplary embodiment of the present invention according to FIG. 3. In this case, rotational element 12 and lifting element 3 are arranged parallel next to each other, the rotational element 12 being rotatable about the axis A in the above-described manner, and the lifting element 3 being moveable linearly about an axis B, which lies parallel to axis A, in the above-described manner by means of the linear drive 5. The end side of the lifting module 4 is adjoined by a connecting plate 17 which is connected to a support element 18 which is mounted linearly with respect to the axis A. The rotational element 12 or the rotational sleeve 13 is seated on the support element 18 as part of the lifting module 4 or lifting element 3 in a decoupled manner via the bearing element 14. In this exemplary embodiment, the measuring system 8 for measuring the rotative rotational movement of the rotational sleeve 13 adjoins the end side of the support element 18. By means of the parallel arrangement of lifting element 3 to rotational element 12, an extremely small overall length of the lifting/swiveling drive R3 can likewise be realized.

[0036] In a further exemplary embodiment of the present invention according to FIG. 4a, the rotational drive housing 16 is connected to the lifting module 4 in the case of a lifting/swiveling drive R4. By this means, the complete rotational element 12 with rotational drive 15 and rotational drive housing 16 can be raised via the lifting element 3 or its lifting module 4. A lifting balance for the rotational drive 15, as has been described in the previous exemplary embodiments, is rendered superfluous. The rotational sleeve 13 or the rotational element 12 is rotatively decoupled relative to the lifting module 4 via the at least one bearing element 14. In the above-described manner, the lifting module 4 or lifting element 3 can only move to and fro linearly along the axis A. However, the rotational sleeve 13 or the rotational element 12 can only be rotated about the axis A in the above-described manner by means of the rotational drive 15.

[0037] A spring element 19 is preferably inserted [sic] within the lifting module 4, which spring element 19 is supported on the end side at one end on the lifting module 4 and at the other end on a base plate 20 of the housing element 1 in order preferably to ensure a balancing of the masses and, in the event of, for example, a current failure, to ensure damping in particular in the end position region.

[0038] For example, in the case of a current failure, a lifting movement of the lifting module 4 toward the base plate 20 can be intercepted and damped.

[0039] FIG. 4b shows a similar exemplary embodiment of a lifting/swiveling drive R5, in which, likewise in the above-described manner, the lifting module 4, which can be moved linearly along the axis A by means of the linear drive 5, supports the rotational drive housing 16 in which the rotational drive 15 is fixedly arranged. The rotational sleeve 13 of the rotational element 12 is rotatively decoupled via the bearing 14 and can be rotatively driven by means of the rotational drive 15. The rotative measuring system 8 is seated on the lifting module 4 in the vicinity of the bearing 14. In this manner, the complete rotational element 12 with rotational drive housing 16, rotational drive 15 and rotational sleeve 13 can likewise be moved linearly via the lifting module 3 or lifting module 4. A lifting balance of the linear drive 5 is also rendered superfluous here. Furthermore, it is advantageous that the rotational sleeve 13 or rotational drive 15 is at least partially engaged over coaxially by the arrangement of the lifting module 4, in particular of the linear drive 5, so that a short and compact construction of the lifting/swiveling drive R5 can be realized in a similar manner as illustrated in the exemplary embodiment according to FIG. 2. According to the exemplary embodiment of FIG. 4a, a spring element 19 is provided, which spring element is used essentially for balancing of the masses and, for example in the event of a current failure, ensures damping of the lifting movement, in particular of the end position damping.

[0040] The strength of the mass balance 10/19 or of the spring element 10/19, which can be assigned in all of the exemplary embodiments, is designed in accordance with the installation position of the lifting/swiveling drive, and said mass balance or spring element can be omitted, for example in a horizontal installation position.

[0041] In the exemplary embodiment according to FIG. 4c, the lifting module 4 engages virtually coaxially and completely over the rotational drive housing 16 in which the rotational drive 15 is fixed in the above-described manner. The rotationally fixed linear drive 5 is provided radially between lifting module 4 and housing element 1. In the present exemplary embodiment, as in the exemplary embodiments of FIGS. 4a and 4b, the rotational drive housing 16 is coupled to the lifting module 4 and the complete rotational element 12 can be moved linearly along the axis A by means of the lifting module 4. The rotational sleeve 13 is rotatively decoupled relative to the lifting module 4 of the lifting element 3 via the bearing 14. Corresponding linear guides 9 ensure a precise extension of the lifting element 4 out of the housing element 1. By this means, an extremely short construction of the lifting/swiveling drive R5 is made possible.

[0042] The lifting modules 4 are preferably of rectangular, square or polygonal design in cross section and can only be moved linearly, all of the rotational sleeves preferably being of tubular design.

[0043] Lifting module 4 and rotational sleeve 13 are preferably designed as hollow shaft elements which ensure corresponding passages 21. In this case, lifting module 4 and rotational sleeve 13 are preferably situated in one axis. By this means, a very large passage 21, when considered cross-sectionally, for lines, electrical lines, pneumatic lines etc. can be ensured. This is of great advantage in the present invention, since lifting/swiveling drive R1 to R6 can thereby be used in a very universal manner.

List of Reference Numbers

[0044] 1 Housing element

[0045] 2 Working element

[0046] 3 Lifting element

[0047] 4 Lifting module

[0048] 5 Linear drive

[0049] 6 Primary part

[0050] 7 Secondary part

[0051] 8 Measuring system

[0052] 9 Linear guide

[0053] 10 Mass balance

[0054] 11 End position switch

[0055] 12 Rotational element

[0056] 13 Rotational sleeve

[0057] 14 Bearing element

[0058] 15 Rotational drive

[0059] 16 Rotational drive housing

[0060] 17 Connecting plate

[0061] 18 Support element

[0062] 19 Spring element

[0063] 20 Base plate

[0064] 21 Passage

[0065] A Axis

[0066] B Axis

[0067] LL Length

[0068] LR Length

[0069] L1 Length

[0070] L2 Length

[0071] LH Lifting length

[0072] R1 to R6 Lifting /swiveling drive

[0073] X Double arrow direction

Claims

1. Lifting/swiveling drive having a working element (2) which can move rotatably and linearly relative to at least one housing element (1), characterized in that the working element (2) is formed from at least one lifting element (3) and at least one rotational element (12).

2. Lifting/swiveling drive having a working element (2) which can move rotatably and linearly relative to at least one housing element (1), characterized in that the working element (2) is formed from at least one lifting element (3) and at least one rotational element (12), the lifting element (3) being decoupled relative to a rotative movement of the rotational element (12).

3. Lifting/swiveling drive having a working element (2) which can move rotatably and linearly relative to at least one housing element (1), characterized in that the working element (2) is formed from at least one lifting element (3) and at least one rotational element (12), the rotational element (12) interacting with at least one rotational drive (15) and the lifting element (3) interacting with at least one linear drive (5).

4. Lifting/swiveling drive having a working element (2) which can move rotatably and linearly relative to at least one housing element (1), characterized in that the working element (2) is formed from at least one lifting element (3) and at least one rotational element (12), the lifting element (3) and the rotational element (12) being rotatively decoupled and arranged linearly one behind the other or coaxially one in the other or at least partially parallel next to each other.

5. Lifting/swiveling drive according to at least one of claims 1 to 4, characterized in that a measuring system (8) is assigned in each case to the working element (2), in particular to the lifting element (3) and rotational element (12).

6. Lifting/swiveling drive according to at least one of claims 3 to 5, characterized in that the lifting element (3) adjoins the rotational element (12) in an axially moveable and radially rotationally fixed manner, the rotational element (12) being moveable within a rotational drive (15) rotatively relative to the lifting element (3) and the rotational drive (15) being fixed relative to the housing element (1, 16).

7. Lifting/swiveling drive according to claim 5 or 6, characterized in that lifting element (3) and rotational element (12) are arranged one behind the other in a common axis (A) or next to each other in two parallel axes (A, B).

8. Lifting/swiveling drive according to at least one of claims 1 to 7, characterized in that the lifting element (3) and/or the rotational element (12) is mounted resiliently relative to the housing element (1) by means of at least one energy-storing element (10/19), in particular spring element, in particular in order to realize a balancing of the masses and therefore for relieving the load on the linear drive (5).

9. Lifting/swiveling drive according to at least one of claims 1 to 8, characterized in that the rotational element (12) is assigned a rotational sleeve (13) and the latter is assigned a rotational drive (15), the rotational sleeve (13) being moveable linearly and/or rotatively relative to the rotational drive (15).

10. Lifting/swiveling drive according to claim 9, characterized in that the rotational sleeve (13) is designed as a secondary part (7) of the rotational drive (12).

11. Lifting/swiveling drive according to at least one of claims 3 to 10, characterized in that the rotational drive (15) is connected fixedly to a rotational drive housing (16) or housing element (1).

12. Lifting/swiveling drive according to at least one of claims 9 to 10, characterized in that the rotational drive (15) is arranged within and/or outside the rotational sleeve (13), and the rotational sleeve (13) is moveable linearly and rotatively relative to the rotational drive (12).

13. Lifting/swiveling drive according to at least one of claims 3 to 9, characterized in that the lifting element (3) has a lifting module (4) which is assigned at least one linear drive (5), the lifting module (4) being moveable axially relative to the linear drive (5).

14. Lifting/swiveling drive according to claim 13, characterized in that the linear drive (5) is fixed relative to the housing element (1), and the lifting module (4) is arranged within and/or outside the linear drive (5).

15. Lifting/swiveling drives according to at least one of claims 1 to 14, characterized in that the lifting element (3) is adjoined by a rotational drive housing (16) in which the rotational drive (15) is arranged, the rotational element (12), in particular the rotational sleeve (13), being decoupled rotatively relative to the lifting element (3), in particular relative to a lifting module (4), via at least one bearing element (14), and the rotational element (12) being movable linearly by means of the lifting module (4).

16. Lifting/swiveling drive according to at least one of claims 13 to 15, characterized in that the lifting module (4) is designed as a tubular element, rectangular tube, square tube, polygonal tube or the like, which is assigned at least one linear guide (9) and at least one linear measuring system (8).

17. Lifting/swiveling drive according to at least one of claims 1 to 16, characterized in that rotational elements (12) and lifting module (4) are designed as hollow shaft elements and form an axial passage (21).