Patent ID: 12246443

DETAILED DESCRIPTION OF THE DRAWINGS

In the description all terminology for describing location like up, down, front, rear, right and left are intended as they are shown in the respective Figure itself, unless otherwise defined.FIGS.1to18, without wishing to be restricted thereto, show possible embodiments of an arm joint1for a manipulator M in different views and partial views.FIGS.19to32show possible embodiments of the manipulator M with arm joints1which are combined together and which are operatively connected together. It is immediately apparent that a plurality of further combinations and couplings of the arm joints1is possible, which are also to be included in the scope of protection.

As can be seen in particular fromFIGS.1,2,5,8,11,16,20B,25B,28,29B and32Bthe arm joints1each have a gear wheel2rotatable about a transmission axis of rotation g. The gear wheel2is mounted rotatably in a housing3of the arm joint1. In the embodiments of the arm joint1shown in the Figures it has a respective adaptor22at both of its ends21. The gear wheel2is arranged rotatably in the housing3by way of a respective bearing7by way of the two adaptors22, that is to say at both sides in relation to the transmission axis of rotation g.FIGS.18A and18Beach show an individual view of the adaptor22which here is an independent component. Alternatively at least one of the adaptors22can be integrally connected to the gear wheel2.

The two adaptors22each have at their side23facing away from the end21of the gear wheel2, an opening24which is central with respect to the transmission axis of rotation g and has a female thread25. At the minimum it is also possible for only one of the two adaptors22to be provided with the central opening24. AsFIGS.18A and18Bshow the adaptors22each have axially projecting push-in projections221which here are cylindrical and which are arranged on a radius and are peripherally equally spaced, and in the installation position respectively engage axially into a plug opening222associated therewith and provided on the gear wheel2. As an adaptor with the projections221is provided at both sides of the gear wheel the openings222are in the form of through openings, into which in the installation position an associated projection221respectively engages from two sides. The adaptors22and the gear wheel2overall are each rotationally symmetrical with respect to the transmission axis of rotation g.

The housing3has a receiving portion31for receiving a further transmission element4. The further transmission element4is arranged transversely to the transmission axis of rotation g on an operative axis w. The operative axis w is positioned in spaced relationship with the transmission axis of rotation g. The further transmission element4is arranged mounted in the receiving portion31by way of the operative axis w. In the illustrated embodiment of the arm joint1both axes, that is to say the operative axis w and the transmission axis of rotation g, extend in mutually parallel spaced relationship with a plane extending perpendicularly to a spacing between the operative axis w and the transmission axis of rotation g, said spacing extending in the spacing direction a. In this case the spacing is the minimum spacing between the two axes. The transmission axis of rotation g and the operative axis w do not intersect.

The transmission element4is operatively connected to the periphery of the gear wheel2. The gear wheel2and the further transmission element4form a transmission G for transmission of a motor torque which is coupled into the arm joint1. The motor5in itself is arranged spaced from the respectively associated arm joint1.

The gear wheel2and the further transmission element4are arranged to act play-free within each other axially with respect to the spacing direction a. For that purpose the gear wheel2and the further transmission element4are arranged movably relative to each other in the spacing direction a. To set the freedom from play, in the illustrated embodiments of the arm joint1, solely the gear wheel2is arranged by means of an adjusting device6movably relative to the housing3in the spacing direction a. The relative movement is effected here by displacement of the gear wheel2in the spacing direction a towards the further transmission element4.

The adjusting device6is fitted at the bearings7of the gear wheel2or the adaptor22thereof, by way of which the gear wheel2is mounted. The gear wheel2is rotatably mounted by way of its adaptors22axially at both sides by way of a respective bearing7on the housing3. The bearings7each have a first bearing ring or race71which is associated with the housing3and which here is arranged externally with respect to the transmission axis of rotation g and a second bearing ring or race72which is associated with the gear wheel2and which is arranged internally with respect to the transmission axis of rotation g. For adjustment purposes an adjusting force E acting in the spacing direction a towards the further transmission element4is coupled at least into one of the first bearing rings71. Advantageously in terms of mechanical force implementation it is provided here that the adjusting force E is applied to the gear wheel2for displacement thereof by way of the two first bearing rings71.

For that purpose an adjusting force K is produced by way of the adjusting device6radially with respect to the spacing direction a, which force is introduced into the respectively associated first bearing ring71by way of sliding on inclined planes S operative in the spacing direction a, diverted in the spacing direction a in the direction towards the further transmission element4. The inclined planes are here respectively arranged at the same angle of inclination to the spacing direction a, which here is less than 60°. For that purpose, provided for each first bearing ring71is an adjusting element61which is arranged on the housing3in a variable position in an adjusting opening62with respect to the spacing direction a in the radial direction towards the first bearing ring71. That adjusting opening62is arranged above the transmission axis of rotation g, more specifically at a point that is the uppermost point of a radius extending around the transmission axis of rotation. In that way the respective first bearing ring71is at the same time acted upon at its uppermost point with the adjusting force E, in an advantageous fashion in terms of mechanical forces. The adjusting element61has a threaded shaft with a male thread, with which it is in threaded engagement with a female thread in the adjusting opening62. That threaded engagement is self-locking. The adjusting element61projects with a conical working end having the inclined plane S into the housing and in a working position bears against an inclined plane S provided in an adjusting recess on the first bearing ring71. In that way the gear wheel2can be pressed against the further transmission portion4with a screw movement of the adjusting element61, under the action of the inclined planes S, in the spacing direction a, until it bears in play-free relationship against the transmission portion. For engagement of the working end the first bearing ring71has an opening which is matched to the working end and thus also has the inclined plane S.

Other than for protecting the transmission G the arrangement, as part of the housing3, has axially at both sides of the gear wheel2, a respective annular cover32which is arranged coaxially with respect to the transmission axis of rotation g and has a ring opening33. The cover32is radially outwardly fixed to the housing3. If functionally necessary the cover32is provided with a central ring opening33, by which the respectively associated central opening34remains uncovered or is at least accessible from the exterior. The ring opening33can also serve for supporting, in particular in a plain bearing, the drive shaft51, the motor shaft52and/or the hollow profile member8. The size of the ring opening33can be designed to be minimised to the respective purpose, for example for support on the respective diameter of the shafts51;52or the hollow profile member8. In addition, as can be seen fromFIGS.2B and2C, the cover32can have the adjusting opening62, in which the above-described adjusting element61is arranged accessibly from the exterior and mounted capable of a screwing movement in the cover32.

The further transmission element4is arranged axially play-free with respect to the gear wheel2, in relation to the operative axis w. In the embodiment of the arm joint shown inFIGS.1to6the transmission G is in the form of a worm transmission G1with the output side gear wheel2in the form of a worm gear26and the input side further transmission element4in the form of the worm41. The worm gear26and the worm41are shown in threaded engagement inFIG.6without the rest of the arm joint1. The usual inclined tooth arrangement261, matching the screw41, of the screw gear26is clearly apparent. As can be seen fromFIG.5the operative axis w here is a drive shaft51driven directly by a motor5. The worm41is arranged in a clamping fit on the drive shaft51.

As can be seen fromFIG.5the drive shaft51is arranged protected in a hollow profile member8, more specifically in a central internal passage81provided in the hollow profile member8. The drive shaft51is further rotatably mounted axially with respect to the operative axis w on both sides of the worm41by way of a respective bearing7on the receiving portion31. Adjustment for mounting the further transmission element4in play-free relationship axially with respect to the operative axis w, and thus play-free interaction axially with respect to the operative axis w of the gear wheel2and the further transmission element4is effected similarly to the above-described adjustment for interaction of the gear wheel2and the further transmission element4, such interaction being play-free axially with respect to the spacing direction a. Here however displacement of the gear wheel2axially relative to the operative axis w is effected by way of its bearings7. The hollow profile member8itself is arranged non-rotatably and non-displaceably relative to the receiving portion31. For that purpose provided at both sides of the hollow profile member8are undercut receiving grooves82in which anchor projections provided on the receiving portion31engage for non-rotatable mounting of the hollow profile member8.

The hollow profile member8is divided into two portions, that is to say a first portion83and a second portion84. The two portions83;84are arranged spaced from each other over the extent, axially with respect to the operative axis w, of the two bearings7supporting the drive shaft51on the hollow profile member8, and the axial extent of the worm41. In that way the region around the worm41is accessible from the exterior for the worm gear26. In addition structurally uncomplicated adjustment of the operative connection between the gear wheel2and the further transmission element4is made possible, as far as freedom from play axially with respect to the direction of the operative axis w. The two portions83;84respectively engage with an end towards the worm41, at the ends thereof, at the bearing7associated therewith, that is to say in each case with respect to the direction from a setting unit67towards the worm41, a front bearing73and a rear bearing74, wherein they are respectively supported at the receiving portion31with their other end that is remote from the worm41.

The second portion84, as arranged at the right inFIG.5, is supported by way of a clamping element65. In the working position it bears peripherally in friction-locking relationship radially outwardly against the second portion84. The clamping element65is further arranged screwably on the receiving portion31. The clamping element65is so designed that, with progressive screwing at the receiving portion31it peripherally exerts a correspondingly increasing radial frictional force on the second portion84, and in this application that causes frictional engagement with the second portion84.

The first portion83, arranged at the left inFIG.5, bears with its supported end in force-transmitting relationship against the setting unit67. The unit is arranged screwably on the receiving portion31, in the direction of the operative axis w. The setting unit67has an adjusting device671, by way of which the first portion83can be pressed against the front bearing73with axial displacement on the hollow profile member8, the bearing then being pressed against the further transmission element as far as freedom from play. In that way the axial play in the operative connection between the gear wheel2and the further transmission element4can be eliminated. As can be seen for example fromFIG.4the adjusting device671is actuable by rotation of a cap nut accessible from the outside. The setting unit67has a blind opening66which is axial relative to the operative axis w and into which the drive shaft51projects at the end while remaining free therein. Remaining free means without bearing against the blind opening66at the inside thereof.

The above-described bearings7for the gear wheel2and the further transmission element4in the form of the worm41are each in the form of roller bearings in the illustrated embodiments of the arm joints1, but the invention is not limited thereto, as any other suitable forms of bearing can be used. Alternatively at least some of the bearings can be in the form of respective plain bearings, in particular plastic plain bearings, which are advantageously lubricant-free.

FIG.7is a cross-sectional view with respect to the transmission axis of rotation g of another embodiment of the arm joint1. The transmission G is here in the form of an inverted worm transmission G2. Conversely to the worm transmission G1here the torque is introduced at the drive side by way of the gear wheel2and transmitted out of the transmission at the drive output side to the operative axis w by way of the further transmission element4. As can be seen fromFIGS.8and9the gear wheel2in the form of a spur gear accordingly has a peripheral male thread27and the further transmission element4has a spur tooth arrangement42. The hollow profile member8which is here at the drive output side forms the operative axis w. The further transmission element4is arranged non-rotatably on the hollow profile member8. The hollow profile member8is supported in the receiving portion31rotatably by way of two axially mutually spaced clamping elements65. The clamping elements65serve here for guidance and support without clamping of the hollow profile member8. As described above the hollow profile member8has an internal passage81. As the internal passage81is not needed to constitute the inverted worm transmission G2in the embodiment of the arm joint shown inFIG.1, other components like lines or, as indicated by way of example inFIG.31, a further drive shaft51for a remote arm joint, can be passed through the hollow profile member8without the further drive shaft51transmitting a torque to the arm joint1.

FIGS.10and11each show a view of a further embodiment of the arm joint1;FIGS.12,13and14each show individual components of this embodiment. As part of a linear transmission G3, the gear wheel2is in the form of a spur gear28and the further transmission element4is in the form of a toothed rack element43. The toothed rack element43forms the operative axis w. The toothed rack element43is arranged in the installed position in a first receiving groove84which is open towards the gear wheel in the installation position. The first receiving groove84, like also the lateral receiving grooves82, are of an undercut configuration. In the installation position the toothed rack element43engages into the first receiving groove84by way of a foot44which is matched to the undercut configuration, and is thereby mounted axially non-rotatably and radially non-displaceably to the hollow profile member. In addition provided at both sides of the toothed rack element43are clamping elements65which are arranged in a clamping fit on the hollow profile member8and against which the toothed rack element43axially bears at the ends against clamping elements65. In that way the toothed rack element43is held axially non-displaceably in the receiving groove84. The first receiving groove84is arranged opened towards the gear wheel2for tooth engagement into same.

FIGS.12A and12Bshow a perspective view and a cross-sectional view of the hollow profile member8. Besides the above-mentioned lateral receiving grooves82for non-rotatably arranging the hollow profile member8and the upper receiving groove85a lower receiving groove86is provided at the underside for receiving measurement components, in which case by way of example a magnetic strip Ma for travel measurement is arranged here.FIG.14shows an associated sensor means R for travel measurement, the sensor means R being of a half-shell shape and being adapted to be fixed with respect to the operative axis w centrally at the receiving portion51.

FIGS.19to26Bshow side views, sectional views and individual views of three basic forms of connection between at least two arm joints1. They are arranged coaxially and at the ends in mutually parallel relationship with respect to the transmission axis of rotation g. They each have the central opening24at least at the mutually facing ends, the two openings24being arranged in mutual alignment. The at least two arm joints1are part of an embodiment of the manipulator M. To make the connection between the arm joints1, there is a connecting device9having parallel connectors91, by means of which the arm joints1are arranged parallel and spaced from each other and mounted rotatably about a common transmission axis of rotation g.

InFIGS.19to21two arm joints1are fixedly connected together, constituting a rigid connection VI, that is to say the housings3of the at least two arm joints1and the gear wheels2of the at least two arm joints1are respectively non-rotatably connected together. For that purpose the two transmission axes of rotation g of the two arm joints1are non-rotatably connected together by a radially inward parallel connector91in the form of an internal connector92. In addition the housings3of the two arm joints1are non-rotatably connected together by way of a radially outward parallel connector91in the form of an external connector93. When therefore a torque is applied to the transmission axis of rotation g of the one arm joint1then the torque is transmitted directly to the transmission axis of rotation g of the other arm joint1, more specifically in the ratio 1:1. The same applies for coupling a torque into the housing3of an arm joint1and transmission thereof to the housing3of the other arm joint1.

The internal connector92and the external connector93are respectively shown in individual views inFIGS.21A and21Band inFIG.22. The internal connector92is of an elongate form with a respective male thread95at both ends, with which it engages non-rotatably into the two mutually facing openings24of the two interconnected arm joints1. The external connector93is of an annular shape, the two arm joints1being held in mutually spaced relationship over the axial extent thereof. In addition provided axially at both ends at the periphery are equally spaced plug connections94which are arranged on a radius and which in the installation position axially engage into plug openings correspondingly provided on the housing3. The two arm joints1are axially held together by the internal connector92and are held pressed axially against the external connector93.

For rotationally securing the thread engagements of the female thread25and the male thread95, in respect of both arm joints1it is respectively provided that a plurality of identical blocking elements68, here each in the form of a screw element681(seeFIG.17), are axially screwed into an overlap region of the two interengaging threads25;95in order thereby to block relative rotation of the two threads25;95. This ensures that the two interconnected arm joints1are held axially non-displaceably and non-rotatably.

The screw elements681, here being eight, are arranged on a radius and equally peripherally spaced. Associated with each screw element681is a blocking opening69(seeFIG.17) between the interengaging threads25;95. To provide the blocking opening69a respective axial groove691of semicircular cross-section is provided in both threads25;95for each respective blocking opening69, wherein the two axial grooves691, upon thread engagement, are moved in a given relative rotational position of the two threads25;95, one above the other, in which position the axial grooves691supplement each other at least to provide a circular blocking opening69. In that way upon assembly the two arm joints1are screwed together, with a spacing thereof, by way of the external connector93and by way of the thread engagement of the internal connector in the two central openings24, to such an extent that the threads25;95of the two openings engage into each other in play-free relationship with the lowest possible prestressing and in addition the axial grooves691combine to form the respective blocking opening69in order then in a further step to screw the screw elements681into the respectively associated blocking opening69. By virtue of the same procedure, when for example play occurs in operation due to wear, the play can be eliminated, for which purpose firstly the screw elements681of one of the two openings24have to be released.

Adjustment for freedom from play of the thread engagement is thus effected step-wise, that is to say here with eight blocking elements68, the spacing extends over a rotational angle of 45°. The accuracy with which play adjustment or freedom from play can be implemented thus depends inter alia on the number of blocking elements68. That kind of adjustment of freedom from play in respect of a thread engagement of two interengaging threads25;95is also used in other embodiments described hereinafter of the manipulator M.

Referring toFIG.23two arm joints1are rotatably connected together, constituting a rotary connection V2, with respect to the transmission axis of rotation g. The rotary connection V2was effected here by means of a transverse connector96. The transverse connector96is of a cranked shape and engages with a radially inward threaded sleeve-like end portion961with thread engagement radially inwardly and axially into the female thread25of the central opening24of the gear wheel2of the one arm joint1, being axially non-displaceable. Here too by means of the above-described adjusting device, by way of blocking elements68(seeFIG.17), the thread engagement is blocked to prevent relative rotation of the threads25, after adjusting the freedom from play. With the other radially outer end portion962the transverse connector95is connected radially outwardly and axially fixedly to the housing3of the other arm joint1, that is to say, as can be seen at the screw openings98inFIG.24A, being screwed, wherein the two arm joints1are held spaced over the axial extent of the outer end region of the transverse connector95.

In that way the torque introduced into the transverse connector95by the gear wheel2of the one arm joint1can be transmitted to the housing of the other arm joint1so that the two arm joints1rotate relative to each other, upon torque transmission, with respect to the transmission axis of rotation g. In order to minimise frictional losses which occur upon relative rotation of the two arm joints1, radially outwardly between the transverse connector96and the housing3of the one arm joint1, the transverse connector96has sliding surfaces97which laterally axially face towards the one arm joint1, and against which solely the one arm joint1bears radially outwardly at the transverse connector96.

By way of example reference is made toFIGS.25and26to describe a further form of connection, in the form of a rotary guide means V3for two interconnected arm joints1. In the rotary guide means V3two interconnected arm joints1are rotated relative to each other, guided against each other. That relative rotary movement however is passive, that is to say the rotary movement does not actively come from one of the two arm joints. In contrast thereto, in the case of the rotary connection V2, the rotary movement is created actively by one of the two interconnected arm joints1.FIGS.25A and25Bshow a further embodiment of the manipulator M with three interconnected arm joints1. For improved clarity in the Figures the arm joints1are additionally identified by the Roman numerals I-III. As shown inFIG.25Bthe arm joint I is arranged at the right, the arm joint III is arranged at the left and the arm joint II is arranged centrally between the two arm joints I and III. As can be seen from the longitudinal sectional view here parallel to the operative axes w shown inFIG.25Aof the arm joints I-III, the rotary connection V2already described above is provided between the arm joint I and the arm joint II, the arm joint I having a worm transmission G1and the arm joint II having a linear transmission. In this arrangement a torque is coupled from the worm gear2of the arm joint I to the housing3of the arm joint II, whereby same is rotated relative to the arm joint I. The gear wheels2of the two arm joints II and I are connected non-rotatably and non-displaceably to each other by way of an internal connector92. Therefore the gear28of the linear drive G3of the arm joint II is rotated by way of the internal connector92, wherein the gear28meshes at the drive output side with the toothed rack element43and moves linearly in the direction of the operative axis w.

There is also an external connector93. As can be seen fromFIGS.26A and26B, as in the case of the rotary connection V2, push-in projections94are provided at the drive output end while sliding surfaces97are provided at the drive input end. In other words the outer connector93is connected, in each case radially outwardly, non-rotatably to the housing3of the arm joint II and rotationally slidingly movably to the housing3of the arm joint III. When the arm joint II is actively rotated by the arm joint I then the arm joint II is at the same time rotationally slidingly movably guided at the arm joint III.

FIGS.27-28and29A-29Bshow three further possible options for connecting arm joints1, which are respectively driven at the drive input side by way of a worm drive G1. The two arm joints1shown inFIG.27are shown inFIG.28and the two arm joints I shown inFIG.29Aare shown inFIG.29B, in each case in a longitudinal sectional view. In accordance therewith the arm joint1shown at the left inFIGS.27-29has a worm drive G1. The worm21of the worm drive G1is driven by a motor5arranged spaced in relation to the arm joint1. In addition the arm joint1adjoining the left-hand arm joint1, as shown inFIG.28, has a linear drive G3. The two adjacent arm joints are connected together as shown inFIG.28by way of a rigid connection V1so that the torque which is coupled from the worm gear26of the one arm joint1into the spur gear28of the other arm joint1is converted by way of the linear transmission G1into a linear movement of the toothed rack element43.

The embodiment of the manipulator M shown inFIG.28has a further arm joint1with a linear transmission G3arranged spaced relative to the other arm joint1with the linear transmission G3. For torque connection to the other arm joint1the arrangement has a drive shaft portion54bridging over the spacing. It is connected non-rotatably to the spur gears28of the two linear transmissions G3so that the two linear transmissions G3are driven synchronously by way of the worm transmission G1. The drive shaft portion54is mounted rotatably at both ends by way of a respective connecting element53at the mutually facing central openings34of the arm joints1. For that purpose the connection element53with a male thread27is in play-free threaded engagement as described hereinbefore with the female thread25of the respectively associated central openings34. That connection element53is shown by way of example in an individual view inFIGS.18C and18D.

The embodiment of the manipulator M shown inFIGS.29A and29Bhas a further motor5which is coupled with its motor shaft52at the end in relation to the transmission axis of rotation g to the arm joint1with the worm transmission G1and is connected to the drive shaft51by way of a coupling55. The drive shaft51passes through the arm joint1with the worm transmission G1without transmitting a torque to that arm joint1. The two interconnected arm joints1are supported in the central opening24remote from the two arm joints1as described above. In this case it is non-rotatably connected to the gear wheel2of the inverted worm drive G2. The hollow profile member8is thus set in rotation by way of the further motor5.

In the embodiment of the manipulator M shown inFIG.30the arm joints1from the point of view of their functional relationship can be divided into a first group U1and a second group U2, the first group U1shown at the bottom inFIG.30already having been described with reference toFIG.25and the second group U2arranged at the top inFIG.30already having been described more fully with reference toFIG.28. As a departure therefrom the arm joints1of the second group are here mounted at a base B, wherein the arm joints1of the first group are arranged at the working head side of the manipulator M. In the second group the two arm joints1which are spaced by way of the drive shaft portion54and thus the associated toothed rack elements43which are respectively arranged in a hollow profile member8move parallel and synchronously. Provided at the upwardly arranged free ends of the hollow profile members8is a respective motor5which couples a torque into a drive shaft guided in the respectively associated hollow profile member and by way thereof drives the two outer joints1of the first group. It will be clear that extensive movement is made possible for the manipulator M by virtue of the arm joints1.

In the embodiment of the manipulator M shown inFIG.31the arm joints1used can also be divided into two groups U2; U3. The one group is the already mentioned second group U2arranged at the left inFIG.31. As the toothed rack elements43respectively mounted to a hollow profile member8are displaced synchronously linearly being held parallel to each other, then as shown inFIG.31they can be fixedly connected together for stabilisation thereof by way of transverse bars99. The arm joints1of both groups U2; U3are arranged coaxially to a transmission axis of rotation g.

Between the two arm joints1of the other group U2there is a rotary connection V2which has already been described hereinbefore in relation toFIG.23, wherein the arm joint1at the left inFIG.31drives the arm joint1at the left inFIG.31. The left arm joint1has a worm drive G1while the arm joint1at the right is equipped with an inverted worm transmission G2. The hollow profile member8which is passed through the right arm joint1is driven by way of the inverted worm transmission G2of the right arm joint1, which in turn is coupled at the end to a motor5torque-transmittingly engaging with respect to the transmission axis of rotation g. In addition coupled at the end to that hollow profile member8is a further motor5which drives a drive shaft51guided in the hollow profile member8for a purpose which is not further shown here. As the drive shaft51is arranged concealed in the hollow profile member8it is only indicated by broken lines.

Between the two arm joints1of the two groups U2; U3which are directly adjacent to each other there is a further form of connection which has not yet been described, insofar as the housings3thereof are connected together without torque transmission non-rotatably by way of an external connector93and by way of a screw connection V4.

Referring toFIG.32the manipulator M has three arm joints1of substantially identical structure and arranged in succession with respect to torque transmission as indicated at3, each having a worm transmission G1, the worms41of which are driven by a single drive shaft51passing through the arm joints1.

The transmission components like the gear wheel2and the further transmission component4are of such a modular configuration that the arm joints1in all embodiments described here can be inexpensively assembled and replaced without complication. The manipulator M, the motor5, the arm joint1, the hollow profile member8and/or the components, in particular transmission components in their various modifications and sizes, are each of a modular structure and can therefore be easily assembled and replaced.

LIST OF REFERENCES

1arm joint2gear wheel21end22adaptor221push-in projection222push-in opening223guide insert23side24opening25female thread26worm gear261inclined tooth arrangement27male thread28spur gear29external tooth arrangement3housing31receiving portion32cover33ring opening4further transmission element41worm42spur tooth arrangement43toothed rack element44foot45anchor element5motor51drive shaft52motor shaft53connection mounting54drive shaft portion55coupling6adjusting device61adjusting element62adjusting opening65clamping element651inner screw sleeve652outer screw sleeve66blind opening67setting unit671setting device68blocking element681screw element69blocking opening691groove7bearing71first bearing ring72second bearing ring73front bearing74rear bearing8hollow profile member81internal passage82lateral receiving groove83first portion84second portion85upper receiving groove86lower receiving groove9connecting device91parallel connector92internal connector921internal screw connection93external connector94push-in projection95male thread96transverse connector961inner end region962outer end region97sliding surface98screw opening99transverse bara spacing directiong transmission axis of rotationw operative axisB baseE adjusting forceG transmissionG1worm transmissionG2inverted worm transmissionG3linear transmissionM manipulatorMa magnetic stripR sensor meansS inclined planeV1rigid connectionV2rotary connectionV3rotary guide meansV4screw connectionU1first groupU2second groupU3third group