Control device for operating at least one vehicle actuator

Control device for operating at least one actuator of a vehicle, the control device comprising a deflectable control lever and a housing module, wherein a first guide element rotatable about a first rotation axis and a second guide element rotatable about a second rotation axis are provided, wherein the first guide element is arranged at a first end of the control lever and the second guide element is arranged between the first end and a second end of the control lever, wherein the housing module has through holes, which are designed as bearing for supporting the guide elements, so that the guide elements can be contacted from outside the housing module, wherein the housing module has a first coupling area on an outer side, wherein the first coupling area comprises a bearing of the bearings and the first coupling area is designed and provided to receive an additional module, which comprises an area formed at least partially complementary to the first coupling area, in such a way that the additional module can be functionally connected to the guide element.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of German Patent Application No. 102021120686.3 filed Aug. 9, 2021, the contents of which are incorporated herein by reference in its entirety.

FIELD

The invention relates to a control device, preferably a manually operable control device, for operating at least one actuator of a vehicle.

Vehicles which are equipped with several actuators or actuator elements usually have a control system and control elements for controlling these actuator elements. Examples of such vehicles are a forklift truck, a tractor or an excavator. Examples of such actuator elements are drives which are, for example, hydraulic, pneumatic, electronic and/or electromechanical and are provided for the movement of excavator shovels or also controllable valves. Part of the control system is usually an electronic control unit which receives signals from sensors and transmits control signals to the actuator elements.

BACKGROUND

Control elements for the active control of actuator elements are known from the state of the art as so-called joysticks, control sticks or control lever elements, which are similar to a gear lever from a car and can be manually operated by the user of the vehicle (vehicle driver) within the vehicle cabin. These control lever elements are arranged so that they can be moved (swivelled and/or displaced) from an initial position (basic position/home position, neutral position) to the left, right, front and/or rear, for example by the muscle power of the driver.

Due to the fact that the available space for arranging is usually very limited, the control systems of the state of the art are built extremely compactly in order to be able to be designed as space-saving as possible. This is achieved, for example, by arranging different elements of the control system in an overlapping manner to reduce space, i.e. the elements are built into each other but can be functionally separated from each other.

In the event of a malfunction of such a control system, the consequence is therefore that the entire control system must be removed and replaced. Likewise, the control system cannot simply be adapted to different requirements of the vehicle.

SUMMARY

The object of the present invention is to overcome the disadvantages of the prior art, so that, while also requiring little space, an easy and quick adaptation of the control system is possible and faulty components can be quickly replaced.

The task of the invention is solved by a control device with the features of independent claim1.

The main idea of the invention is to provide a control device for operating at least one actuator of a vehicle, wherein the control device comprises a deflectable control lever and a housing module, wherein a first guide element rotatable about a first rotation axis and a second guide element rotatable about a second rotation axis are provided, wherein the first guide element is arranged at a first end of the control lever and the second guide element is arranged between the first end and a second end of the control lever, wherein the housing module has passage openings, which are designed as bearing points for bearing the guide elements, so that the guide elements can be contacted from outside the housing module, the housing module having a first coupling area on an outer side, the first coupling area comprising a bearing point of the bearing points, and the first coupling area being designed and provided for receiving an additional module which comprises an area which is designed at least partially complementary to the first coupling area, in such a way that the additional module can be functionally connected to the guide element.

Preferably, the control lever can be deflected from a basic position. It is conceivable that the control lever can be deflected by means of a rotation about the first rotation axis and/or the second rotation axis. A basic position can be defined, for example, as a direction in which the control lever extends perpendicular to the first rotation axis and perpendicular to the second rotation axis.

According to a particularly preferred embodiment, the first rotation axis and the second rotation axis are perpendicular to each other, whereby preferably the first rotation axis and the second rotation axis are always perpendicular to each other, i.e. the axes are perpendicular to each other regardless of a deflection of the control lever.

The control lever can preferably be deflected in all directions starting from the basic position. The control lever can thus preferably undergo a deflection about the first axis and/or a deflection about the second axis, both in terms of a positive rotation (corresponding to a forward rotation) and a negative rotation (corresponding to a backward rotation) about the respective axis. Furthermore, a superposition of the described deflections is preferably possible. Further preferably, all of the displacement movements mentioned are possible in an infinitely variable manner.

The housing module is preferably cube-shaped or cuboid-shaped. Preferably, the housing module has at least four side walls, each of the sides having one, preferably exactly one, through hole. Further preferably, two side walls are arranged parallel to one another in each case, preferably two side walls being formed parallel to the first rotation axis and two side walls being formed parallel to the second rotation axis.

Preferably, the first guide element and the second guide element form a cardan joint.

According to the invention, it is provided that the first guide element is arranged at the first end of the control lever, which is rotatably mounted about the first rotation axis and forms a first guide link, by means of which the rotation of the control lever element about the first rotation axis can be limited to a specific first angular range.

Furthermore, it is advantageous if the first guide element forms a bearing for a rotary bearing of the first end of the control lever. For example, the first guide element has a bore passing through the guide slot. For example, the first end of the control lever also has a bore. Preferably, both bores are arranged in alignment with each other, whereby a rod element is arranged within the two bores, around which the control lever is rotatably arranged and which is preferably rigidly connected to the first guide element. Thus, by means of the first guide element and the rod element, for example, a pivot bearing of the control lever is formed, which further reduces the space requirement of the control device.

Furthermore, it is provided that the second guide element is arranged between the first end of control lever and the second end of control lever, which is rotatably mounted about the second rotation axis and forms a second guide slot by means of which the rotation of the control lever about the second rotation axis can be limited to a specific second angular range.

Preferably, the second guide element is arranged such that it at least partially overlaps the first guide element in the height direction of the control device. For example, the second guide element forms an arc shape at least in sections, wherein a virtual centre axis of the associated arc is arranged parallel to the second axis and/or intersecting the first guide element. This arrangement also reduces the required installation space.

According to the invention, the guide elements are supported by means of bearings of the housing module, wherein a first and a second bearing are provided in each case. For example, the first and/or the second bearing comprises a rolling bearing connection.

According to the invention, through holes of the housing module form bearings for supporting the guide element. Since the bearings are through holes in the housing module, the guide elements can be connected from outside the housing module, according to the invention with an additional module.

In accordance with the invention, it is further provided that a first coupling area is provided which comprises a bearing point of the bearing points, preferably comprises exactly one bearing point. The first coupling area is designed and intended to at least partially receive the additional module, wherein the additional module is designed to be at least partially complementary to the first coupling area. According to the invention, the additional module can be functionally connected to the guide element, i.e. the additional module can act on the corresponding guide element, in particular can act directly.

It is particularly preferred that a first coupling area and a second coupling area are provided, wherein the first coupling area and the second coupling area comprise the bearings of the first guide element or the second guide element.

It is particularly preferred that a first coupling area, a second coupling area, a third coupling area and a fourth coupling area are provided, wherein the first coupling area and the second coupling area comprise the bearings of the first guide element and the third coupling area and the fourth coupling area comprise the bearings of the second guide element.

Regardless of the number of coupling areas, each coupling area can accommodate an additional module.

According to a particularly preferred embodiment, it is provided that the additional module is one selected from an actuator module and a reset module, wherein the actuator module is designed to apply a torque to one of the axes of rotation, and wherein the reset module is designed to apply a force to one of the axes of rotation in order to counteract a deflection of the control lever.

By means of an actuator module, it is possible to actively control the control lever indirectly, namely via the actuation of a rotational axis or a guide element, and/or to control it in a programmed manner, i.e. a force or a torque can be applied to the control lever element without the influence of the driver's muscle power. This technique is also known as “force feedback”.

A force and/or a moment can therefore be transmitted to the control lever by means of the actuator module, which has the effect of a vibration and/or displacement of the control lever, for example. A vibration can be a temporal sequence of small displacements.

By means of the actuator module, a moment can be applied on the one hand in the direction of rotation or against the direction of rotation, so that this moment can support or counteract the movement.

Particularly preferably, an actuator module can be used to block the control lever with regard to rotation about one axis of rotation or about both axes of rotation.

According to a preferred embodiment, it is provided that the actuator module comprises a drive unit and an output unit. Further preferably, the actuator module forms a motor-gearbox combination. Particularly preferably, the output unit is a planetary gear and the drive unit is an electric motor.

The electric motor is preferably a torque motor, so that a high torque can be achieved at low speeds.

To support the compact design of the control device, it is advantageous if the planetary gear comprises a rotatably mounted sun gear, a ring gear radially surrounding the sun gear, and a plurality of, preferably three, planetary gears arranged radially between the sun gear and the ring gear and toothed therewith. Preferably, the sun gear is arranged in each case in alignment with one of the axes of rotation and is rotatably mounted about this.

For example, the modulus of the sun gear, the ring gear and the planetary gears, i.e. the ratio of the values of the respective pitch circle diameter and the respective number of teeth, each has an identical value from a range of 0.3 mm to 0.7 mm, preferably 0.5 mm.

Preferably, the ring gear is mounted in a fixed position; the output is therefore preferably not via the ring gear. For example, the ring gear has an anti-rotation device by means of which its radial position can be fixed relative to a rest of the actuator module. For example, this anti-rotation device is formed by means of a special first geometry of the ring gear on its outer diameter. For example, this first geometry is designed as at least one, preferably four, flattenings of the outer radius of the ring gear. Preferably, this anti-rotation device is also designed as a second geometry complementary to the first geometry on the rest of the actuator module; for example, flattenings are also formed on an inner radius on the rest of the actuator module, the number and arrangement of which is preferably identical to the number of flattenings of the ring gear.

Preferably, the drive takes place via a shaft of the electric motor or motor (motor shaft) and via the sun gear, whereby a centre axis of the shaft of the electric motor is preferably aligned with a centre axis of the sun gear. Further preferably, the shaft of the motor is in mechanical engagement with the sun gear so that a torque of the motor can be transmitted to the sun gear; preferably, the shaft and the sun gear are rigidly connected to each other. Thus, in particular, a rotation of the motor shaft can be transferred to a rotation of the sun gear that is in the same direction and identical in terms of speed. For example, a connection between the motor shaft and the sun gear comprises a key connection.

However, it is preferable that no separate connection is necessary between the motor shaft and the sun gear. Accordingly, the motor shaft and the sun gear are preferably formed in one piece; for example, the motor shaft and the sun gear are made from a single part and/or a single semi-finished product and are preferably machined (“milled”).

According to a further preferred embodiment, it is provided that the actuator module comprises an actuator module housing, wherein the actuator module housing is formed from a first actuator module housing part, which can be connected to the housing module, and a second actuator module housing part, wherein the output unit is accommodated inside the actuator module housing and the drive unit is arranged outside the actuator module housing on the second actuator module housing part.

This makes it easy to provide an actuator module that has all the necessary components to apply a torque and/or a force to an axis of rotation. Since the actuator module housing can be connected to the housing module and the control lever, only the actuator module has to be removed if it is defective.

The ring gear of the planetary gear can be an integral part of the first actuator module housing.

Preferably, the reset module is a passive reset module. This means that no active control or regulation of the reset module is provided.

In particular, it is conceivable that when the control lever is deflected from the home position, a force is applied by means of which the control lever can be returned to the home position.

According to a preferred embodiment, it is provided that the reset module comprises a reset module housing, wherein the reset module housing is formed from a first reset module housing part, which can be connected to the housing module, and a second reset module housing part, wherein the reset module comprises a torsion spring element, a torsion spring element support which is rotatable relative to the reset module housing, and a torsion spring element base which is arranged stationary relative to the reset module housing, wherein the torsion spring element is connected to the torsion spring element support and the torsion spring element base.

A rotation of the torsion spring element support relative to the torsion spring element base deflects the torsion spring element, thereby generating a spring force which can be transmitted to one of the guide elements.

Particularly preferably, the torsion spring element support is connectable to one of the guide elements.

Preferably, the torsion spring element is a leg spring, although other types of torsion springs are also conceivable.

This makes it easy to provide a reset module which has all the necessary components to apply a force to an axis of rotation. Since the reset module can be connected to the housing module and the control lever, only the reset module has to be removed if it is defective.

According to a further preferred embodiment, it is provided that the guide elements each have a first bearing section and a second bearing section, wherein the first bearing section of a guide element comprises a first connection area and the second bearing section of a guide element comprises a second connection area. Particularly preferably, the bearing point sections of a guide element are formed identically. Further preferably, the bearing position sections of one guide element differ from the bearing position sections of the other guide element.

Preferably, the respective bearing position section is formed in such a way that it can be received by a bearing. Preferably, all bearings and all bearing sections are identical, which allows a reduction of manufacturing processes. Furthermore, it is not necessary to pay attention to a certain orientation of the guide elements during assembly.

Different connection areas are advantageous if different additional modules are to be provided. It is therefore particularly preferred that the additional module comprises a first additional module connection area which is complementary to the first connection area, or a second additional module connection area which is complementary to the second connection area.

It is thus conceivable that the first connection area is assigned to the actuator module and the second connection area to the reset module, or vice versa. For example, it can be determined that only one actuator module and one reset module can be arranged on a guide element. Accidental mounting of two actuator modules or two reset modules for a guide element can therefore be ruled out, so that malfunctions during operation can be prevented.

It is particularly preferred that the housing module has four through holes and four coupling areas, each comprising a bearing, whereby the first rotation axis extends through two opposite through holes and the second rotation axis extends through the two further opposite through holes.

This means that up to two additional modules can be arranged on each guide element. Such a design of the housing module therefore allows the following arrangements with regard to the housing module:No actuator module, one actuator module, two actuator modulesNo reset module, one reset module, two reset modules,Any combination of the above.

In the event that no additional module is provided at the corresponding location on the housing module, a blind cover can be provided by means of which the corresponding coupling area can be covered in order to be able to prevent the ingress of dirt, water or the like. Preferably, the blind cover can comprise an area which is at least partially, preferably completely, complementary to the coupling area.

DETAILED DESCRIPTION

In the figures, identical components are to be understood with the corresponding reference signs. For the sake of clarity, some components may not have a reference sign in some figures but have been designated elsewhere.

FIG.1Ashows a perspective view of a control device1according to a preferred embodiment. The control device1comprises a housing module3and a control lever2, which is only partially shown here. Furthermore, additional modules16,16′,16″,16′″,16″″ are shown, whereby a first additional module16′ and a second additional module16″ are designed as an actuator module18and a third additional module16′″ and a fourth additional module16″″ are designed as a reset module19.

A first coupling area12and a second coupling area13are also visible, whereby the third coupling area (not shown) and the fourth coupling area (not shown) are concealed by the housing module3. The coupling areas12,13are designed complementary to the respective additional module16, so that a good mounting of the additional module16is possible. A complementary area17of the additional module16is provided for this purpose.

Likewise, each coupling area12,13has a through hole10, which is formed as a bearing10for a guide element6,7, which is also concealed.

The housing module3, an actuator module18and a reset module19are shown and described in more detail in the following figures.

FIG.1Bshows a similar design of the control device1, but an actuator module18and the reset module19opposite to this actuator module18have been removed and replaced by a blind cover71. As a result, one of the guide elements6,7is provided without external influence, so that no external forces are exerted on the corresponding guide element6,7.

FIG.2shows the housing module3of the control device1in more detail according to a preferred embodiment.

Preferably, the housing module3consists of a first housing module part39and a second housing module part40, which are preferably connectable to each other by means of screws41. The housing module parts39,40each have through hole sections42, which are each formed with respect to the housing module parts39,40in such a way that the through hole sections42form a through hole10. Particularly preferably, all through holes10are formed identically. Particularly preferably, a lower cover element73can be provided, which is also connected to the first housing module part39by means of screws41, whereby further preferably the cover element can be formed by a PCBA73, whereby the PCBA73has a sensor72, which is arranged in such a way that it can interact with the magnet49and thus an initial position or neutral position can be detected.

Such a design can facilitate the assembly of the housing module, since bearing point sections20,21of the guide elements6,7can already be inserted at least partially into the through holes10.

The bearing sections20,21of the guide elements6,7are designed in such a way that they can be connected to the through holes10or bearings10. A first connection area22or a second connection area23is arranged on each bearing point section20,21.

Preferably, the bearing sections20,21of one guide element6,7each have the first connection area22and the bearing sections20,21of the other guide element6,7each have the second connection area23.

Furthermore, coupling areas12,13are provided, whereby inFIG.2only a first coupling area12and a second coupling area13are recognisable by the illustration. Analogous to the through holes10or bearings10, the coupling areas12,13are each formed from a first coupling section44and a second coupling section45, the first coupling section44being formed on the first housing module part39and the second coupling section45being formed on the second housing module part40. If the housing module3consisting of the first housing module part39and the second housing module part40is assembled, the housing module parts39,40complement each other in such a way that the coupling section areas44,45form the respective coupling section12,13.

The guide elements6,7are rotatably mounted in the bearings10, the first guide element6being rotatable about a first rotation axis4and the second guide element7being rotatable about a second rotation axis5. Preferably, the first rotation axis4and the second rotation axis5are perpendicular to each other.

The control lever2cannot be shown in its full extent, so that it can have an additional portion which can be provided for better handling. Preferably, this portion is arranged at the second end9of control lever2.

The control lever2also has a first end8, the first end8preferably having a passage46into which a connecting rod43can be introduced to rotatably connect the first guide element6to the control lever2.

The second guide element9is arranged between the first end8and the second end9of control lever2. Preferably, a universal shaft bush47is provided, which is also connectable to the first guide element6by means of the connecting rod43and is connectable to the second guide element7in such a way that the universal shaft bush47can function as a guide in a guide slot of the second guide element7. Likewise, it is preferably provided that the universal shaft bush47is connectable to the control lever2by means of the connecting rod43. Further preferably, the universal shaft bush47may have a mounting into which the control lever2is insertable, the mounting preferably being complementary to the configuration of the control lever, at least with respect to the first end8.

A spring is further preferably provided, which is operatively connected on the one hand to the drive shaft bushing47and on the other hand to the control lever2. In this case, the spring is installed pre-tensioned so that a spring force acts between the universal shaft bush47and the control lever2, so that external force effects on the control lever2cannot act directly and completely on the connecting rod43, so that a protective function is provided here.

A magnet49is also preferably provided, which can also exert a counterforce on the control lever2, whereby the magnet is preferably connected to the universal shaft bush47. Particularly preferably, the control lever2has a counter magnet at its lower end8, the polarity of which is opposite to that of the magnet49.

FIG.3shows an additional module16which is designed as an actuator module18.

The actuator module18comprises a drive unit26and an output unit27, whereby the drive unit26is preferably designed as an electric motor29and the output unit27as a planetary gear28. Likewise, the actuator module18comprises an actuator module housing30comprising a first actuator module housing part31and a second actuator module housing part32.

Preferably, the planetary gear28comprises a rotatably mounted sun gear50, a ring gear51radially surrounding the sun gear50, and a plurality of, preferably three, planetary gears52radially arranged between the sun gear50and the ring gear51and toothed therewith. Preferably, the sun gear50is arranged in alignment with one of the axes of rotation4,5and is mounted so as to be rotatable about it.

Preferably, the ring gear51is mounted in a fixed position; the output is therefore preferably not via the ring gear51. The ring gear51is preferably formed as a part of the first actuator module housing31.

In this way, the ring gear51is designed to be non-rotatable with respect to the actuator module18, so that the radial position of the ring gear51is fixed with respect to a remainder of the actuator module18.

Preferably, the drive takes place via a shaft of the electric motor53or motor (motor shaft) and via the sun gear51, whereby a centre axis of the shaft53of the electric motor29is preferably aligned with a centre axis of the sun gear51. Further preferably, the shaft53of the motor29is in mechanical engagement with the sun gear51so that a torque of the motor29can be transmitted to the sun gear51; preferably, the shaft53and the sun gear51are rigidly connected to each other. Thus, in particular, a rotation of the motor axis can be transferred to a rotation of the sun gear51that is in the same direction and identical in terms of speed. The planetary gears52are supported by means of a support element consisting of a first support element part54and a second support element part55, whereby preferably the support element for each planetary gear52comprises a rotary shaft56by means of which the respective planetary gear52is rotatably connected.

The support element and in particular the first support element part54forms a first additional module connection24or second additional module connection25, which can be connected to the corresponding complementary connection area22,23of the guide elements6,7. For this purpose, a first connection area57of the first actuator module housing part31is preferably provided, through which the connection between the connection area22,23and the additional module connection24,25can extend.

Further preferably, the output unit27is provided in an interior of the actuator module housing30. Preferably, the drive unit26is arranged outside the actuator module housing part30, wherein preferably the second actuator module housing part32has a mounting58which is at least partially complementary to the drive unit27or the electric motor29and is intended to receive the electric motor29, preferably securely to prevent it from falling out.

The electric motor29preferably has an electrical connection59for operating the electric motor29, whereby the mounting58is preferably designed to receive the electrical connection59. Preferably, the mounting58has a downward opening part60which can receive the electrical connection59.

The second actuator module housing part32has a second passage61through which the motor shaft52and/or the sun gear51can extend.

Preferably, a gearbox mounting70is provided, which is particularly preferably in the form of a screw element. By means of the gear fastening70, it is possible to connect the first support element part54and the respective connection area22,23to each other, at least in an effective manner. The screw head of the gear fastening70serves in particular as a counter bearing to the first support element part54.

FIG.4shows a further additional module16, which is designed as a reset module19.

According to a preferred embodiment, the reset module19comprises a reset module housing33, wherein the reset module housing33is formed from a first reset module housing part34, which is connectable to the housing module3, and a second reset module housing part35, wherein the reset module19comprises a torsion spring element36, a torsion spring element carrier37which is rotatable relative to the reset module housing33, and a torsion spring element base38which is arranged stationary relative to the reset module housing33, wherein the torsion spring element36is connected to the torsion spring element carrier37and the torsion spring element base38.

A rotation of the torsion spring element support37relative to the torsion spring element base38deflects the torsion spring element36, thereby generating a spring force which can be transmitted to one of the guide elements6,7.

The torsion spring element support37preferably comprises the first additional module connection area24or the second additional module connection area25, which can be connected to the first connection area22or the second connection area23, the connection between the additional module connection area24,25and the connection area22,23extending through a third passage62of the reset module19, in particular of the reset module housing33.

Particularly preferably, the torsion spring element support37is connectable to one of the guide elements6,7. Further preferably, the torsion spring element support37is connected to one of the guide elements6,7by means of a screw element74, whereby further preferably the head of the screw element74can serve as a central shaft in order to be able to arrange the torsion spring element36in its position.

Preferably, the torsion spring element36is a leg spring, although other types of torsion springs are also conceivable.

This makes it easy to provide a reset module19which has all the necessary components to apply a force to an axis of rotation. Since the reset module can be connected to the housing module and the control lever, only the reset module has to be removed if it is defective.

The torsion spring element36preferably has a first end63and a second end64, the first end63preferably being at least operatively connected to the torsion spring element base38and the second end being at least operatively connected to the torsion spring element support37. The torsion spring element base38has a recess65which has an extension in the circumferential direction of the torsion spring element base37and in the longitudinal direction L, so that the first end63is received in this recess65.

Preferably, the torsion spring element base38is circular, wherein further preferably the torsion spring element support37is configured to be at least partially enclosed by the torsion spring element base38so that the torsion spring element base38can at least partially receive the torsion spring element support37so that a more compact design is possible.

The torsion spring element base38has circumferential notches68which can be connected to projections69of the first reset module housing part34. Particularly preferably, the notches68and the projections69are complementary to each other. It is also conceivable that the torsion spring element base38comprises the projections69and the first reset module housing part34comprises the notches68.

Further preferably, the torsion spring element support37has a torsion spring retainer66on which the torsion spring element36can be arranged. Further preferably, the torsion spring element carrier37comprises a torsion spring abutment67which is connectable to the second end64of torsion spring element36.

The torsion spring element36, the torsion spring element base38and the torsion spring element support37are preferably arranged within the reset module housing33.

Preferably, the second reset module housing part35serves as a cover member for closing the reset module housing35to the outside.

Various positions of the control device1are shown inFIG.5, whereby possible arrangements of additional modules16,18,19and housing module3are shown in accordance with the embodiment shown. Preferably, two actuator modules18and two reset modules19are provided, whereby one actuator module18and one reset module19are assigned to each axis of rotation4,5. Depending on the space available when installing a control device1, the additional modules16,18,19can be arranged differently on the housing module3.

In principle, the housing module3can be provided with any combination of additional modules16, whereby all combinations are conceivable, from:No actuator module18, one actuator module18, two actuator modules18;No reset module19, one reset module19, two reset modules19;If no additional module16,18,19is provided in at least one position, this position can be covered with the blind cover71;Any combination of the above.

This means that, for example, no actuator module18and no reset module19can be provided, or one actuator module18and no reset module19, or two actuator modules18and no reset module19, two actuator modules18and one reset module19, two actuator modules18and two reset modules19.

Particularly preferably, each guide element6,7can be connected to at most one actuator module18and at most one reset module19.

All features disclosed in the application documents are claimed to be inventive insofar as they are individually or in combination new compared to the prior art.

REFERENCE LIST