# US 11,897,130 B2 · Planar drive device, and method for operating a planar drive device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,130 B2 - Document ID: US11897130B2 - Status: Granted - Kind: B2 - Application number: 17/844,902 - Filed: 2022-06-21 - Published: 2022-12-29 - Granted: 2024-02-13 - Earliest claimed: 2021-06-25 - Assignees: Syntegon Technology GmbH - Applicants: Syntegon Technology GmbH - Inventors: Sebastian Schwarz; Marcus Kleinert - Web page: https://patentgrep.com/patent/US11897130B2 ## CPC - B25J 9/1065: {with parallelograms} - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B65G 54/02: electrostatic, electric, or magnetic - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract A planar drive device having a first platform and having a second platform, which platforms are movable in an X-Y plane on a work bench, wherein the first platform has a frame, a transmission and a working platform for the arrangement of a work tool, wherein the transmission permits an adjustment of the distance of the working platform with respect to the X-Y plane, wherein the second platform has a frame and a drive member which is coupled in terms of movement at least indirectly to the working platform such that the distance of the working platform from the X-Y plane is adjustable by changing a distance between the two platforms within the X-Y plane. The work tool can be transferred into at least two different working states by relative movement of the platforms in the X-Y plane. ## Claims ### Claim 1 A planar drive device (10) having a first platform (16) and having a second platform (18), which platforms are movable in an X-Y plane (14) on a work bench (12), wherein the first platform (16) has a frame (20), a transmission (22) and a working platform (24) for the arrangement of a work tool (28), wherein the transmission (22) permits an adjustment of the distance of the working platform (24) with respect to the X-Y plane (14), wherein the second platform (18) has a frame (30) and a drive member (32) which is coupled in terms of movement at least indirectly to the working platform (24) such that the distance of the working platform (24) from the X-Y plane (14) is adjustable by changing a distance between the two platforms (16, 18) within the X-Y plane (14), wherein, for the adjustment of the distance of the working platform (24) from the X-Y plane (14), the drive member (32) and the transmission (22) are effective in a movement plane (60) perpendicular to the X-Y plane (14), in that the drive member (32) is movable relative to the working platform (24) along a working axis (62) perpendicular to the movement plane (60), and in that a first portion (72) of the work tool (28) is connected to the drive member (32) and a second portion (74) of the work tool (28) is connected to the working platform (24) such that, by relative movement of the platforms (16, 18) in the X-Y plane (14) in a direction parallel to the working axis (62), the work tool (28) can be transferred into at least two different working states in which the first portion (72) and the second portion (74) take up different relative positions from one another. ### Claim 2 (depends on 1) The planar drive device (10) according to claim 1, wherein the work tool (28) has a plurality of working regions (76). ### Claim 3 (depends on 1) The planar drive device (10) according to claim 1, wherein the work tool (28) is a gripping tool which is closed in a first working state and is open in a second working state differing from the first working state. ### Claim 4 (depends on 1) The planar drive device (10) according to claim 1, wherein the transmission (22) is designed as a four-bar linkage, wherein the frame (20) and the working platform (24) form two transmission members. ### Claim 5 (depends on 4) The planar drive device (10) according to claim 4, wherein the four-bar linkage is designed as a parallelogram guide with four rotary joints (36, 38, 44, 46). ### Claim 6 (depends on 1) The planar drive device (10) according to claim 1, wherein the drive member (32) is mounted on the second platform (18) by a rotary joint (52). ### Claim 7 (depends on 1) The planar drive device (10) according to claim 1, wherein the drive member (32) is coupled for movement to the working platform (24) by a rotary prismatic joint (58). ### Claim 8 (depends on 7) The planar drive device (10) according to claim 7, wherein a pivot bolt (56) of the rotary prismatic joint (58) at the same time forms a rotary joint (46) of the transmission (22). ### Claim 9 (depends on 1) The planar drive device (10) according to claim 1, wherein the two frames (20, 30) of the two platforms (16, 18) are provided as identical parts. ### Claim 10 (depends on 1) The planar drive device (10) according to claim 1, wherein a stop (82) is provided for the transmission (22) in order to define an end position of the work tool (28). ### Claim 11 (depends on 1) The planar drive device (10) according to claim 1, wherein the work tool (28) projects at least in an end position beyond a border (84) of the X-Y plane (14) of the work bench (12). ### Claim 12 (depends on 1) A method for operating a planar drive device (10) according to claim 1, wherein the two platforms (16, 18) are driven in the X-Y plane (14) in such a manner that a distance of the working platform (24) from the X-Y plane (14) changes along a Z axis (26) which is perpendicular to the X-Y plane (14), and/or wherein, in order to transfer the work tool (28) into a changed working state, the first platform (16) is stationary and the second platform (18) is moved.