Mounting arrangement, positioning device with such a mounting arrangement and device for producing such a mounting arrangement

Abstract

The present invention relates to a mounting arrangement for the articulated mounting of an actuator (10) in a positioning device (9). In order to enable a simpler production and mounting process and in particular to facilitate an exchange of actuators in an existing construction or installation of the positioning device, the mounting arrangement comprises a joint device (8), a bearing (2) supporting a part or an element of the joint device (8), and a bearing seat (1) detachably connected to the bearing (2). Further aspects of the invention relate to a positioning device having such a mounting arrangement and to a device for producing such a mounting arrangement.

Description

[0001] Mounting arrangement, positioning device with such a mounting arrangement and device for producing such a mounting arrangement

[0002] The present invention relates to a mounting arrangement for the articulated mounting of an actuator in a positioning device, a positioning device with such a mounting arrangement and a device for producing such a mounting arrangement.

[0003] A common application for the articulated mounting of an actuator is a positioning device comprising a base and a slide, with one or more actuators arranged between the base and the slide, thus allowing the orientation and position of the slide relative to the base to be adjusted accordingly. The actuators can, in particular, be linear actuators connected to the base or slide via a universal joint. Such a configuration can be found, for example, in hexapods, where the slide is connected to the base via six actuators.

[0004] Fig. 1 shows a mounting arrangement for the articulated mounting of an actuator 10 to a base 11 of a positioning device according to the prior art. Recesses are located in the base 11 and in the slide 12 that directly accommodate the corresponding joint axes 8a of the universal joints 8 connected to the actuators 10. During assembly, the joint axes 8a must be aligned in the corresponding recesses of the base 11 or the slide 12 and then fixed with an additional element to ensure high absolute accuracy of the positioning device.

[0005] This has the following disadvantages: the introduction of the recesses in the form of semicircular grooves into the base and the specimen carrier 11, 12 makes production complex. As already mentioned above, the joint axes 8a of the cardan joints 8 must be aligned in the recesses of the base 11 and the specimen carrier 12 when the actuators 10 are mounted in the positioning device. This represents a complex process and cannot be carried out easily in the field, i.e. with an existing structure on the positioning device or when the positioning device is installed in a higher-level structure. Screws required to fix the joint axes 8a to the base 11 or the specimen carrier 12 are usually only accessible from the top or bottom of the base 11 or the specimen carrier 12. This complicates the assembly of the actuators 10 in the overall system and sometimes makes replacing the actuators 10 in the field impossible.Due to the disadvantages described above, the object of the present invention is to provide a mounting arrangement for the articulated mounting of an actuator in a positioning device, which enables a simpler manufacturing and assembly process and in particular facilitates the replacement of actuators in an existing structure or installation of the positioning device.

[0006] This object is achieved by a mounting arrangement according to claim 1. According to the invention, the mounting arrangement comprises a joint device that can be coupled to the actuator, a bearing that supports the joint device or a part or an element of the joint device, and a bearing seat that is detachably connected to the bearing.

[0007] A wide variety of designs are conceivable for the joint device: for example, those with joint elements in which corresponding parts slide and / or roll against each other, such as in classic or conventional rotary or ball joints. Joint devices with solid-state joints or spring joints are also conceivable. Combinations of different joint types are also conceivable for the joint device. In a preferred embodiment, the joint device is a universal joint.

[0008] The bearing provides a separate component that accommodates the joint device or a part or element of the joint device. The bearing can thus be pre-assembled with the joint device. Furthermore, the joint device, or a part or element thereof, can be connected to the actuator. Therefore, to install an actuator pre-assembled with the bearing and joint device into the positioning device, only the bearing needs to be positioned in the bearing seat and secured, i.e., connected to the bearing seat. Similarly, an actuator can be removed simply by loosening the connection between the bearing and the bearing seat.

[0009] Advantageous further training is the subject of the subclaims.

[0010] The use of the term 'or' in connection with features of the subject matter of the invention is to be understood herein - unless explicitly stated otherwise - as a non-exclusive 'or' or as a non-exclusive disjunction.

[0011] It may be advantageous if the bearing and the bearing seat are designed as complementary male and female coupling sections that can be transferred between a decoupled state and a coupled state and, in the coupled state, interact at least partially in a form-fitting manner, with the bearing preferably forming the male coupling section and the bearing seat forming the female coupling section, or vice versa. Through a form-fitting interaction of the bearing and the bearing seat, a coupled state can be achieved in which some degrees of freedom of the bearing are already blocked relative to the bearing seat, which facilitates pre-positioning of the bearing in the bearing seat.

[0012] It may be useful if the female coupling section forms a housing for receiving the male coupling section, wherein the housing encloses the male coupling section at least in sections in the coupled state.

[0013] It may prove useful if the mounting arrangement has at least one securing device to secure the bearing and the bearing seat to one another in the coupled state, wherein the securing device preferably comprises: a. a spring device, in particular as a primary securing device, to resiliently urge the bearing and the bearing seat into the coupled state; and / or b. a locking device, in particular as a secondary securing device, to positively lock all degrees of freedom of movement of the bearing relative to the bearing seat in the coupled state, preferably without play, wherein the locking device preferably acts in a force-fitting manner, particularly preferably in two different directions.

[0014] Such a locking device allows the coupled state to be gradually transformed into a connected state. This means that the degrees of freedom of the bearing relative to the bearing seat that are not yet locked in the coupled state are locked by the spring device and the locking device, allowing the bearing to be securely and precisely connected to the bearing seat.

[0015] It may be advantageous if the bearing has a flat contact surface that, when coupled, is in contact with a flat contact surface of the bearing seat. The bearing rests against at least one contact section of the bearing seat that protrudes beyond the contact surface of the bearing seat and is preferably oriented perpendicular to the contact surface of the bearing seat. This already blocks some of the bearing's degrees of freedom relative to the bearing seat, thus achieving pre-positioning of the bearing in the bearing seat.

[0016] It can be useful to pull the bearing against a first contact section of the bearing seat by a screw and / or to press it against a second contact section of the bearing seat by a spring, with the first contact section and the second contact section of the bearing seat preferably aligned perpendicular to each other. This positional fixation ensures a high degree of repeatability of the assembly process. Furthermore, assembly in the field is simplified because the bearing aligns itself to a certain extent in the bearing seat.

[0017] It can also be advantageous if the joint device is designed as a universal joint with two non-parallel joint axes, with one of the joint axes being supported by the bearing and the other being coupled to the actuator. Using universal joints, a precise and accurate mounting of the actuator can be achieved in a relatively simple manner, allowing the actuator to be tilted or pivoted about two mutually perpendicular tilting or rotational axes.

[0018] It may be useful if the bearing comprises two opposing axle mounts, each of which accommodates an end section of the mounted joint axis of the universal joint.

[0019] It can be advantageous if the bearing supports the supported joint axis of the universal joint in a force-fitting manner, particularly by clamping, and / or is connected to the supported joint axis of the universal joint in a material-to-material connection, particularly by gluing or welding. The choice of connection type depends on the application. A clamp connection can provide a detachable connection if separation of the universal joint and bearing should generally be possible. On the other hand, a permanent and secure connection can be achieved through a material-to-material connection.

[0020] It may be advantageous if the bearing has at least one multi-part axle mount, the parts of which are connected to one another by at least one screw connection to clamp an end section of the mounted joint axis of the universal joint. The longitudinal axis of the screw connection preferably forms an angle other than 90° with a flat contact surface of the bearing. Such an axle mount allows the universal joint to be detachably connected to the bearing. The aforementioned orientation of the longitudinal axis of the screw connection improves accessibility to the screw connection.

[0021] A further aspect of the present invention relates to a positioning device comprising a base, a specimen carrier and at least one actuator arranged therebetween, wherein the at least one actuator is connected to the base or the specimen carrier by the mounting arrangement according to one of the preceding embodiments, wherein the bearing seat is integrally connected to the base or the specimen carrier. In such a positioning device, the actuators can be easily installed and removed or replaced.

[0022] It may be advantageous if the bearing seat is integrally connected to the base or slide. This facilitates the assembly of the positioning device.

[0023] It may also be advantageous if the bearing seat is designed as a recess in the actuator-side surface of the base or in the actuator-side surface of the slide. This allows for a space-saving arrangement of the bearing in the bearing seat, which simultaneously leads to weight savings in the base or slide and thus to a lighter positioning device.

[0024] It can prove useful if the bearing is connected to the bearing seat by at least one screw connection whose longitudinal axis runs parallel to an actuator-side surface of the base or slide. This improves accessibility to the screws. Installation and removal of the actuators can therefore also be carried out in an existing structure or installation of the positioning device, especially because the base and slide can remain in their positions and orientation.

[0025] It can be advantageous if the recess used to house the bearing seat extends over an edge of the base or slide. This allows the bearing to be easily inserted into the bearing seat.

[0026] It may be useful if the positioning device is a parallel kinematic positioning device and preferably a hexapod with six actuators.

[0027] A further aspect of the present invention relates to a device for mounting an actuator in a positioning device, in particular for producing a mounting arrangement according to one of the preceding embodiments, comprising a main body, which is preferably designed as a handle, and at least one holding section connected to the main body, which is configured to hold a joint device coupled to a bearing and to the actuator, and the bearing in a rotationally secure manner. In a known type of linear actuator, a rotational movement is converted into a translational movement via a spindle. If such an actuator does not have a reference switch, care must be taken during handling of the actuator until assembly in the positioning device to ensure that the output-side part of the actuator is not rotated by a full spindle revolution, since otherwise the set actuator length deviates by the amount of the spindle pitch.The aforementioned device can simplify the handling of an actuator during assembly. In particular, it can be used to position an actuator pre-assembled with the bearing between the base and the slide for assembly, preventing twisting of the output-side part of the actuator.

[0028] It may be practical if the holding section comprises a clamp and a support section, wherein the clamp is configured to hold the joint device in a rotationally secure manner and the support section is configured to support the bearing in a rotationally secure manner.

[0029] It may be advantageous for the clamp to be integrally connected to the main body or detachably attached to the main body. An integral connection of the main body to the clamp can be realized cost-effectively and easily using an injection molding process. A clamp detachably connected to the main body offers the advantage of interchangeability. This means that various clamps can be attached to the main body, with the size and shape of each clamp being tailored to the size of the universal joint.

[0030] Short description of the characters

[0031] Fig. 1 shows a mounting arrangement for the articulated mounting of an actuator to a base of a positioning device according to the prior art.

[0032] Fig. 2 shows a mounting arrangement for the articulated mounting of an actuator to a base of a positioning device according to an embodiment of the present invention.

[0033] Fig. 3 shows a bearing of the mounting arrangement according to the invention connected to a cardan joint in a side view.

[0034] Fig. 4 shows a bearing of the mounting arrangement according to the invention connected to a universal joint in a perspective view.

[0035] Fig. 5 shows a sectional view of an embodiment of the mounting arrangement according to the invention.

[0036] Fig. 6 shows a detailed view of the base of the positioning device, which includes a bearing seat and a spring device (primary safety device).

[0037] Fig. 7 shows a device for mounting an actuator in a positioning device. Fig. 8 shows the device from Fig. 7 during the mounting of an actuator between a base and a slide of the positioning device.

[0038] Fig. 9 shows the device of Fig. 7, in which clamps for holding the universal joints are integrally connected to a main body of the device.

[0039] Fig. 10 shows an alternative embodiment of the device in which clamps for holding the universal joints are releasably attached to a main body of the device.

[0040] Detailed description of the preferred embodiments

[0041] With reference to Figs. 2 to 6, a preferred embodiment of the present invention will be described in detail below.

[0042] The assembly comprises a bearing 2, a universal joint 8 with two non-parallel joint axes 8a, 8b, one of which is received by the bearing 2, and a bearing seat 1 to which the bearing 2 is detachably connected. The other joint axis 8b of the universal joint 8 is connected to an actuator 10.

[0043] Bearing 2 and bearing seat 1 are designed to complement each other, at least in sections. In particular, the bearing seat 1 is formed by a preferably cuboid-shaped recess in a surface of a base 11 or a specimen slide 12. The bearing 2 comprises a connection section 4, which is preferably designed as a cuboid-shaped base and is therefore at least partially fitted into the bearing seat 1 in a form-fitting manner. The bearing 2, in particular the connection section 4, therefore corresponds to a male coupling element. The bearing seat 2 corresponds to a female coupling element. When the bearing 2 is fitted into the bearing seat 1, the bearing 2 and the bearing seat 1 are in a coupled state in which at least some translational and / or rotational degrees of freedom of the bearing 2 are locked relative to the bearing seat 1.

[0044] In particular, the bearing seat 1 has a flat (main) contact surface 1a, which, in the coupled state, is intended to be in contact with a flat (main) contact surface 4a of the connection section 4 of the bearing 2. The (main) contact surface 4a of the bearing 2 forms the underside of the cuboid-shaped connection section 4. Furthermore, the bearing seat 1 has at least two contact sections 1b, 1c, which protrude vertically beyond the (main) contact surface 1a of the bearing seat (1). In addition, the two contact sections 1b, 1c are aligned perpendicular to one another and thus, in conjunction with the (main) contact surface 1a of the bearing seat 1, form a type of semi-open housing that positively accommodates the bearing 2, in particular the connection section 4, at its corresponding sections.

[0045] In the preferred embodiment, the bearing seat 1 is formed as a cuboid-shaped recess in a surface of the base 11 or the slide 12. Of course, the recess can also have a different shape. To achieve a coupled state, however, it is advantageous in any case if the bearing 2 and the bearing seat 1 have complementary shapes. Furthermore, the bearing seat 1 does not have to be formed by a recess, but can also be formed, for example, by corresponding stops provided on the surface of the base 11 or the slide 12.

[0046] The mounting arrangement further comprises a securing device 5a, 5b, 6, which secures the bearing 2 and the bearing seat 1 to one another in the coupled state. The securing device 5a, 5b, 6 includes a spring device (spring) 6, which represents a primary securing means and resiliently urges the bearing 2 and the bearing seat 1 into the coupled state. As can be seen from Figs. 2 and 6, the spring device (spring) 6 is arranged on a section of the bearing seat 1 that is opposite the contact section 1c of the bearing seat 1. The spring 6 is fixed to the bearing seat 1 with a screw. The spring 6 is shaped such that it presses against a lateral section of the bearing 2 and thus urges the bearing 2 against the contact section 1c of the bearing seat 1. The lateral section of the bearing 2, on which the spring 6 presses, is preferably not arranged perpendicular to the (main) contact surface 4a of the bearing 2, but is formed as an inclined plane.Thus, the bearing 2 experiences not only a horizontal force from the spring 6, which pushes the bearing 2 against the contact section 1c of the bearing seat 1, but also a vertical force, which pushes the bearing 2 against the (main) contact surface 1a of the bearing seat 1.

[0047] In addition, the securing device 5a, 5b, 6 includes a locking device 5a, 5b, which represents a secondary securing device and locks all degrees of freedom of movement of the bearing 2 relative to the bearing seat 1 in the coupled state in a form-fitting manner and without play. In particular, the locking device 5a, 5b comprises screws 5a, 5b that fix the bearing 2 in the bearing seat 1. Two screws 5a penetrate the bearing 2 in a direction parallel to the (main) contact surface and are screwed into corresponding threaded holes extending from the contact section 1b (see Fig. 5). The screws 5a therefore initially press the bearing 2 against the contact section 1b before finally fixing the bearing 2 in this position in the bearing seat 1 with a force fit.Furthermore, the locking device 5a, 5b comprises an additional screw 5b that penetrates the bearing 2 and in particular the (main) contact surface 4a in an oblique direction and is screwed into a threaded bore that extends in this oblique direction from the (main) contact surface 1a of the bearing seat 1. The longitudinal axis of the screw 5b forms an angle of 45° with the (main) contact surface 1a, with angle ranges between 30 and 50° being conceivable. The screw 5b can be used to fix the final position of the bearing 2 in the bearing seat 1.

[0048] It is conceivable that the longitudinal axes of the screws 5a run in a non-parallel direction to the (main) contact surface 1a of the bearing seat 1, wherein the angles enclosed by the longitudinal axes of the screws 5a with the (main) contact surface 1a can be in a range of + / - 50°.

[0049] In addition to the connection section 4, the bearing 2 comprises a receiving section 3 for receiving the joint axis 8a of the universal joint 8. The receiving section 3 is formed by two opposing axis receptacles 3a, 3b, each of which receives an end section of the mounted joint axis 8a of the universal joint 8. The receiving section 3 or the axis receptacles 3a, 3b is / are formed integrally with the connection section 4.

[0050] The axle mounts 3a, 3b are each multi-part axle mounts 3a1, 3a2, 3b1, 3b2 with an upper part 3a1, 3b1 and a lower part 3a2, 3b2 (see Figs. 3 and 4). The upper part 3a1, 3b1 and the lower part 3a2, 3b2 of each axle mount 3a, 3b are connected to each other with two screws 7 in such a way that they clamp an end section of the mounted joint axis 8a of the universal joint 8. The respective longitudinal axis of these screws 7 encloses an angle other than 90° with the (main) contact surface 4a of the bearing 2 (see Fig. 5). Such an alignment of the screw axes is realized in particular in that an upper side of the lower part 3a2, 3b2 and / or the upper part 3a1, 3b1 does not run parallel to the (main) contact surface 4a of the bearing 2.In the case of an approximately cuboid-shaped upper part 3a1, 3b1, this can be achieved, for example, by designing a contact plane between the upper part 3a1, 3b1 and the lower part 3a2, 3b2 that is not parallel to the (main) contact surface 4a of the bearing 2. The alignment of the screw axes described above improves accessibility to the screws 7, since the use of appropriate tools is not hindered by the universal joint 8 or the actuator 10 connected to it.

[0051] In addition to a force-fitting receptacle of the joint axis 8a by clamping, the joint axis 8a can also be connected to the axis receptacles 3a, 3b in a materially bonded manner, i.e. by gluing or welding. A combination of force-fitting and materially bonded receptacles is also conceivable. A further aspect of the invention relates to a positioning device 9 which comprises the mounting arrangement according to the invention. Such a positioning device 9 is described below with reference to Fig. 8. Fig. 8 shows the mounting of an actuator 10 between the base 11 and the object carrier 12 of the positioning device 9. For the sake of illustration, only one actuator 10 is shown in Fig. 8, a total of six actuators being provided for the positioning device 9 shown here, i.e. two actuators are provided for each bearing seat 1 formed in the base 11 or the object carrier 12.In principle, the positioning device 9 can also comprise fewer than three or more than three actuators 10. In a preferred case, the positioning device 9 is a parallel kinematic positioning device and particularly preferably a hexapod. In this case, the positioning device 9 comprises six actuators 10 arranged between the base 11 and the specimen slide 12.

[0052] According to the invention, it is provided that at least one of the actuators 10 is connected to the base 11 or the object carrier 12 by the mounting arrangement described above. The actuator 10 is coupled to the joint axis 8b of the universal joint 8. The bearing seat 1 is integrally connected to the base 11 or the object carrier 12. In particular, the bearing seat 1 is designed as a recess in an actuator-side surface of the base 11 or the object carrier 12. As can be seen from Figs. 2 and 8, the recess extends beyond an edge of the base 11 or the object carrier 12. This means that the bearing seat 1 is accessible from a circumferential side of the base 11 or the object carrier 12. In the case of an approximately round base 11 or a round object carrier 12, as shown in Fig. 8, this corresponds to accessibility from the radial direction. In a case where the base 11 and the slide 12 are in an existing structure, ieIn a case in which the distance between base 11 and slide 12 is already approximately determined, such an arrangement of the recesses has the advantage that the bearings 2 connected to the actuator 10 can be easily pushed into the bearing seat 1 in the radial direction.

[0053] Furthermore, the longitudinal axes of the screws 5a described above run in a direction parallel to the actuator-side surface of the base 11 or the object carrier 12 or parallel to the contact surface 1a of the bearing seat 1. In contrast, the longitudinal axis of the screw 5b runs in a non-parallel direction to the actuator-side surface of the base 11 or the object carrier 12 and simultaneously in a non-parallel direction to the contact surface 1a of the bearing seat 1, wherein the direction of the longitudinal axis of the screw 5b encloses an angle of 45° with the actuator-side surface of the base 11 or the object carrier 12 or the contact surface 1a of the bearing seat. This ensures circumferential accessibility or accessibility from the radial direction to the screws 5a and 5b. The assembly of the bearing 2 in the bearing seat 1 is therefore facilitated and, in particular, is not hindered by the actuator 10 itself.

[0054] The above-specified orientation of the longitudinal axes of the screws 5a and 5b is described with reference to the orientation of the actuator-side surface of the base 11 and the specimen slide 12, respectively. Alternatively, it is possible to specify the orientation of the longitudinal axes of the screws 5a and 5b with reference to a main axis of the positioning device. The main axis of the positioning device is a central axis that intersects the base 11 and the specimen slide 12. In the initial state, i.e., in the undeflected state of the positioning device, the base 11 and the specimen slide 12 are aligned parallel to each other and perpendicular to the main axis. In typical application, the main axis runs vertically, and the base 11 lies in a horizontal plane (see Fig. 8).Good accessibility to the screws 5a and 5b is generally achieved in the present positioning device by aligning the longitudinal axes of the screws 5a and 5b within an angular range of + / - 50° to an orthogonal line of the main axis of the positioning device. In the typical application described above, the orthogonal line of the main axis is therefore aligned horizontally and parallel to the base 11. Of course, there are applications in which the positioning device is installed in an inclined position, with the main axis not aligned vertically.

[0055] A further aspect of the present invention relates to a device 13 for mounting an actuator 10 in a positioning device 9. In particular, with such a device 13, the mounting arrangement according to the invention can be produced quickly and easily. As can be seen from Fig. 7, the device 13 comprises a main body 14, which is designed as a handle, and two holding sections 15 connected to the main body 14. The holding sections 15 are designed to hold the universal joint 8, which is coupled to a bearing 2 via its first joint axis 8a and to the actuator 10 via its second joint axis 8b, and the bearing 2 in a rotationally secure manner. As shown in Fig. 8, the rotationally secure fixation of the bearing 2 allows the bearing 2 pre-assembled with the actuator 10 to be pre-aligned such that it can be easily fitted into the bearing seat 1.This fixation is particularly advantageous when an actuator 10 is to be mounted between a base 11 and a specimen slide 12 and has a pre-assembled bearing 2 at both ends. This means that when the actuator 10 is positioned between the base 11 and the specimen slide 12 using the device 13, the bearings 2 can be easily aligned in the corresponding bearing seats 1 thanks to their anti-twist pre-alignment. Figs. 9 and 10 show that each holding section 15 of the device 13 comprises a clamp 16 and a support section 17. The clamp 16 is provided to hold the universal joint 8 in a non-twist manner, while the support section 17 is provided to support the bearing 2 in a non-twist manner. In the embodiment shown in Fig. 9, the clamp 16 is integrally connected to the main body 14. The embodiment shown in Fig. 10 provides a clamp 16 detachably attached to the main body 14.

[0056] List of reference symbols

[0057] 1 bearing seat

[0058] 1 a Contact surface of the bearing seat

[0059] 1b, 1c bearing section of the bearing seat

[0060] 2 camps

[0061] 3 Reception section of the warehouse

[0062] 3a, 3b axle mount

[0063] 3a1 , 3b1 Upper part of the axle mount

[0064] 3a2, 3b2 Lower part of the axle mount

[0065] 4 Connection section of the warehouse

[0066] 4a Contact surface of the connection section (contact surface of the bearing)

[0067] 5a, 5b Screw connection (screw), locking device or secondary safety device

[0068] 6 Spring (device) or primary safety device

[0069] 7 Screw connection (screw)

[0070] 8 Articulated device

[0071] 8a first joint axis of the joint device designed as a cardan joint

[0072] 8b second joint axis of the joint device designed as a cardan joint

[0073] 9 Positioning device

[0074] 10 Actuator

[0075] 11 Base

[0076] 12 slides

[0077] 13 Mounting device

[0078] 14 Main body (handle) of the mounting device

[0079] 15 Holding section of the mounting device

[0080] 16 brackets

[0081] 17 support section

Claims

CLAIMS Mounting arrangement for the articulated mounting of an actuator (10) in a positioning device (9), comprising a joint device (8) that can be coupled to the actuator (10), a bearing (2) supporting the joint device (8), and a bearing seat (1) that is detachably connected to the bearing (2). Mounting arrangement according to the preceding claim, characterized in that the bearing (2) and the bearing seat (1) are designed as complementary male and female coupling sections that can be switched between a decoupled state and a coupled state and, in the coupled state, interact in a form-locking manner at least partially, wherein preferably the bearing (2) forms the male coupling section and the bearing seat (1) the female coupling section, or vice versa.Assembly arrangement according to the preceding claim, characterized in that the female coupling section forms a housing for receiving the male coupling section, wherein the housing at least partially encloses the male coupling section in the coupled state. Assembly arrangement according to any one of the preceding claims, characterized in that the assembly arrangement has at least one locking device (5a, 5b, 6) for securing the bearing (2) and the bearing seat (1) to each other in the coupled state, wherein the locking device (5a, 5b, 6) preferably comprises: a. a spring device (6), in particular as a primary locking device, to resiliently force the bearing (2) and the bearing seat (1) into the coupled state; and / or b.A locking device (5a, 5b), in particular as a secondary locking device, to positively lock all degrees of freedom of movement of the bearing (2) relative to the bearing seat (1) in the coupled state, preferably without play, wherein the locking device (5a, 5b) preferably acts by friction, particularly preferably in two different directions. A mounting arrangement according to one of the preceding claims, characterized in that the bearing (2) has a flat contact surface (4a) which, in the coupled state, is in contact with a flat contact surface (1a) of the bearing seat (1), wherein the... The bearing (2) rests against at least one contact section (1b, 1c) of the bearing seat (1) projecting beyond the contact surface (1a) of the bearing seat (1), which is preferably oriented perpendicular to the contact surface (1a) of the bearing seat (1). A mounting arrangement according to one of the preceding claims, characterized in that the bearing (2) is pulled against a first contact section (1b) of the bearing seat (1) by a screw (5a) and / or pressed against a second contact section (1b) of the bearing seat (1) by means of a spring (6), wherein the first contact section (1b) and the second contact section (1c) of the bearing seat (1) are preferably oriented perpendicular to each other.Assembly arrangement according to one of the preceding claims, characterized in that the joint device (8) is designed as a universal joint with two non-parallel joint axes (8a, 8b), wherein one of the joint axes (8a) is supported by the bearing (2) and the other of the joint axes (8b) can be coupled to the actuator (10). Assembly arrangement according to the preceding claim, characterized in that the bearing (2) comprises two opposing axle receptacles (3a, 3b), each of which receives an end section of the supported joint axis (8a) of the universal joint (8). Assembly arrangement according to one of the preceding claims 7 or 8, characterized in that the bearing (2) receives the supported joint axis (8a) of the universal joint (8) by frictional engagement, in particular by clamping, and / or is materially bonded to the supported joint axis (8a) of the universal joint (8), in particular by gluing or welding.Mounting arrangement according to any one of the preceding claims 7 to 9, characterized in that the bearing (2) has at least one multi-part axle receptacle (3a1, 3a2, 3b1, 3b2), the parts of which are connected to one another by at least one screw connection (7) in order to clamp an end section of the supported joint axle (8a) of the universal joint (8), wherein the longitudinal axis of the screw connection (7) preferably forms an angle other than 90° with a flat contact surface (4a) of the bearing (2). Positioning device (9), comprising a base (11), a slide (12) and at least one actuator (10) arranged between the base (11) and the slide (12). characterized in that the at least one actuator (10) is connected to the base (11) or the slide (12) by the mounting arrangement according to one of the preceding claims. Positioning device (9) according to the preceding claim, characterized in that the bearing seat (1) is integrally formed with the base (11) or the slide (12). Positioning device (9) according to the preceding claim, characterized in that the bearing seat (1) is formed as a recess in the actuator-side surface of the base (11) or in the actuator-side surface of the slide (12).Positioning device (9) according to any one of claims 11 to 13, characterized in that the bearing (2) is connected to the bearing seat (1) by at least one screw connection (5a, 5b), the longitudinal axis of which is aligned at an angle of ±50° to an orthogonal of the main axis of the positioning device, preferably in the direction of the orthogonal of the main axis, and in particular in a direction parallel to an actuator-side surface of the base (11) or the slide (12). Positioning device (9) according to any one of claims 11 to 14, characterized in that the recess formed by the bearing seat (1) extends over an edge of the base (11) or the slide (12). Positioning device (9) according to any one of claims 11 to 15, characterized in that the positioning device (9) is a parallel kinematic positioning device and preferably a hexapod comprising six actuators (10).Device (13) for mounting an actuator (10) in a positioning device (9), in particular for producing a mounting arrangement according to any one of claims 1 to 10, comprising a main body (14), which is preferably designed as a handle, and at least one retaining section (15) connected to the main body (14), which is configured to hold a joint device (8) coupled to a bearing (2) and to the actuator (10), and the bearing (2) in a rotationally secure manner. Device (13) according to the preceding claim, characterized in that the retaining section (15) comprises a clamp (16) and a support section (17), wherein the clamp (16) is configured to hold the joint device (8) in a rotationally secure manner, and the support section (17) is configured to support the bearing (2) in a rotationally secure manner.

19. Device (13) according to the preceding claim, characterized in that the clamp (16) is integrally connected to the main body (14) or detachably attached to the main body (14).