EP0513260A1

EP0513260A1 - Device for controlling at least one attachment.

Info

Publication number: EP0513260A1
Application number: EP91919534A
Authority: EP
Inventors: Juergen Kulle
Original assignee: Individual
Current assignee: Individual
Priority date: 1990-11-15
Filing date: 1991-11-13
Publication date: 1992-11-19
Anticipated expiration: 2011-11-13
Also published as: LTIP1601A; CZ251492A3; CZ280340B6; SK279800B6; KR920703935A; KR100199255B1; WO1992008850A2; DE59105879D1; JP2958924B2; WO1992008850A3; SK251492A3; US5625967A; PL295550A1; RO108710B1; LT3788B; PL168755B1; ATE124486T1; RU2046885C1; UA48103C2; JPH05503333A

Abstract

PCT No. PCT/EP91/02136 Sec. 371 Date Jul. 15, 1992 Sec. 102(e) Date Jul. 15, 1992 PCT Filed Nov. 13, 1991 PCT Pub. No. WO92/08850 PCT Pub. Date May 29, 1992A device for guiding at least one tool or auxiliary device has a base part, at least one boom articulated with the base part in an articulation and having at least two members connected with one another by a connection and also having an end supporting the tool. The connection of the members with one another and the articulation at the base part have hinge points formed for swivelling movements in at least one plane. At least two elements accommodate the at least two members and fastened to one another by pivot connections situated between the hinge points.

Description

DESCRIPTION

Device for guiding at least one tool

This device can, for example, be an excavator, on the boom of which a digging tool, e.g. a backhoe combination is attached.

From EP AI 0318 271 AI and DE 38 43 753 AI excavators with booms are known, each of which consists of a basic boom articulated to the vehicle, an intermediate boom and a stick carrying a digging tool. All parts of the boom are connected to one another via articulation points, wherein either the basic boom can be rotated about a horizontal axis relative to the vehicle or the intermediate boom is rotatably articulated with respect to the latter via a rotary connection, the axis of which essentially extends in the longitudinal direction of the basic boom is. Excavators with cantilevers are known from FR-GM 2 333 416, US Pat. No. 3,463,336, US Pat. No. 4,274,797 and JP-A-56-95637, the respective excavator arms of which consist of a basic cantilever which is straight or can also be angled and consist of a stick carrying a digging tool. The basic boom and arm are connected to one another via a joint, the pivot axis of which is oriented perpendicular to a plane defined by the arm and the basic arm. In addition, in the structure of the boom rotary connections are provided, according to which the arm can be rotated with respect to the basic arm about an axis which is fixedly arranged with respect to the basic arm, in which the arm can be rotated about an axis which is essentially in the direction of the The longitudinal axis of the stick extends, or the basic boom is rotatable relative to the vehicle about a vertical vertical axis fixed to the vehicle, or the basic boom is designed in two parts, the part carrying the stick being rotatable relative to the other part about an axis which is in the direction of the Longitudinal axis of the latter part of the basic boom runs.

DE-OS 31 42 100 discloses an excavator with a boom, the excavator arm of which consists of a basic boom, an intermediate boom and a stick carrying a digging tool, the basic boom being formed in two parts and the part of the basic boom facing the intermediate boom being on both sides Rotary connections are articulated so that the intermediate boom and the arm can be pivoted in a plane running parallel to the longitudinal axis of the vehicle.

From DE-OS 21 53 468 a linkage of the intermediate boom of an excavator boom to the basic boom is known, according to which the intermediate boom by two to each other vertical axes is pivotable relative to the basic boom.

Finally, from "DIE BAUWIRTSCHAFT", Issue 33, 12.08. 1971, page 1158 known an excavator boom, the stick is telescopic.

The essential feature of all these known excavator arm booms is an articulated design of the boom which is adapted to the respective particular intended use, optionally with the additional use of a rotating connection. With these booms, the tasks set for them can be solved. Problems arise, however, if a conversion according to a different digging tool is required and an increased mobility of the end point of the boom carrying the tool with respect to the vehicle is necessary.

It is the object of the invention to design a device of the type described in the introduction in such a way that there is increased flexibility in the movement of the boom and this is particularly suitable for guiding different tools and other devices. This object is achieved in a generic device by the features of the drawing part of claim 1.

It is therefore essential to the invention that, in addition to the pivotable articulation of the individual links of the boom to one another on the one hand and to the base part on the other hand, at least two of the links are subdivided into elements which are fastened to one another by means of rotary connections. In connection with the known pivoting movements of the links relative to the base part or relative to one another, The degree of mobility of the end point of the boom that supports the tool. The base part can be, for example, the vehicle of an excavator, a crane or the like. However, it can also be an industrial robot or a comparable device, which is used in stationary or mobile use for handling tools of the most varied types. The type of tool used is basically arbitrary - its connection to the boom should be as simple as possible, so that an uncomplicated change is possible if necessary.

The features of claims 2 to 4 are directed to Ausgestaltun¬ gene of the rotary connection. These can in principle be arranged at any position on the boom, in particular also in the area of its articulation on the vehicle and can be structurally combined there with its pivotable articulation. In addition, the angle of inclination of the axis of the rotary connection can also be designed to be adjustable with respect to a reference plane, for example the vehicle base plane.

The rotary connections should in principle be designed such that at least a rotation through 360 ° is possible. In some cases, however, smaller rotation or swivel angles are sufficient. Thus, it is provided according to the features of claim 5 to improve the already existing pivotable linkages of the links of the boom in such a way that pivot linkages about several axes which extend parallel to adjacent cross-sectional planes of the boom part are constructively combined.

Every slewing ring and every additional swivel Steering is assigned an independently controllable drive according to the features of claim 6. This drive is preferably designed as a hydraulic drive. However, it can also be an electric drive. A linear drive, for example a piston-cylinder unit, but also a rotary drive can be considered as the drive

The features of claim 7 are directed to an embodiment in which the mobility of the boom relative to the base part is realized by a special articulation of the boom in connection with two piston-cylinder units which can be acted upon differently but in a controllable manner. Both piston-cylinder units have a common articulation point on the boom, but separate articulation points on the base part, so that pivoting movements of the boom in two mutually perpendicular planes are possible by controlling the piston-cylinder units. All articulation points or articulations, including those of the boom on the base part or a rotary connection attached there, are designed as ball or cardan joints.

The features of claims 8 and 9 are directed to a further embodiment of the end of the boom carrying the tool. Thus, one or more additional arms can be articulated to this part of the boom, which in turn are structured and are equipped with different, motor-controlled drives for pivoting or rotating the individual links of the respective additional arm. Embodiments of this type are advantageous for industrial robots, but also for other applications wherever there is an interaction or action of several different tools goes to the same object or workpiece.

The features of claims 10 to 12 are directed to different forms of the constructive combination of pivoting and rotating movements. Swiveling movements are to be understood here to mean movements whose axes run in adjacent cross-sectional planes of the boom, whereas rotational movements are always those whose axes run perpendicular to adjacent cross-sectional planes of the boom.

According to the features of claim 13, the boom, in particular its elements, can be made telescopic. The same applies to the link elements of the additional arm / arms. In particular, the combination of several Drehverbinduπgen with the telescopic training infeed improved ^'between the tool and the place of its action on an object.

An advantageous possibility for controlling and supplying power to the tool lies in a corresponding hydraulic system - however, other systems, including electrical ones, can also be considered, whereby according to the features of claim 14, a cable pull system is additionally added to the boom ¬ bring so that a tractive force is made available in the area of the end point of the boom, which can be implemented in any manner. This cable pull system or possibly also an electrical system can be used alternatively or cumulatively. Land vehicles can be road vehicles, but also rail-bound vehicles. In particular, mobile or chain excavators, ship excavators, ship cranes, tractor backhoe loaders, forklift trucks, wheel loaders, chain dozers, motor graders, wood-backing machines come into consideration. Access harvesters, mobile cranes, holds, special vehicles, etc.

The features of claims 16 to 19 are directed to different forms of training of the base part, with mobile, but also stationary forms of interest.

According to the features of claim 20, the base part is equipped with at least one, preferably displaceably arranged balance weight to compensate for tilting moments. This measure, which improves the stability of the device, is particularly important in the case of telescopic booms. However, it also opens up advantageous effects and connections with the rotary connections alone. The displaceable balance weight is expediently connected to a system for detecting the current load condition, via which the position of the balance weight can be controlled. In an excavator, the balance weight is preferably arranged on the superstructure, which is rotatably mounted relative to the chassis.

The features of claim 22 are directed to a further embodiment of the boom, in particular the condition of the tool. It can be seen that a very large number of different tools can basically be used and the fastening devices attached to the end of the arm are designed accordingly. The base part also fulfills the task of a depot and a supply device for coolants, lubricants and other operating materials such as Compressed air.

The features of claims 23 to 28 are based on the structural design of the slewing rings directed. In any case, these must enable the parts of the boom to be swiveled rapidly relative to one another, even under load, and must be as free of play as possible in predetermined rotational angle positions.

Angle measuring devices, in particular in connection with length measuring devices, which are used in each case for the detection of twist angles and the position of telescopic connections of parts of the boom, can serve in particular in conjunction with a superimposed control for the automatic detection of unfavorable load conditions. From a control point of view, this recognition can be converted into a method of counterweights, the initiation of other measures to increase the safety against tipping, etc.

The invention will be explained in more detail below with reference to the exemplary embodiments schematically illustrated in the drawings. Show it:

Fig. 1 to 5 embodiments of different embodiments of the excavator arm of a backhoe excavator;

6 to 9 different embodiments of excavator arms according to the invention with additional tools;

10 shows an embodiment of an excavator arm suitable for attaching a drilling device;

11 shows a sectional illustration of a first exemplary embodiment of a rotary feedthrough intended for use in an excavator arm according to the invention;

12 shows a sectional illustration of a further exemplary embodiment of a rotating union intended for use in an excavator arm according to the invention;

13 shows a front view of the handle of an excavator arm according to the invention, which is set up for attaching further tools;

14 is a side view of the handle according to FIG. 13.

15 is a side view similar to FIG. 14 of a modified embodiment of a stem;

16 shows a front view of a chassis of an excavator;

17 is a plan view of a landing gear according to arrow XVII of FIG. 16. 18 shows a view of a further embodiment of the device according to the invention;

19 shows a sectional illustration of another embodiment of a rotary feedthrough to be used according to the invention;

20 shows a view of a tool arranged on an additional arm;

21 shows a plan view of another tool attached to an additional arm;

Fig. 22 is a view of the tool according to a plane XXII-XXII of Fig. 21;

23 is a partial view of the device according to arrow XXIII of FIG. 18;

24 is a top view of another tool attached to an auxiliary arm;

Fig. 25 is a plan view of a tool similar to the subject of Fig. 24 attached to an auxiliary arm.

1 in Fig. 1, the vehicle of an excavator is referred to globally, which in a known manner consists of a crawler track 2, on which a chassis 3 carrying all the drive and control units is rotatably supported about a vertical axis 4. However, the nature of the vehicle, which also includes a hydraulic system, will not be discussed in more detail below. The vehicle can in particular also be any other for example, also act with a vehicle equipped with a different chassis.

An excavator arm 6 is pivotally mounted on the vehicle 1 about an axis 5 extending perpendicular to the drawing plane of FIG. 1 and consists of a basic boom 7 articulated on the vehicle 1, on the one hand of which a digging tool 8, here a shovel carrying handle 9 is arranged. The arm 9 can be pivoted relative to the basic boom 7 about an axis 10 extending perpendicular to the plane of the drawing in FIG. 1.

For pivoting the basic boom 7 about the axis 5 and for pivoting the arm 9 about the axis 10, paired piston-cylinder units 11, 12 are provided, which are connected to the hydraulic system of the vehicle in a manner not shown in the drawing.

The basic boom 7 is angled and, like the stick 9, is divided into two parts, each of which is connected to one another via a rotary connection 13, 14 to be described in more detail below. Each of these rotary connections enables the parts connected to one another to be rotated by at least 360 and is provided with a special rotary drive and locking devices in order to fix discrete rotational angle positions of the parts.

15 denotes the axis assigned to the rotary connection 13 and 16 denotes the axis assigned to the rotary connection 14. The rotary drives assigned to the rotary connections 13, 14 are preferably designed as hydraulic Electrical drives are formed and are connected to the hydraulic system of vehicle 1. It can be seen that the rotatability of the two parts of the base boom 7 and stick 9, realized in this sense, provides a variety of positioning and thus possible uses of the digging tool 8.

In the exemplary embodiment shown, the digging tool 8 is designed in the usual way and can be pivoted about an axis 18 extending perpendicular to the drawing plane of FIG. 1 via a piston-cylinder unit 17.

2 to 5, functional elements which correspond to those of FIG. 1 are also numbered in accordance, so that a repeated description in this regard can be dispensed with.

The excavator arm 19 shown in Fig. 2 differs from that according to Fig.l only in that the basic boom 20 is again divided into two parts, which are connected via a rotary connection 13, which is associated with the axis 15, but directly adjacent to the rotary connection 13 - with this largely combined structurally - a further rotary connection 21 is provided, to which the axis 22 is assigned. This means that, in accordance with the two mutually perpendicular axes 15, 22, the end point of the base boom 20 facing away from the axis 5 can additionally be pivoted about the axis 22, which opens up even more extensive delivery options for the digging tool 8. This double rotary connection, characterized by the axes 15, 22, can alternatively or simultaneously be provided in the handle 9. The excavator shown in FIG. 3 differs from that according to FIG. 2 only in the nature of the excavator arm 22. In addition to the rotary connection 13, to which the axis 15 is assigned, the latter has a further rotary connection 23, which the Rotary connection 13 is arranged immediately adjacent, whose axis 24 extends perpendicular to the axis 15. The rotary connection 23 is characterized by a fork-shaped receptacle in which the part 25 of the basic boom 26 can be pivoted about the axis 24 relative to the part 27 thereof. Piston-cylinder units 28 arranged on both sides of the axis 24 serve for pivoting. This double rotary connection, characterized by the axes 15, 24, can alternatively or simultaneously be provided in the arm 9.

The excavator arm 6 of the excavator shown in FIG. 4 corresponds to that of FIG. 1 with the exception of its base point linkage. This is characterized by a rotary connection 29, to which the axis 30 is assigned. The swivel connection 29 forms a base for the articulation of the base point of the excavator arm 6, which can be rotated about the axis 30 by at least 360 °. The latter articulation is characterized by a universal joint 31 and it is the universal joint 31 which is also associated with the rotary connection 29 articulated piston cylinder units 11 in turn articulated on both sides via universal joints 32, 33. This means that the excavator arm 6 can be pivoted relative to the rotary connection 29 in two mutually perpendicular planes and thus in particular can be tilted sideways, in addition to the rotatability given by the rotary connection 29 relative to the axis 30. For safety reasons, however, the driver's cab 34 should be offset at point 35 in this case. A particularly advantageous constellation arises if the piston-cylinder units are simultaneously articulated to the articulation point 34 of the boom. In conjunction with the fact that the piston-cylinder units can be acted upon independently of one another, the boom can be swiveled in two mutually perpendicular planes.

FIG. 5 shows an excavator with an excavator arm 6, the base point linkage of which differs from the embodiment according to FIG. 4 in that a further rotary connection 36 is provided, the axis 37 of which extends parallel to the axis 4, thus perpendicularly with a flat standing surface . The swivel connection 29 is connected to this swivel connection 36, the articulation of the part of the basic boom facing the swivel connection 29 not being shown in the drawing in the exemplary embodiment shown. However, it can basically be designed similarly to that according to FIG. 4.

It can be seen that due to the now four-axis control possibility of the individual links of the excavator arm when the vehicle 1 is stationary, there are various possibilities of maneuvering for the digging tool 8.

In the excavators shown in FIGS. 6 to 9, which differ from those in FIGS. 1 to 5, functional elements which correspond to those of the former are also numbered in accordance.

FIG. 6 shows an excavator, the vehicle 38 of which has been given a special design to increase its stability against tilting moments caused by the excavator arm 39. The vehicle is closed For this purpose, it is provided with a counterweight 40 which can be moved in a straight line in the direction of the arrows 42 by a piston-cylinder unit 41. The compensation weight 40 is located at the end of the vehicle 38 which is remote from the articulation of the excavator arm 39 and is displaced in the direction of the arrows 42 in accordance with the load on the excavator arm 39 to compensate for tilting moments. In principle, several such counterweights 40 can also be provided.

The basic boom 43 is in turn kinked and characterized by a rotating union 13 with an axis 15 in a central section. In addition to this, however, the parts on both sides of the rotary feedthrough 13 are designed to be telescopic, the telescopic sections which are inserted into one another preferably being extended hydraulically. A further pivoting possibility about the axis 24 by means of piston-cylinder units 28 is arranged adjacent to the rotating union 13. In this respect, this embodiment corresponds to that according to FIG. 3.

In a further embodiment, the stem 9 is also telescopic below the rotary connection 14, and is preferably designed to be hydraulically telescopic, namely in the direction of the axis 16.

The tool shown in FIG. 6, attached to the handle 9, is a gripper unit 44 which can be actuated in a manner known per se and is used, for example, to encompass heavy objects such as tree trunks. However, an additional arm 45 is arranged on the lower part of the handle, which can be pivoted relative to the handle 9 about an axis 46 perpendicular to the plane of the drawing in FIG. 6. The auxiliary arm 45 is from two to one further axis 47 perpendicular to the plane of the drawing composed of links pivotable relative to each other, the outer one of which carries a saw blade 48. With 49 is one that designates a protective device surrounding a peripheral half of the saw blade, whereas 50 denotes a few runners that have a spherical peripheral surface, rest on the surface of the saw blade 48 in the peripheral area and serve to dampen vibrations.

Particularly advantageously may be added to the base point of the rfahrbar Zusatzarms 45 which gekeπn- by pivoting about the axis 46 ^'relative to the handle in the direction of axis 16 is characterized ^ve,', for example in a carriage. In addition, the base can be characterized by a telescopic attachment to the handle perpendicular to the plane of the drawing.

51 with a rotary connection is identified, which forms the link between the excavator arm 39 and the vehicle 38 and enables rotation of the excavator arm about the axis 52. In addition, the angular adjustment of the axis 52 can be designed to be variable via piston-cylinder units 53.

FIG. 7 shows a modification of the excavator arm 39 insofar as the break point of the basic boom 43 is now identified by a joint, the axis of which extends perpendicular to the plane of the drawing in FIG. 7 and is designated by 54. A piston cylinder unit 55 is provided for pivoting about this axis 54. In connection with a base point articulation of the boom on the vehicle or base part via a rotating connection, there are thus many possible variations in feed movements for the end of the boom. 8 shows a shape of a vehicle 54 insofar as it is composed of two parts which are connected to one another via a joint. With 55 the joint is designated, which has a vertical pivot axis.

6 and 8 each designate 56 with additional gripping members which are designed and intended for handling heavy objects.

Each of the two parts of the vehicle 54 is otherwise equipped with a crawler track 57, 57 *. However, the principle to be described below can basically be applied to any articulated or other mobile excavator.

The excavator arm 58 has a base point linkage which corresponds to that of FIG. 6, so that a repeated description in this regard can be dispensed with.

The excavator arm 58 is characterized by a basic boom 59, an intermediate part 60 and a stick 9, the intermediate part 60 consisting of a series of each

Articulated points which are connected to one another and which are composed of links 61 which are of essentially identical design. A piston-cylinder unit 62 is in turn assigned to each articulation point and the axes of all articulation points 63 extend perpendicular to the plane of the drawing in FIG. 8.

In the exemplary embodiment shown, the links 61 can be subdivided into two groups, which are connected to one another via a rotary connection identified by the axis 64, this rotary connection in turn a piston cylinder unit 65 is assigned.

The stem 9, which in turn is formed in the direction of the axis 16 is telescopic, unit by a Greifer¬ 44 and in an additional arm 45, its kinematic connection to the stem of the auxiliary arm 45 corresponds to FIG. 6 ^(> and here with respect to a chainsaw 66 wears.

The essential feature of the excavator shown in FIG. 9 is an excavator arm 67, which consists of a basic boom 68, an intermediate part 69 and a stick 70. At least one ^'of these three members, namely, basic boom, Zwi¬ rule part or stem are constructed telescopic. All of these three parts are connected to one another via articulation points 71, with a piston cylinder unit 72 being assigned to each articulation point.

73 designates rollers which are intended to interact with a motor-driven winch 74, which winch is accommodated on the vehicle 75. The cable winch 74 serves to provide an additional pulling force in connection with a cable wind wheel 76 which is attached to the stick 70. The tensile force made available via the cable winch 74 can be converted into mechanical work in any way, but this will not be discussed in more detail.

An excavator equipped in the sense of FIG. 9 can be used particularly advantageously as a carrier of a drilling device 77 (FIG. 10), the boom with several bearings or drill guides and a rotary drive for the to guide the drill rod 78 Boring bars 78 can be equipped. At the same time, a magazine 79 for boring bars can be placed on the rear part of the vehicle 75 or other tools can be accommodated.

In order to increase the variability, the lower drill guide, designated 78 ′, can also be attached to the intermediate part 69.

11 shows a first exemplary embodiment of a rotary connection, which is based on the connection of a first part 79, for example the end of the basic boom of an excavator arm facing the vehicle 1, 38, 54 or 75 and a part 80 which adjoins the part 79 and opposite the former is rotatable by motor about an axis 81 and can be locked in any angular position.

Both parts 79, 80 are designed as hollow structures and can optionally be provided with struts. The hollow constructions can be polygonal in cross section, but also circular or in some other way.

Denoted at 82 is a mounting plate attached to the front end of part 79. The fastening plate 82 is located on the outside of the part 79 at its end and is connected to this part in a manner not shown in the drawing.

The inner ring 83 of a roller bearing, which surrounds the axis 81, is fastened to the fastening plate 82.

A circular ring plate 84 is also attached to the fastening plate 82, in such a way that it projects into the cross section of the part 79. The annular plate 84 is screwed to the mounting plate 82, as indicated at 85.

The annular plate 84 serves, inter alia, as a carrier 86 for brake devices which cooperate with a brake disk 87 in a manner to be described.

The circular ring plate 84 also serves on its side facing away from the carrier 86 to attach a device comprising a multi-disc brake 88 via a circular plate 89, the latter being screwed to the circular ring plate 84. The multi-disc brake 88 extends within the part 79.

With 90 is a, with the end, the part 79 facing end fixedly connected fastening plate which carries on its outside an outer ring 91 forming a roller bearing 92 with the inner ring 83. The outer ring 91 is screwed to the fastening plate 90, as indicated at point 93. The roller bearing 92 formed in this way can be designed as a crossed roller bearing or a comparable bearing.

On the fastening plate 90, namely on its side facing the part 79, there is also a circular plate 94 which is screwed to the fastening plate 90. The circular plate 94 extending perpendicular to the axis 81 carries - and coaxially to the axis 81 - a shaft 95, which is firmly connected to the circular plate 94 and thus to the part 80. The brake disc 87 is supported on the shaft 95 via a spline toothing or the like, and the extension of this shaft 95 also projects into the multi-disk brake 88, in such a way that a group of disks are connected to the shaft 95 in a torsionally rigid connection. The multi-disc brake 88 can be actuated in a conventional manner in that the multi-plate group rotating with respect to its housing with the shaft 95 is axially displaced with respect to a multi-plate group which is firmly connected to the housing thereof in order to be able to apply the required braking torque. However, the actuation and the more precise nature of this multi-disk brake 88 will not be discussed further.

96 with a piston cylinder unit is attached to the part 79, namely the outside thereof, the piston of which is connected to a locking bolt 97 which is intended for insertion into bores 98 which hold the fastening plate 82, the inner ring 83, on the Part 99 attached to outer ring and penetrate mounting plate 90. After the inner ring 83 is connected to the part 79 and the outer ring 91 is connected to the part 80 via the fastening plate 90, an inserted locking bolt 97, which completely penetrates the bore 98 mentioned, prevents the parts 79, 80 from rotating relative to the axis 81. As a rule, several such locking devices equipped with piston-cylinder units 96 are provided in a uniform circumferential distribution.

The outer ring 91 is provided with an external toothing 100 which is in engagement with the pinion 101 of a transmission 102, which in turn is connected to a motor 103, preferably a hydraulic motor. The gear 102 and the motor 103 form a structural unit which is attached to the side of the fastening plate 82 facing away from the inner ring 83, ie is screwed to this fastening plate 82 here. One can also be structurally combined with the transmission 102 further braking device 104 in the manner of a multi-disc brake. Finally, 105 denotes a parking brake which acts directly on the pinion 101.

It can be seen that the system shown in FIG. 11 is equipped with different braking devices, namely multi-disc brakes 88, 104 and a disc brake, which is formed by the carrier 86 in connection with the brake disc 87. To lock the angle of rotation of the part 80 relative to the part 79, two different holding devices are also provided, namely a system of locking bolts 97 that can be actuated via piston-cylinder units 96 and a parking brake 105. with which there are optimal possibilities not only for a very quick and effective braking, in particular under load, but also for a practically backlash-free fixing of the parts 79, 80 relative to one another, in spite of the tolerances that are unavoidable in gearboxes. It can also be seen that after the end of a twisting mechanism by means of the motor 103, the parts 79, 80 can be locked in the respective rotational angle position without the motor 103 being involved.

12 shows a further exemplary embodiment of a rotary connection, which is explained on the basis of the connection of two parts 79, 80, 81 being the axis of the rotary connection. At the front end of the part 79 there is a fastening plate 106 protruding radially from the outside thereof, which with the part. 79 is in a fixed connection not shown in the drawing. Attached to the fastening plate is an annular plate 107, which is continued at its radially outer end in a cylinder part 108 which extends coaxially to the axis 81 and on its radially inner side in a cylindrical guide part 109 which likewise runs coaxially to the axis 81 . The cylinder part 108, the circular ring plate 107 and the guide part 109 can be formed in one piece - however, these parts can also be formed as individual parts which are fastened to one another in a suitable manner. Instead of a cylindrical guide part 109, a cross-section that is polygonal or otherwise can also be provided.

The cylinder part 108 is provided on its radial inside with teeth 110, the meaning of which will be discussed in more detail below.

111 denotes a circular ring plate which is in fixed connection with the front end of the part 80 and projects radially from the outside thereof. The connection between the annular plate 111 and the part 80 can in principle be of any design.

The circular ring plate 111 carries on its axial side facing the part 79 the outer ring 112 of a roller bearing 113, the mode of operation of which will also be explained in the following. The outer ring 112 is fastened in a suitable manner to the circular ring plate 111, a screw connection is indicated at point 114 in the exemplary embodiment shown. The outer ring 112 has a toothing on its radial outer side which is in engagement with the toothing 110 of the cylinder part 108.

115 denotes a circular plate attached to the side of the circular ring plate 107 facing away from the fastening plate 106 and which is screwed to the circular ring plate 107. The circular plate 115 extends coaxially to the axis 81 and carries the inner ring 116 of the roller bearing 113 at its radially outer regions. The roller bearing 113 can in turn be designed as a crossed roller bearing or as another roller bearing.

On the side of the circular plate 115 facing the part 79, a motor 117, preferably a hydraulic motor, is mounted, the output shaft 118 of which penetrates a bore of the circular plate 115 that is coaxial with the axis 81 and via a gear 119 with a pinion, which is in turn fastened to the circular plate 115 120 is connected, which is located in a radially outer region. The outer ring 112 has a lateral section 121 which is provided with an internal toothing which is in engagement with the pinion 120.

The motor 117 serves to rotate the parts 79, 80 relative to one another about the axis 81.

With 122 an Winkelmeßiπrichtung is designated, via which the angle of rotation of the parts 79, 80 can be detected, the meaning of which will be discussed in the following.

The drive connection can be used to twist the parts 79, 80, in deviation from the above exemplary embodiments, also take place via the inner ring of a roller bearing 91, 113.

With 123 is a cylindrical guide tube, which is attached at one end to the annular plate 115 and which carries a bracket 124 at its other end. The guide tube 123 is guided in a non-rotatable manner within the guide part 109 via a dovetail guide or comparable functional elements and the latter is provided with slot-like cutouts which are penetrated by a web-shaped central part of the holder 124, the radially outer part of which is designed in the manner of a circular ring ¬ det, whose ring body has an angular shape in cross section and is guided on the outside of the guide part 109. The holder 124 forms an axially extending annular groove 125, which serves to receive a spring element 126 which surrounds the guide part 109, abuts the holder 124 at one end and the annular plate 107 at its other end. When the guide tube 123 is displaced relative to the guide part 109 in the direction of the arrow 127, the spring element 126 thus acts as a return spring.

128 denotes a coupling device, via which the central part of the holder 124 is connected to the piston of a piston cylinder unit 129. The piston-cylinder unit 129 is accommodated in a frame 130, which is arranged in a stationary manner with respect to the part 79 and is screwed to the latter, for example, via holding elements 131, which at the same time exert a stiffening effect against torsional stress. In the position of the two parts 79, 80 shown in FIG. 12, they are connected to one another in a torsionally rigid manner via the toothing 110, whereby a possible one by means of the motor 117 in connection with the gear 119, the pinion 120 and the internal toothing of the inner ring 112

Game is bridged in the region of the toothing 110. To rotate the part 80 relative to the part 79, by pressurizing the piston-cylinder unit 129 via the coupling device 128, the holder 124, the guide tube 123, the circular plate 115 and the roller bearing 113 are displaced in the direction of the arrow 127, counter to the restoring force of the spring element 126. This displacement takes place to such an extent that the engagement of the toothing of the outside of the outer ring 112 and the inside of the cylinder part 108 is released, so that in consequence the motor 80 and the pinion 120 change the part 80 with respect to the part 79 the axis 81 can be rotated. If the final twisting position is reached in this way, which is recognized with the cooperation of the angle measuring device 122, the piston-cylinder unit 129 is depressurized, so that under the influence of the spring element 126 the toothing engagement between the outside of the outer ring 112 and the inside of the cylinder part 108 is restored. With the aid of the angle measuring device 122, fine alignment of the toothing profiles of the outer ring and the cylindrical part to be brought into engagement with one another can also be carried out in a simple manner, in particular an alignment of successive tooth flaps or tooth gaps, so that damage to the toothing profiles is damaged be prevented as a result of the engagement or disengagement.

13 to 15 each show special configurations of the lower arm part of an excavator, in particular its equipment with additional elements.

13, 132 denotes the lower part of a stick, the digging tool 133 of which, in addition to the associated hydraulic actuation, is only indicated. Instead of a digging tool 133, any other common tool, e.g. a gripper member may be provided. A rotary connection can in turn follow at point 134.

With 135, an additional arm articulated via a hinge point 136 to the part 132 is designated, whereby for the

Swiveling of the additional arm 135, a piston-cylinder unit 137 is provided. The additional arm 135 carries a roller 138 at its end facing away from the articulation point 136 and the additional arm 135 is functionally comparable to the additional arm 76 * carrying the roller 76 according to FIG. 9.

A carriage is designated by 139 and is slidably received in a dovetail guide 140 which extends in the longitudinal direction of the stem 132. A motor 141, which is operatively connected to a chain drive 142, serves to drive the carriage 139 along the Schwalbeπschwaπzführung 140. The chain drive 142 is designed as a revolving chain which is connected to the slide 139. Instead of a chain drive, a spindle drive can also be provided.

The carriage 139 carries a telescopic arm 143, which is preferably hydraulically telescopic perpendicular to the plane of FIG. 13. However, the telescopic arm 143 can also be pivoted on the carriage 139, the pivoting angle again using a Piston cylinder unit is adjustable.

A cantilever arm 144 adjoins the telescopic arm 143 and carries a chainsaw 145 at its end remote from the telescopic arm 143. 146, 147 schematically designate a motor that drives the chainsaw and a gear unit assigned to it. The chain saw 145 together with the motor gear unit 146, 147 can also be connected to the extension arm 144 using a rotary connection, the axis of which runs perpendicular to the plane of the drawing in FIG. 13. Finally, the cantilever arm 144 can in turn also be designed to be telescopic, so that the distance between the motor 146 and the arm 143 can be changed.

FIG. 14 shows a side view of an embodiment of a cantilever arm 144 together with tools and linkage on the lower part 132 of a stick corresponding to FIG. 13. The telescopic arm 143 can in turn be moved in the direction of the arrows 148 by means of the chain drive 142 via a slide, not shown in the drawing. The point of articulation of the cantilever arm 144 on the telescopic arm 143 can be moved in the direction of the arrows 149 by telescoping the latter. In addition, the cantilever arm 144 is rotatable about the axis 150 by at least 360 °. The latter purpose is served by a motor 151, preferably a hydraulic motor, which is structurally combined with a brake device, for example with a multi-disc brake, and in turn is attached to a fastening plate 152. The mounting plate 152 in turn forms the end member of the telescopic arm 143 and is in fixed connection with it. At the same time, it carries the inner ring 153 of a rolling bearing 154, the outer ring of which is fixedly connected to the cantilever arm 144 and is provided with an outer toothing which is provided with a pinion 154 arranged on the output shaft of the motor 151 is engaged.

With 156 a mounting plate is designated, which is located at the end of the cantilever arm 144 facing away from the axis 150 and is in a fixed connection therewith. The outer ring 157 of a roller bearing 157 ', the inner ring of which is designated 158, is fastened to the fastening plate 156, namely on its side facing the part 132. The inner ring 158 is firmly connected to a further fastening plate 159, to which a motor 160, which extends within the inner ring 158, is attached, on the output shaft of which there is a pinion 161, via which the drive of a chainsaw 162 he follows. The motor 160 can in principle be of any design and in particular with a braking device, e.g. be structurally combined with a multi-disc brake.

A gear rim is designated by 163, which is attached to the side of the ring 58 facing away from the mounting plate 159 and is operatively connected to the pinion 164 of a motor 165, which in turn is attached to the extension arm 144. 166 is again a braking and locking device. The motor 165 can in principle be of any type, but is preferably designed as a hydraulic motor, for example as an axial piston motor. It can be seen that the motor 165 can rotate the chain saw 162 about the axis 167. The chain housing in the area of the sprocket 61 is designated by 168 and 169 εinε spray nozzle for oil or another lubricant. Instead of the nozzle 169, another spraying device can be provided, for example a spraying device for a coolant, for water, etc. The latter is exemplary required for diamond saw blades, which can be provided instead of the chainsaw 162. The spray device is connected to a supply device which is not shown in the drawing.

It can be seen that with additional equipment of the handle part according to FIGS. 13 and 14 numerous additional work processes can be carried out, for example in forestry, where a tree can be gripped by means of a gripping element and it can be felled by the saw, and to the greatest possible extent, while respecting safety aspects and avoiding damage to other trees as a result of the felling process. The device according to the invention can thus also be used in agriculture and forestry, and e.g. be designed as a wood-backing machine or engagement harvester.

Basically, however, a large number of different tool or handling devices can be attached to the arm in the area of the stick, where it is all about the precise control of delivery movements starting from a fixed point.

The embodiment shown in FIG. 15 largely corresponds to that according to FIG. 14. In addition, however, the connection between the telescopic arm 143 and the part 132 is now known by a further rotary connection 170. The outer ring of the roller bearing is designated by 171, which is firmly connected to the telescopic arm 143 and whose external toothing is in engagement with the pinion 172 of a motor 173. The inner ring 174 of this roller bearing is firmly connected to the slide, which can be moved via the chain drive 172 in the direction of the arrows 148. Also on This slide is attached to the motor 173. It is clear that the motor 173 of the extension arm 144 can be rotated about the axis 150 in any desired manner. The motor 173 can in turn be provided with a braking and locking device, not shown in the drawing, so that the extension arm 144 can be locked in any angular position.

Another embodiment relates to part 132 or the digging tool. Thus, 175 denotes a piston-cylinder unit, the piston of which acts on a drilling or hammer tool 176 which can be displaced in a straight line within the part 132 in the direction of the arrows 148. In this case, the digging tool is a spoon 177, the axis of which is formed in two parts, wherein the mentioned tool can emerge in the space between the parts 177, 177 '* and become effective.

16 and 17 finally show an embodiment of the chassis of an excavator, or also of a crane, which is particularly important in connection with telescopic booms and is suitable for improving the tipping safety in the case of unfavorable boom positions.

16 and 17 show a chain undercarriage 178 which is provided with supports 179 which can be extended laterally, in particular in a horizontal plane and are arranged in pairs at a distance and which are between a retracted position, that is to say completely retracted into the contour of the undercarriage 178 and a maximum extension position are movable. Piston-cylinder units are also provided to drive this support 179. The supports 179 each carry at their outer end, that is to say the chain drive 178 Support feet 180, which end in disk-like or plate-like support parts, can be moved vertically, that is to say actuated by pressure medium, in the direction of the arrows 181 and, if appropriate, are fastened to the supports 179 so as to be pivotable about horizontal axes in the region of their fastening points.

It can be seen that in accordance with the state in which the supports 179 are in the upright position when the support feet 180 stand up on the floor, the tilt resistance with respect to the axis 182 is improved.

The system of support 179 and support feet 180 can in principle also be arranged in the superstructure of the excavator or other vehicle.

The exemplary embodiment shown in FIG. 18 is characterized by an arm 67, which essentially corresponds to that of FIG. 9. At the end of the handle 70 there are a first, a saw blade 48 guiding additional arm 45, which can be pivoted at least about an axis 46 perpendicular to the drawing of FIG. 18, and a further additional arm 183 which is pivotably mounted at least about an axis 184 is and leads a hoist. Deviating from the example shown in FIG. 9, however, the vehicle 75 is characterized by a modified chassis 185. In order to describe the undercarriage, reference is also made to the drawing shown in FIG. 23.

The undercarriage 185 is characterized by four support releases 186, all of which consist of two parts 188, 189 articulated to one another via articulation points 187, the axes of which run perpendicular to the plane of the drawing in FIG. 18. The support brackets 186 are on the four

SPARE BLATX Corner points of the vehicle 75 articulated. Piston-cylinder units 190 are provided for motorized pivoting about the articulation points 187. As can be seen in particular in FIG. 23, the piston-cylinder units 190 are located on both sides of the support arm 186 and the pivot axis of this articulation point is designated by 191.

The outrigger 186 is in each case connected to the vehicle 75 via an articulation point 192, the axis of which extends perpendicular to the plane of the drawing in FIG. 23. The axis of this articulation point 192 is designated by 193 in FIG. 18. The articulation point 192 is connected directly to the vehicle 75 via a rotary connection of the type already described at the outset, the axis of this rotary connection 194 being designated by the reference number 195 in FIG. 23.

It can be seen that by means of the rotary connections 194, which are of a motor design, pivoting movements of the support arm 186 within the drawing side of FIG. 18 are possible, whereby additional pivoting movements perpendicular to the drawing εbεnε of FIG. 18 are possible by adding the articulation points 192. 196 also designates piston-cylinder units which serve to drive the pivoting movements about the axes 193.

Each outrigger 186 carries at its end facing away from the vehicle 75 an individual crawler track 197, which can in principle also be designed as a conventional, frosted undercarriage. The crawler chassis 197 or the other undercarriage arranged here is connected to the lower end of the respective jib by means of a graphically different card-link link 198, which thus swivels dεs Crawler undercarriage 197 around two axes perpendicular to each other. Instead of a universal joint 198, a comparable, pivotable movement which enables the linkage to be considered.

It is important that each crawler chassis 197 and the lower part of the chassis 199 are provided with coupling devices, which are designed and designed to directly connect the individual chassis 197 and the chassis 199 and, in particular, are arranged such that a coupling the crawler track 197 to the chassis 199 is possible simply by pivoting the parts 188, 189 of the individual support arms. The exact design of the attachment of the support brackets to the crawler tracks 197 and to the articulation points 192 on the other hand is expediently dimensioned such that these connections can be detached with a small number of handles and in particular using a comparatively simple tool, in the same way this It is possible to produce a connection between the crawler tracks 197 and the chassis 199. This has the consequence that the device shown in Fig. 18 can be used in quite a variety of ways, e.g. in building construction, but also in bridge construction, e.g. with work in rivers or other bodies of water. At the same time, the device shown can also be used like a conventional excavator or the like of the type described at the outset, by pivoting the support arm in the above-described sense and connecting the crawler tracks 197 to the chassis 199.

44 is a conventional gripping tool attached to the end of the handle 70. In the device shown in FIG. 18, all caterpillars are naturally -3 b-

trolleys can be driven individually. Coupling devices that can be used between the crawler tracks and the chassis 199 can be formed, for example, by the pair of elements T-guide / sliding block.

FIG. 19 shows an alternative embodiment of its wire connection, which essentially corresponds to that according to FIG. 12. However, it differs from lεtztεrεr in the following:

200 denotes a circular ring plate attached to the front end of part 79, on the end facing away from said end a circular ring plate 201 is attached which, like the circular ring plate 200, extends coaxially to the axis 81 and in turn the Inner ring 116 of the roller bearing 113 is attached. The circular plate 201 corresponds functionally to the krεisplatte 115 according to FIG. 12 and is used for fastening the motor 117, which is operatively connected to the pinion 120 via the gear 119. The motor 117 is located within a guide tube 202, which is located on the side of the circular plate 201 facing away from the gearbox 119 and is attached to the last. The guide tube 202 serves as a coaxial guide for the axis 81 of a guide cylinder 203, which is turned off from the plate 201 and is closed off by a plate 204, to which the coupling device 128 is attached, which connects to the piston-cylinder unit 129 manufactures. The guide cylinder 203 can thus be displaced in a straight line by impacting the piston-cylinder unit 129 in the direction of the arrow 127 and in the opposite direction.

For the non-rotatable guidance of the guide cylinder 203 Relevant spring-nut elements are provided for the guide tube 202, which are indicated by drawing.

At the guide cylinder 3, namely on the end 204 of the plate 204, there is a system of radially extending webs 205, which are arranged in a uniform manner

U are initially provided and penetrate a corresponding number of axially parallel slots 206 of part 79. A cylinder part 207 is attached to the radially outer end of the webs 205, which corresponds functionally to the cylinder part 108 according to FIG. 12 and bears the toothing 110 radially on the inside. Diε Bεfestigung of the cylinder part 207 on the webs 205 ^'in principle beliεbigεr manner can take place.

It can be seen from the above statements that such pressurization of the piston-cylinder unit 129, which results in a movement of the plate 204 and thus of the guide cylinder 203 in the opposite direction to the arrow 127, results in the toothing engagement of the cylinder part 207 with the outside dεs Outer ring 112 is released, so that in this released state via the motor 117 below

With the help of the angle measuring device 122 a rotation of the parts 79, 80 is possible. Once the new solution has been reached, an appropriate engagement of the toothing 110 is produced by appropriate pressurization of the piston-cylinder unit 129 in the direction of arrow 127 and the angular position is fixed in this way. In deviation from the exemplary embodiment according to FIG. 12, only the guide cylinder 203 together with the cylinder part 207 and not a complete part 80 or 79 is thus moved during the loosening of the toothing engagement, so that substantially less energy is required to solve the toothing engagement εin. 01 The slots 206 are naturally dimensioned in such a way that the mobility required for releasing the toothing engagement is given.

In the exemplary embodiment described, the piston-cylinder unit 129 can be acted upon on both sides. In the same way, however, a piston-cylinder unit which can be acted upon on one side can also be used, in which case the use of a return spring similar to the system according to FIG. 12 must be used. r •

FIG. 20 shows a tool attached to the end of an additional arm 283, which tool can be handled by the device according to the invention. It is a tool for applying mortar or for plastering building walls.

15 This is 208 with a circumferential band, which is guided by two rolls 209, 210, which serves as a transport means for the mortar and must be guided over the arm 283 as parallel as possible to the wall to be plastered. The band is made of a suitable material that does not lead to caking of the mortar and it is not shown in the application area that it is necessary to parallel to the boundaries of the band 208 for the mortar layer.

5 211 designates a nozzle arrangement, via which the mortar is applied to the belt in as smooth a distribution as possible, via its motorized drive in the rollers 209, 210 the belt 208 rotates in the direction of the arrow 212 and acts accordingly in connection with one , guiding of the building is carried out parallel to the surface to be plastered Additional arm 183 the mortar application.

21, 22 show an alternative embodiment of a tooling of the additional arm 183. This is an orbital sander 213, the drive system of which is designated by 214.

The tool shown in FIG. 24, attached to the additional arm 183, is a lifting or hand-handling device which specializes in the handling, for example, of cuboid-like images such as Building blocks of the building construction is designed. For this purpose, a frame 215 is rotatably mounted around the axis 216 by means of a drive 217. The frame 215 is in a straight line in the direction of the arrow 218 opposite an intermediate support

219 also mounted so that it can be moved by a motor, the intermediate carrier forming the direct link to the said rotatable bearing. The rotatable mounting can be made in the manner of one of the rotating connections shown above, so that an exact description can be dispensed with.

Suction cups 220, which act above and to the side of the module to be handled, are used for the immediate detection of the named modules. This suction cup

220 are naturally associated with a vacuum source that is not shown in the drawing.

Spacers are arranged in the intermediate space 221 of the two building blocks 222 shown, by means of which the stones are held at a defined distance from one another, in this intermediate space

221 a suitable binder, for example a mortar or a relevant adhesive, can be introduced. By means of a piston-cylinder unit 223 which is attached to the frame in a suitable manner and which is operatively connected to a slide device 224, a linear movement can be carried out on the building blocks 222 in the direction of the arrows 218 in order to do this Already to be able to apply stones under definite contact pressure. Auxiliary devices, both for receiving the stones 222, can - as indicated on the stones 225 - work in a contactless manner, the distance from the fine reference sensors detecting them, which can be, for example, ultrasound, lasers or other systems. These sensors are connected to a higher-level control and thus also contribute to the exact positioning of the modules 222.

The tool shown in FIG. 24 can be modified in any way, as shown in FIG. 25, in which a lifting device, which also cooperates with a vacuum source, is designed such that large-area detection of plate-like objects is possible. 25 is therefore provided with a square arrangement of suction cups 226 and, moreover, is again equipped with auxiliary devices (not shown in the drawing) for precise detection and positioning of the building block to be handled.

A further modification of the system shown in FIG. 24 can consist in the fact that it is designed for the detection of more than two building blocks.

Claims

P A T E N T A N S P R Ü C H E

1. Device for guiding at least one tool or auxiliary device, with a base part to which at least one at least two-part boom is articulated, at one end of which the tool is located, with the connection of the link to the bottom and the bottom point which are designed for the realization of swiveling movements in at least one plane, characterized in that at least two of the members are divided into at least two elements which are secured to one another via wire connections (13, 14, 29, 36, 51), that is find themselves between the basic points.

2. Device according to claim 1, characterized gεkεnπzεichnεt in that the linkage to the base part is combined with a rotary connection (29, 36, 51). 3. Apparatus according to claim 2, characterized in that the angle of inclination of the axis (30) of the Drehverbin¬ tion (51) is adjustable relative to a reference plane.

4. Device according to one of the preceding claims 1 to 3, characterized in that the axes (15,16,30,37,52) of the rotary connections (13,14,29,36,51) at least partially in the longitudinal direction of a link or Elemεntεs vεrlaufεn.

5. Device according to one of claims 1 to 4, characterized by additional pivoting connections (21, 23) of the elements to one another or the arm on the base part, the axes (22, 24) of these additional linkages being parallel to one another Cross-sectional planes of the respective element run.

6. Device according to one of the preceding claims

1 to 5, characterized in that each rotary connection (13, 14, 29, 36, 51) and each additional swivel linkage (21, 23) is assigned an independently controllable drive.

7. Device according to one of claims 1 to 6, gekenn¬ characterized by an articulated connection of the boom to the base part or the rotary connection arranged on the latter (29), wherein the connection is designed as a ball or universal joint and wherein in connection with two independently actuatable piston-cylinder units articulated at their one ends at a point of the boom and at their other ends at points of the base part or of the rotary connection (29) which are arranged at a distance from one another and pivotable movements of the boom around its articulation Point on the base part or the rotary joint (29) are possible.

8. Device according to one of the preceding claims 1 to 7, characterized in that at the end of the boom carrying the tool at least εin additional arm (45, 76 ', 135, 144) is pivotally pivoted and that the additional arm for guiding further tools and / or Support device is intended and designed for attaching tools.

9. The device according to claim 8, characterized gekennzeichnεt,

»That the additional arm (45, 144) is at least twofold, that the link elements of the additional arm are connected by means of articulation points that are designed for rotations around at least one axis and that each articulation point is an independently controllable drive.

10. The device according to claim 9, characterized in that the articulation points rotational movements about axes (150, 167) are assigned to the longitudinal extension of the link elements and / or parallel to cross-sectional planes of the link elements.

11. Device according to one of the preceding claims

5 to 10, characterized gekεnπzεichnet that Drehvεrdiπdungen (13,14,29,36,51) and swivel articulations (21,23) are combined structurally.

12. The apparatus of claim 10 or 11, characterized gekenn¬ characterized in that pivot point with multiple axes are constructed as structural units.

13. The device according to einεm of the preceding claims 01 1 to 12, characterized in that at least one element and / or a Gliedelemeπt are telescopic.

14. Device according to one of the preceding claims 05 1 to 13, characterized in that the boom including the / the additional arm / additional arms is equipped with lines for Energievεrsorguπg and control of the tools.

15. The apparatus according to claim 14, characterized in that 10 the boom and optionally the additional arm / additional arms is equipped with a cable pull system in order to provide traction in the area of the tool and that the cable pull system is designed to be actuated by a motor Cable winch 15 (74) is in operative connection, which is arranged on the base part.

16. Device according to one of the preceding claims 1 to 15, characterized in that the base part is a land or a watercraft or a part

20 of the same is.

17. Device according to one of the preceding claims 1 to 15, characterized gekεπnzεichnet in that the base part is a device intended and stationary designed for stationary installation.

25 18. Device according to one of the preceding claims 1 to _16, characterized gekεπnzeichπe that the system of base member and boom is a mobile excavator, a crane, a Handhabungseiπrichtung or a scaffolding with working platform. 0119. Device according to one of the preceding claims 1 to 16 or 18, characterized in that the system of base part and boom is a stationary excavator, crane, handling device or a

05 Scaffolding with a work platform.

20. Device according to one of the preceding claims 1 to 19, characterized gekennzeichnεt that the base part. to compensate for tilting moments with a preferably offset sliding weight (40)

10 is equipped.

21. Device according to one of the preceding claims 1 to 20, characterized in that the base part with a tool magazine and / or εiner supply εiπrichtung for coolant, lubricants, etc.-

15 is ready.

22. Device according to one of the preceding claims 1 to 21, characterized in that the boom is divided at least into a basic boom (7, 20, 26, 43, 59, 68) and a stem (9, 70, 132) that the

20 basic arm (7, 20, 26, 43, 59) is angled so that the tool on the stick is a digging tool, a gripping tool, a tool for surface machining of workpieces and other objects, a tool for machining or also non-cutting machining

25 hoist or an assembly tool and that the tool on the or each additional arm attached to the handle (45, 76 ', 135, 144) is a digging tool, a gripping tool, a tool for machining the surface of workpieces or other objects, a tool

30 for machining or also non-cutting processing, a hoist or an assembly tool. 0123. Device according to one of the preceding claims 1 to 22, characterized in that each rotary connection (13, 14, 29, 36, 51) has a bearing, in particular a roller bearing (92, 113) for the coaxial mounting of the genanπ-

05 ten elements or Gliεdelemente relative to each other, includes a drive and a braking and locking device.

24. The device according to claim 23, characterized in that the drive consists essentially of a motor 0 (103, 117) and, if appropriate, a gear (102, 119) and that the drive is in operative connection with the outer ring of the roller bearing (92, 113).

25. The apparatus of claim 23 or 24, characterized gekenn¬ geknεt that the braking and Fεststεllεinrichtung 5 comprises at least one braking and / or holding device, which is arranged in parallel with the power flow parallel to the drive.

26. The device according to one of the claims 23 to 24, characterized in that the braking and fastening device comprises braking and / or holding device which is arranged in series with the drive in terms of the force flow.

27. Device according to one of claims 23, 24 or 26, characterized gekennzeichnεt that for exercising εinεr holding function 5 the elements or Gliedelementε stand in a, in particular by releasable axial displacement toothing engagement and that this toothing engagement force-flow parallel to the drive is arranged. 0128. Device according to one of the preceding claims

22 to 26, characterized by an angle measuring device (122) for determining the angle of rotation between the elements or link elements which

05 angle measuring devices (122) are operatively connected to a control coordinating the rotary movements of the drives and / or the release or manufacture of a toothing engagement between the elements or link elements.

1029. Device according to one of the preceding claims 13 to 28, characterized gekennzεichnεt that each telescopic

»Pierceable connection of elements and / or link elements are associated with length measuring devices.

30. The device according to εinem of the preceding claims 15 1 to 29, characterized gekennzeichnεt that laterally extendable on the base part, intended for standing up on the floor and designed support feet (180) are arranged.