Handling system for moving an object guided over limber elements, in particular band robots and associated working method

摘要

Handling system for moving an object guided over a plurality of flexible elements, comprising a holding structure (2) designed as a plane, polygonal, rigid frame, the plurality of limp elements (1a, 1b, ...), the object (3) and at least one drive element ( 4a, 4b, ...), wherein the object (3) is connected via the plurality of limp elements with the at least one drive element, wherein the plurality of limp elements with the aid of the support structure and the at least one drive element are mutually braced and / or braced and wherein the object is variable in its position and / or orientation relative to the support structure by means of the at least one drive element realized length, position and / or orientation change at least one of the pliable elements, wherein the plurality of the object (3) with the at least one Drive element (4a, 4b, ...) connecting limp Ele are deflected (1 a, 1 b,...) via deflecting elements (5 a, 5 b,...) fixed in the frame (2), the fixed deflecting elements (5 a, 5 b,...) completely within a clear width of Hollow profiles of the frame (2) are formed and along longitudinal axes (L) of these hollow profiles are movable, and wherein the plurality of pliable elements (1 a, 1 b, ...), the object (3), the / the drive element (s) (4 a, 4b, ...) and the deflection elements (5a, 5b,...) Which are movably fixed in the frame (2) are designed and arranged such that the position and / or orientation changes of the object (3) relative to the frame (2 ) take place only in a defined plane, ie are two-dimensional, this plane being a plane spanned by the planar frame (2).