Positioning system for positioning an end effector

Abstract

The present invention provides a positioning system (1), which has a system base body (4), at which a plurality of working units (6) are arranged adjacent to one another in the axial direction along the y-axis and can move linearly in the axial direction along the z-axis during the implementation of a working movement (8). For each working unit (6), a dedicated drive unit (7) is assigned for its actuation, and the drive unit has a stator (23) arranged at the system base body (4) and a driven body (24) which is drivingly connected to the working unit (6) via a coupling section (26). The stator (23) is distributedly arranged in a plurality of stator rows (58) which are oriented in the axial direction along the y-axis and are arranged successively in the axial direction along the x-axis, wherein the stators (23) of correspondingly adjacent stator rows (58) are arranged overlapping and offset from one another in the axial direction along the y-axis.

Description

Technical Field

[0001] The present invention relates to a positioning system for positioning an end effector, having a system base body, at which a plurality of working units are arranged adjacent to one another in the axial direction of the y-axis of an x-y-z coordinate system, and the working units can linearly move in the axial direction of the z-axis orthogonal to the y-axis in order to position the correspondingly arranged end effector during the implementation of a working movement. Background Art

[0002] DE 10 2014 013 552 B3 describes such a positioning system configured as a metering system, the end effector of which relates to a metering unit, by means of which a fluid quantity can be aspirated from a carrier substrate or emitted into the carrier substrate. The fluid quantity particularly relates to a fluid sample, for example, a biochemical analysis sample to be analyzed or otherwise processed, or to nutrient solutions or reagents of the most diverse types. The end effector is mounted at a working unit of the positioning system, wherein the working unit can linearly move in the axial direction of a generally vertically oriented z-axis in order to position the metering unit in a desired relative position with respect to the assigned carrier substrate. In the known positioning system, the working units always synchronously perform their working movements because they are fixedly arranged at the system base body, wherein the system base body is movable in order to cause the working movements of the working units including the end effectors mounted thereon.

[0003] The mere unified positionability of the working units and the end effectors mounted thereon, although achieving a cost-effective structure with regard to drive technology, causes certain limitations in practical applications.

[0004] WO 2006 / 000 115 A1 discloses a device for arranging pipettes or dispensing tips in a system for manipulating liquid samples. The device has a robotic arm, at which a plurality of blocks are movably arranged, which are respectively equipped with a plurality of pipettes or dispensing tips. The pipettes or dispensing tips can each be vertically moved individually relative to the block carrying them.

[0005] A pipette device is known from US 9 101 922 B2, which is equipped with pipette units that can move independently of one another.

[0006] DE 10 2012 015 083 B3 describes a dispensing head for dispensing liquid samples, which is equipped with a plurality of dispensers that can be individually displaced. Summary of the Invention

[0007] The present invention is based on the task of providing a positioning system which provides a high variability with regard to the positionability of the end effector in a compact structure.

[0008] To solve the stated task, it is provided in combination with the features mentioned at the beginning that the working units can perform their working movements independently of one another and relative to the system base body, wherein each working unit is assigned a dedicated drive unit for generating its working movement, wherein the drive units are arranged adjacent to one another in the axial direction of the y-axis, and wherein the drive units each have a stator that is fixed in position with respect to the system base body and a follower body that can move actively in the case of performing a driven movement, wherein the follower body is drivingly coupled to the assigned working unit for causing the working movement via a coupling section, and wherein the stators are arranged distributed in a plurality of stator rows that are successive to one another in the axial direction of the x-axis and are oriented in the axial direction of the y-axis, wherein the stators of the stator rows that are adjacent to one another in the axial direction of the x-axis are arranged overlapping and offset from one another in the axial direction of the y-axis.

[0009] A positioning system designed in said manner allows the existing end effectors to be positioned independently of one another in the axial direction of the z-axis, because in the operation of the positioning system, the work units equipped with end effectors can move relative to the system base independently of one another in order to carry out their working movements and are respectively coupled to dedicated drive units in order to generate their working movements. Thereby, the work units can optionally move, for example, individually in sequence or in groups or all work units together and be positioned as desired. This is associated with a wide range of applications. Each drive unit has a stator fixedly positioned with respect to the system base and a follower body that can be driven to perform a driven movement therewith, wherein the follower body is connected to the assigned work unit by a coupling section, so that the working movement of the assigned work unit can be derived from the driven movement of the follower body. Preferably, the drive unit is of an electrically controllable type, which allows very precise positioning with low consumption. However, the drive concept can also be fluidic and in particular a pneumatic drive concept. A completely fundamental aspect lies in the distribution of the stators of the individual drive units according to the plane, so that not all of the existing stators of the drive units are in a row, but are divided into a plurality of linear rows called stator rows, which extend in the axial direction of the y-axis and are arranged successively in the axial direction of the x-axis. The stators are respectively placed within the stator rows such that the stators of successively adjacent stator rows in the axial direction of the x-axis are offset from one another in the axial direction of the y-axis, wherein the offset is selected such that the stators overlap in the axial direction of the y-axis. If two arbitrarily adjacent stators arranged in the same stator row are observed, the stators of the successively adjacent stator rows are placed offset from one another in the axial direction of the y-axis such that they overlap with at least one stator of the first-mentioned stator row and in particular with the two previously mentioned stators. The stator generally has a greater width than the assigned coupling section and work unit, which provides the advantage that the work units can be placed closely adjacent to one another without being damaged by the stator. This has a particularly advantageous effect in a positioning system designed and applied as a metering system for filling or emptying a carrier substrate having receiving depressions arranged very closely adjacent to one another, as is usually the case in a so-called microtiter plate. Nevertheless, the positioning system can also be applied in other ways, for example when the end effector involves a gripping unit, such as a vacuum gripping unit, for manipulating an object.

[0010] Advantageous refinements of the invention result from the dependent claims.

[0011] As already mentioned, the positioning system can particularly convincingly exploit its advantages when designed as a metering system, in which the end effector is formed by a metering unit. By the independent movement and positioning of the working units equipped with metering units, it is possible to meteringly aspirate fluid amounts from a carrier substrate and / or emit them into the carrier substrate, depending on the type of metering unit, more precisely with a very high variability. If, for example, a microtiter plate is placed under the metering unit, selective metering is achieved with respect to the receiving recesses constructed in the carrier substrate by means of a selective manipulation of the working unit.

[0012] The drive unit is suitably integrated in the region of the stator body called the drive domain in the most compact space. The drive domain can be arranged, for example, adjacent to the working unit in the axial direction of the z-axis, where the drive domain is above the working unit in the case of the vertical z-axis. However, the following spatial arrangement is considered particularly suitable, in which the drive domain is placed adjacent to the working unit in the axial direction of the x-axis, where it is appropriate for the x-axis to be oriented horizontally. When the region in which the working unit is present is called the working domain, the drive domain and the working domain are suitably adjacent to each other in the axial direction of the x-axis, where an intersection is entirely possible.

[0013] The coupling section responsible for drivingly coupling the drive body to the working unit suitably extends in a region that is spaced apart from the assigned stator in the axial direction of the z-axis. Here, the coupling section has a smaller width in the axial direction of the y-axis than the correspondingly assigned stator, which also applies to the working unit coupled to the coupling section. This design is particularly advantageous in combination with the arrangement of the drive domain and the working domain adjacent to each other in the axial direction of the x-axis. In this case, the coupling section of the drive unit whose stator belongs to the rear stator row (at least one stator row is in front of the rear stator row on the side facing the working unit) can extend at a distance measured in the axial direction of the z-axis past the stator of at least one front stator row in order to be coupled to the assigned working unit.

[0014] The stators belonging to the same stator row can be completely adjacent to each other in the axial direction of the y-axis, however, they are preferably arranged spaced apart from each other. Suitably, the larger the number of stator rows present, the larger the distance present in the axial direction of the y-axis between the stators in the same stator row, where, however, the distance is preferably smaller than the width of each stator measured in the axial direction of the y-axis.

[0015] When the stators are arranged in at least three and suitably exactly three stator rows succeeding each other in the axial direction of the x-axis, a particularly good relationship results between the number of working units present and the compactness of the positioning system.

[0016] Stator rows adjacent to one another in the axial direction along the x-axis can contain an equal number of stators, but can also contain different numbers of stators. For example, each stator row contains three stators or four stators. Similarly, for example, in successively adjacent stator rows, one corresponding stator row has three stators and the other corresponding stator row has only two stators.

[0017] Advantageously, the stators of all drive units are constructed identically to one another.

[0018] Furthermore, it is advantageous that all stators are placed at the same height in a common stator plane orthogonal to the z-axis in the axial direction along the z-axis.

[0019] A particularly advantageous distribution of the stators has proven to be that the stators are placed such that when viewed in the axial direction along the z-axis, a plurality of stator groups are obtained, each of which consists of a plurality of stators, the stators belonging to stator rows that are successively adjacent to one another in the axial direction along the x-axis and whose central regions are at least substantially on a connecting line that is inclined with respect to the x-axis, where the connecting lines of the plurality of stator groups run parallel to one another. Preferably, the connecting line is inclined at an angle of 45 degrees with respect to the x-axis.

[0020] A particularly advantageous design of the stator has, when viewed in the axial direction along the z-axis, at least substantially a square contour, where the contours of all stators are preferably identical to one another. However, other stator contours are also basically feasible, for example, a circular contour.

[0021] In principle, the respective coupling sections can be integrally constructed with the correspondingly assigned driven bodies. This is the case, for example, when the driven body involves a driven rod constructed according to the type of piston rod, whose driven movement is a linear movement and whose end section functions as a coupling section. However, it is basically considered more advantageous that each coupling section is constructed separately from the correspondingly assigned driven body and is drivingly connected to the coupling section by suitable measures. The coupling section constructed separately from the driven body can be drivingly connected to the driven body such that it either directly makes the driven movement of the driven body together or drives a relative movement with respect to it by the driven movement of the driven body.

[0022] It has proven to be particularly advantageous that each coupling section is constructed as a coupling slider that can be displaced with respect to the system base. Each coupling slider is displaceably supported at the system base in the axial direction along the z-axis, where preferably, a displacement support independent of the driven body is involved. The coupling slider is preferably constructed in a plate shape and is oriented such that its plate plane runs orthogonally to the y-axis. This allows for a very narrow structural width of the positioning system in the axial direction along the y-axis.

[0023] Each working unit suitably includes a guide rod oriented parallel to the z-axis and movable in the axial direction of the z-axis, which is fixed at the coupling section of the assigned drive unit and is linearly displaceably supported at the system base. An assembly interface is configured at the guide rod, and the assembly interface is used to mount the end effector and is fixed at the assembly interface during the operation of the positioning system for the applied end effector. The fixing can be carried out directly or by means of a holder adapted to the end effector, and the holder can act as an adapter.

[0024] Preferably, the guide rods of all working units are arranged such that their longitudinal axes lie in a common plane, which should be referred to as the guide rod plane and which runs orthogonally to the x-axis.

[0025] A preferred structural setting of the system base has two carrier plates, which each extend in a plane orthogonal to the z-axis and are arranged spaced apart from each other in the axial direction of the z-axis, such that they delimit an intermediate space, which should be referred to as the coupling space, since the coupling sections of the working units are located therein.

[0026] The two carrier plates are preferably held at a distance by a support structure incorporated therebetween, wherein the support structure is in particular formed by the side walls of the system base, which delimit the coupling space at the side oriented at right angles to the z-axis. Each guide rod is placed such that it passes through the two carrier plates and bridges the distance present between the carrier plates, and the guide rod is linearly displaceably supported in each carrier plate in its longitudinal direction. Preferably, the stators of all drive units are fixed to the same carrier plate of the two carrier plates.

[0027] Advantageously, each drive unit has a dedicated drive module, which has one of the stators and one of the driven bodies. When assembling the positioning system, the drive modules can be manipulated independently of each other. The stator preferably represents the module housing of the drive module, which determines the external appearance of the drive module and by means of which the stator is fixed to the system base.

[0028] The drive unit suitably relates to an electric drive unit, wherein the drive module is configured as an electric drive module. The electric drive module converts the supplied electrical energy into the driven movement of the driven body. Preferably, the electric drive module relates to an electric motor, in particular to a stepper motor, so that very precise position adjustment control is feasible. However, the drive module can in principle also be implemented as a fluid-operated drive module, for example as a pneumatic drive module and in particular as a pneumatic linear actuator, such as a pneumatic cylinder.

[0029] The follower of each drive unit is suitably configured in a rod shape and oriented such that its longitudinal axis runs in the axial direction of the z-axis. The rod-shaped follower is in this case oriented parallel to the guide rod, if present, of the working unit. Preferably, the rod-shaped follower and the guide rod belonging to the same drive unit are in a plane perpendicular to the y-axis.

[0030] When the rod-shaped follower of each drive unit is driven to perform a follower movement of rotation about its longitudinal axis, a particularly precise positioning of the working unit is feasible. The follower is in threaded engagement with the assigned coupling section, so that the rotational follower movement of the follower causes a linear movement of the coupling section, which linear movement is oriented in the axial direction of the z-axis and which linear movement causes a linear working movement of the same orientation of the working unit arranged at the coupling section. The rod-shaped follower is suitably configured as a threaded spindle with an external thread in the region of its interaction with the coupling section. The coupling section suitably has a spindle nut with an internal thread, into which the threaded spindle of the follower is screwed.

[0031] Suitably, each coupling section has a plurality of receiving structures spaced apart from one another in the axial direction of the x-axis for selectively receiving the spindle nut. This allows identically configured coupling sections to be applied for different drive units, independently of which stator row the assigned stator is placed in. Description of the Drawings

[0032] Subsequently, the present invention will be explained in more detail with reference to the attached drawings. Among them:

[0033] Figure 1 A preferred embodiment of the positioning system according to the present invention is shown in a perspective view in a design as a metering system suitable for sucking and / or discharging a fluid quantity, wherein the carrier substrate to be processed by the positioning system is also shown.

[0034] Figure 2 Again, the positioning system from Figure 1 is shown in a perspective view from another viewing direction.

[0035] Figure 3 The front view of the positioning system is shown in the viewing direction of arrow III from Figure 1 .

[0036] Figure 4 Corresponding to the cutting line IV-IV from Figure 1 , 3 and 6, the longitudinal section of the positioning system is shown.

[0037] Figure 5 The cross-section of the positioning system is shown according to the cutting line V-V from Figure 4 .

[0038] Figure 6 The sectional view VI-VI taken from Figure 4 shows a further cross-section of the positioning system,

[0039] Figure 7 The sectional view VII-VII taken from Figure 4 shows a further longitudinal section of the positioning system,

[0040] Figure 8 A detailed illustration shows one of the positioning units included in the positioning system, each of which is composed of a drive unit and a working unit, more precisely in the state where the working unit is equipped with an end effector and corresponding to the partial area VIII enclosed by a dashed line in Figure 5 and

[0041] Figure 9 A partial view shows a further embodiment of the positioning system in a perspective illustration. Different from the Figures 1 to 8 embodiment, the positioning system has the same number of stators within each stator row. For the sake of clarity, only the drive unit and the working unit arranged thereon are shown. Detailed Embodiment

[0042] The positioning system, generally denoted by reference numeral 1, has a system basic unit 2 which can be placed at the use position and which suitably has at least one fixing interface 3 through which the basic unit can be fixed to a carrier structure not further specified. The carrier structure can be position-fixed and can be implemented, for example, as a carrier bracket. However, the carrier structure can also be a manipulation unit by means of which the system basic unit 2 can be moved in space.

[0043] The system basic unit 2 has a system base body 4 and a plurality of positioning units 5 arranged at the system base body 4. Such a positioning unit 5 is shown individually in Figure 8 Each positioning unit 5 includes a working unit 6 and a drive unit 7 which is drivingly coupled to the working unit 6. The working unit 6 can be driven by the drive unit 7 to perform a linear working movement 8 indicated by a double arrow.

[0044] At the drive unit 7 there is an assembly interface 9 for the end effector 10. During operation of the positioning system, an end effector 10 coordinated with the positioning task is arranged at the assembly interface 9 so that it performs the working movement 8 together. The end effector 10 can be an integrated part of the working unit 6.

[0045] Within the scope of the working movement 8 , each working unit 6 and the end effector 10 assigned thereto can not only be moved linearly but can also be positioned as required, ie temporarily fixed at a desired location on the movement path.

[0046] The positioning system 1 can be designed and used for a wide variety of purposes. For example, it is suitable for manipulation measures, in which case the end effector 10 is designed as a gripper and in particular as a vacuum gripper, by means of which an object can be grasped and fixed during displacement.

[0047] However, a preferred field of application of the positioning system 1 is the dosing of fluid quantities, in particular in the field of medical technology, in the pharmaceutical field and / or in any biological or biochemical measures. The fluid quantity to be dosed is usually referred to as a fluid sample. The described positioning system 1 is designed for such an application, so that it represents a dosing system 1a. The end effector 10 of the individual positioning units 5 is in this case respectively configured as a dosing unit 10a, which can absorb and also emit a certain fluid quantity or fluid sample.

[0048] The amount of fluid to be drawn is often provided in a matrix-like distribution within a correspondingly constructed carrier substrate 11, wherein such a carrier substrate 11 is in particular a so-called microtiter plate. The carrier substrate 11 has a plurality of receiving deepenings 12, in which the amount of fluid can be provided accordingly. The amount of fluid can be taken out from the receiving deepening 12 by means of a dosing unit 10a and subsequently processed, for example, analyzed. However, the dosing system 1a can also be used to send the amount of processed or unprocessed fluid to the receiving deepening 12 of such a carrier substrate 11 for preservation or further processing. In the described case, the dosing unit 10a suitably includes a dosing valve 13, respectively, which is applicable to the illustrated embodiment. The fluid to be dosed is supplied to the corresponding dosing valve 13 by a fluid line 14 connected thereto, and the fluid line can involve a rigid pipeline and / or a flexible hose line. Exemplarily, the dosing valve 13 is connected to a fluid storage 15 providing the fluid to be dosed by a fluid line 14.

[0049] With reference to the Cartesian xyz coordinate system, the system base unit 2 has a spatial extension along the axis directions of the x-axis, the y-axis at right angles to the x-axis, and the z-axis at right angles to both the x-axis and the y-axis. In the following, the directions along the axis direction of one of the Cartesian axes are also referred to as the x-axis direction, the y-axis direction, and the z-axis direction for simplicity.

[0050] In the usual spatial orientation of the system base unit 2 ready for operation, the z-axis direction runs vertically, while the x-axis direction and the y-axis direction each run horizontally. This applies in particular to the metering system 1a.

[0051] Each metering unit 10a has a metering opening 16 at one end, which is defined, for example, by a pipette or by a needle and which points downward in the z-axis direction. In order to draw in and / or dispense a fluid quantity, the carrier substrate 11 is positioned below the metering unit 10a in such a way that each metering opening 16 reaches above one of the receiving deepenings 12. By means of a working movement 8 directed in the z-axis direction, the metering unit 10a can be lowered with its metering opening 16 into the receiving deepening 12 and moved out again.

[0052] In order to facilitate a rational working method, there are a plurality of working units 6, which are equipped with metering units 10a by way of example, so that a plurality of receiving deepenings 12 can be filled or emptied simultaneously when necessary. A plurality of working units 6 are arranged adjacent to each other in the y-axis direction. Accordingly, the metering openings 16 are in an opening row following the y-axis direction.

[0053] Since the receiving deepenings 12 are relatively small in the described application example and are arranged adjacent to each other in a compact grid, the dosing openings 16 of the dosing unit 10a must also be arranged adjacent to each other. This can be ensured without any problems by means of a correspondingly narrow design of the dosing unit 10a and the entire working unit 6 in the y-axis direction. A plurality of working units 6 can be arranged adjacent to each other in the y-axis direction in the tightest space.

[0054] The advantage of the positioning system 1 according to the invention is that the system base unit 2 can also be realized with small dimensions in the y-axis direction in the region of the drive unit 7, so that the system base unit 2 has very compact dimensions in the y-axis direction as a whole. This facilitates use in confined space conditions and multiple arrangements of the system base unit 2 in a compact space.

[0055] The positioning unit 5, which includes the corresponding drive unit 7 and the working unit 6, is arranged adjacent to each other in the y-axis direction at the system base 4. Within the corresponding positioning unit 5, the working unit 6 and the drive unit 7 are arranged one after another in the x-axis direction. Overall, this results in an arrangement in which all the working units 6 are in an area referred to as the working area 17 and all the drive units 7 are in an area referred to as the drive area 18, wherein the working area 17 and the drive area 18 are arranged one after another in the x-axis direction. In the z-axis direction, the drive area 18 is expediently at least substantially at the same height as the working area 17.

[0056] The working units 6 can carry out their working movements 8 relative to the system base 4 and independently of each other. The system base 4 can therefore keep its spatial position unchanged during the working movements of the working units 6. Therefore, only small masses must be moved in order to move and position the end effector 10 in the z-axis direction.

[0057] Since each working unit 6 is assigned a dedicated drive unit 7, the end effectors 10 can move independently of each other. The positioning system 1 expediently comprises an electronic control mechanism 19 electrically connected to each drive unit 7, which enables individual electrical control of the drive unit 7. For example, the electronic control mechanism 19 can cause the individual working units 6 to move only in a certain sequence, the working units 6 to move in groups, or all the working units 6 to move.

[0058] Preferably, each drive unit comprises a drive module 22 having a stator 23 and a driven body 24 about which a driven movement 25 can be driven. It is particularly advantageous to use an electric drive module 22, which is the case by way of example. In this case, the supplied electrical energy is directly converted into the motion energy of the driven body 24. However, it is also possible to use a fluid-operated drive module 22.

[0059] Preferably and by way of example, each drive module 22 is formed by an electric motor, in particular a stepper motor with a driven shaft 66 belonging to the driven body 24 which can be positioned very precisely in terms of the rotation angle.

[0060] The driven movement 25 of the driven body 24 generated by the drive module 22 is preferably a rotational movement, which applies to the described embodiment. Here, the driven body 24 is designed in a rod-shaped manner and has a longitudinal axis 24a, which forms the rotation axis for the rotary driven movement 25. The drive module 22 is installed in particular in such a way that the longitudinal axis 24a of the driven body 24 is oriented in the z-axis direction. Accordingly, the longitudinal axis 24a of the driven body 24 coincides with the movement direction of the working movement 8.

[0061] The drive module 22 is electrically connected to the electronic control device 19 , from which it receives electrical control signals, by means of which an output movement 25 of an output body 24 thereof can be brought about for the movement and positioning of the working unit 6 .

[0062] The drive modules 22 are each fixed to the system base body 4 via their stators 23 so that they are stationary relative to the system base body. By way of example, each stator 23 delimits a module housing 23a which is fixed to the system base body 4 by means of fixing screws (not yet described in detail).

[0063] In order to couple the driven body 24 to the working unit 6 in a driving manner, the drive unit 7 of each positioning unit 5 includes a coupling section 26. The coupling section 26 is fixed to the working unit 6 by a fixing mechanism 27, so that the two components can always move together only. The coupling section 26 can perform a reciprocating linear motion 28 relative to the system base 4 in the direction of the z-axis. The linear motion 28 can be caused by the interaction with the driven body 24. Its driven motion 25 causes the linear motion 28 of the coupling section 26, which enables the working motion 8 to be performed simultaneously by the working unit 6.

[0064] Suitably, each positioning unit 5 is assigned a position sensor 20, by means of which the current position of the assigned working unit 6 can be detected directly or indirectly. The position sensor 20 provides an electrical position signal, which is supplied to the electronic control mechanism 19, according to Figure 4 All the position sensors 20 are electrically connected to the control mechanism. Thereby, preferably, the operation of position adjustment of the working unit 6 is feasible.

[0065] The positioning unit 5 is exemplarily carried by two first and second carrier plates 31, 32 which are arranged spaced apart from each other in the axial direction of the z-axis of the system base 4. Each carrier plate 31, 32 has a rigid structure and extends in a plane orthogonal to the z-axis. With an advantageously vertical orientation exemplarily realized along the z-axis, the first carrier plate 31 is spaced above the second carrier plate 32. The side wall 33 of the system base 4 that is added between the two carrier plates 31, 32 presets the spacing existing between the two carrier plates 31, 32, and the carrier plates 31, 32 are fixed at the side wall.

[0066] The two carrier plates 31, 32 jointly delimit an intermediate space, in which all the coupling sections 26 are arranged and which is therefore called the coupling space 34.

[0067] The two carrier plates 31, 32 and the side wall 33 jointly form a housing structure with a suitably cubic outer contour.

[0068] Below the side wall 33, there are a front side wall 33a assigned to the transition region between the working area 17 and the drive area 18 and a rear side wall 33b opposed to the front side wall 33a in the x-axis direction. Between them, there extend two lateral side walls 33c, 33d opposed to each other in the y-axis direction. The front side wall 33a and the two lateral side walls 33c, 33d are suitably integrated into a one-piece wall structure, and the rear side wall 33b is placed on the wall structure according to the type of a cover and can be detached in particular.

[0069] The stators 23 of all drive units 7 are expediently fixed to the same carrier plate 31 or 32, wherein in particular and according to the example, this is the first carrier plate 31. The stator 23 is located on the mounting surface 35 of the first carrier plate 31 facing away from the coupling space 34, so that it protrudes upward from the first carrier plate 31 in an exemplary manner. The fixing is carried out in particular by means of the module housing 23a.

[0070] The rod-shaped output body 24 protrudes through a through-hole in the first carrier plate 31 into the coupling space 34 , exemplarily from above.

[0071] Each working unit 6 expediently has a guide rod 36 which is oriented in the z-axis direction and can be moved in the z-axis direction relative to the system base body 4 for carrying out the working movement 8. The longitudinal axis 36a of each guide rod 36 runs in the z-axis direction and is therefore parallel to the longitudinal axis 24a of the driven body 24 belonging to the same positioning unit 5.

[0072] Each guide rod 36 is supported on the system base 4 in a linearly displaceable manner along its longitudinal direction and correspondingly in the z-axis direction. Exemplarily, the displaceable support is performed at two locations, namely at each of the two carrier plates 31, 32. Each guide rod 36 is placed as follows, so that it passes through the two carrier plates 31, 32, wherein it crosses the coupling space 34 in the z-axis direction and protrudes beyond the correspondingly assigned carrier plate 31, 32 at the outer side opposite to the coupling space 34 with two mutually opposite first and second rod end sections 36b, 36c. The through hole of the carrier plate 31, 32 through which the guide rod 36 passes is configured as a guide through hole 37, which has a guide surface, which radially supports the guide rod 36 and guides it in a sliding and displaceable manner. The guide surface can be formed by a guide bushing (Führungsbuchse) inserted into the guide through hole 37.

[0073] The guide rod 36 is designed in particular cylindrically on the outside, which also applies correspondingly to the inner circumference of the guide through-opening 37. By way of example, the guide rod 36 is designed to be tubular, thereby reducing the production costs and the moving mass.

[0074] The above-mentioned assembly interface 9 is expediently present at the second end section 36 c of each guide rod 36, which points downward in an exemplary manner, for the placement of the end effector 10. As an example, a holder 38, which acts in particular as an adapter, is assigned to the end effector 10 and is fixed to the assembly interface 9 by means of the holder. The fixing is carried out by means of a fixing screw 41 which passes through the holder 38 and is screwed into the guide rod 36 at the end, which is described only symbolically.

[0075] Expediently, a retaining element 43 is fixed to the first end section 36 b of the guide rod 36 (also here by means of a merely symbolically indicated fixing screw 42 ) and projects laterally away from the drive field 18 , which retaining element serves to fix the fluid line 14 upwardly away from the associated metering unit 10 .

[0076] The guide rods 36 are preferably arranged such that the longitudinal axes 36a of the guide rods 36 of all working units 6 are in a common plane, which is referred to as the guide rod plane 44 and which runs orthogonally to the x-axis. The guide rod plane 44 is particularly arranged such that it is in the transition region between the working area 17 and the drive area 18. Preferably, each coupling section 26 is penetrated by the associated guide rod 36, wherein a fixed connection between the two components is provided by a fixing device 27. By way of example, the fixing device 27 comprises a plurality of fixing screws, by means of which the coupling section 26 is clamped to the guide rod 36.

[0077] Preferably, all coupling sections 26 are designed to be movable in a slide-like manner, so that they each form a coupling slide 45, which can perform a linear movement 28 and for this purpose is guided linearly displaceably on the system base 4. Within the scope of the linear movement 28, the coupling slide 45 can be displaced between a first end position close to the first support plate 31 and a second end position close to the second support plate 32, wherein the coupled working unit 6 also performs the linear movement 28.

[0078] The coupling slide 45 is accordingly linearly guided on the one hand by means of the guide rods 36 connected thereto, which, as mentioned, are mounted linearly displaceably on the two carrier plates 31 , 32 . The guide rods 36 are fastened to the front end section of the coupling slide 45 facing the working range 17 .

[0079] Each coupling slide 45 is subjected to an additional further linear guidance, exemplarily at its rear end section 46 facing away from the working area 17. In this case, the coupling slides 45 engage independently of one another with guide projections 47 in a slidably displaceable manner in guide grooves 48 extending in the z-axis direction of the system base body 4. The guide grooves 48 extend linearly in the z-axis direction and are arranged adjacent to one another in a parallel orientation in the y-axis direction, wherein the guide grooves are exemplarily formed on the inner surface of the rear side wall 33b.

[0080] Preferably, the position sensor 20 works together with the coupling section 26. Each position sensor 20 is expediently designed to be magnetic field-sensitive, wherein the associated coupling section 26 has a permanent magnet for contactless actuation of the position sensor 20. By way of example, the position sensor 20 is fixed in a fixing groove 21 which is formed in the system base body 4, in particular externally in the rear side wall 33a.

[0081] Each coupling slide 45 is preferably designed in the form of a floor and is oriented such that its plate plane 45a parallel to the two largest outer surfaces runs orthogonally to the y-axis. This provides an exemplary implementation possibility of placing the plate-shaped coupling slides 45 with mutually parallel plate planes 45a adjacent to each other in a space-saving manner in the tightest space. This can be achieved from Figure 5 and 6 It can be clearly seen in.

[0082] Expediently, in each drive unit 7 , the longitudinal axis 24 a of the rod-shaped output body and the longitudinal axis 36 a of the guide rod 36 extend in a plate plane 45 a of the plate-shaped coupling slide 45 .

[0083] In particular, when the driven movement 25 of the driven body 24 is a linear movement in the z-axis direction, the coupling section 26 and the driven body 24 can be fixedly connected to each other in any manner and in particular also be integrated. The two components then always perform a unified linear movement synchronously therewith to produce the working movement 8.

[0084] By way of example, however, each output body 24 is drivingly connected to the associated coupling section 26 in such a way that a rotational output movement 25 is converted into a linear movement 28 .

[0085] For this purpose, at least the length section of the rod-shaped output body 24 extending in the coupling space 34 is designed in the manner of a threaded spindle, so that it can be referred to as a threaded spindle section 49 of the output body 24, which has an external thread 52 at its outer circumference. The output body 24 engages with the threaded spindle section 49 in the internal thread 52 of the coupling section 26. Since the internal thread 52 is designed to be non-rotatable on the coupling section 26, which is itself fixed to rotation with respect to the system base 4, the rotational output movement 25 of the threaded spindle section 49 causes a linear movement 28, since the internal thread 52 moves together with the associated coupling section 26 in the longitudinal direction of the threaded spindle section 49.

[0086] Exemplarily, the threaded engagement is achieved in such a way that the coupling slider 45 has a slider body 53 which is preferably plate-shaped, and a separate spindle nut 54 with an internal thread 52 is inserted into the slider body. The spindle nut 54 is located in the receiving structure 55 of the slider body 53, which is exemplarily formed by a cylindrical through-hole passing through the slider body 53 in the y-axis direction, and the spindle nut 54 with a complementary cylindrical outer periphery is inserted into the through-hole. The internal thread 52 is part of a threaded hole passing through the spindle nut 54 in the diameter direction. A through-hole 56 passing through the slider body 53 in the z-axis direction and passing through the receiving structure 55 is aligned with the threaded hole of the spindle nut 54 and is freely rotatably passed through by the assigned threaded spindle section 49 without threaded engagement.

[0087] The slider body 53 can be made of a plastic material in a cost-effective manner, and the spindle nut 54 is suitably made of steel.

[0088] Preferably, the spindle nut 54 can be rotated in principle with its cylindrical outer periphery in the receiving structure 55 and can also be displaced in the y-axis direction, so that it can automatically orient itself with respect to the threaded spindle section 49 engaged therein, which facilitates assembly and reduces wear.

[0089] In an unillustrated embodiment, the coupling slider 45 has a slider body 53 in which the internal thread 52 is integrally constructed. The slider body 53 is penetrated by a threaded hole forming the internal thread 52.

[0090] The stator 23 of all drive units 7 is suitably arranged under a cover 57 in a protected manner, and the cover is arranged in the area of the equipment surface 35. The cover 57 is not shown in all figures.

[0091] The stator 23 is arranged in a particularly advantageous distribution manner on the equipment surface 35. This distribution manner can be understood clearly first according to Figure 5 and 9 It is clearly understood, where Figure 5 a top view of the stator 23 is described with a line of sight along the z-axis direction.

[0092] The existing stators 23 are arranged in a plurality of linear rows, each called a stator row 58, which extend in the y-axis direction respectively and are arranged successively in the x-axis direction. The stator rows 58 are identified by dashed lines in the drawings, which simultaneously define the corresponding row orientation.

[0093] All stators 23 are divided into the existing plurality of stator rows 58. Corresponding to Figure 9 , each stator row 58 can have the same number of stators 23 as each other. However, it is also feasible that the stator rows 58 are equipped with different numbers of stators 23, for whichFigure 5 Examples are provided.

[0094] In the two illustrated embodiments, the stator 23 is divided into three stator rows 58. However, it is also possible without any problem for each system basic unit 2 to have a larger or smaller number of stator rows 58.

[0095] Figure 9 The embodiment of shows a system basic unit 2 having twelve positioning units 5 and accordingly also twelve stators 23. Here, they are arranged in three stator rows 58 with four stators 23 each. In Figures 1 to 8 In the embodiment of, the system basic unit 2 altogether comprises eight positioning units 5 and accordingly also eight stators 23, wherein the eight stators 23 are divided into two stator rows 58 with three stators and a third stator row 58 with two stators 23. The stator row 58 with only two stators is preferably arranged between the two stator rows 58 with three stators 23 each.

[0096] The described row-wise distributed arrangement of the stators 23 results from the correspondingly distributed arrangement of the drive modules 22 each having a respective one of the stators.

[0097] Preferably, all the stators 23 are placed at the same height in a common plane called the stator plane 61 with respect to the axial direction of the z-axis, and the plane extends at right angles to the z-axis.

[0098] The stator distribution is characterized in that the stators 23 are not arranged aligned in a line along the x-axis direction, but the stators 23 of the respective adjacent stator rows 58 are arranged offset from each other along the y-axis direction, more precisely arranged such that they overlap each other along the y-axis direction.

[0099] Preferably, all the stators 23 have the same contour when viewed along the z-axis direction. Preferably, it relates to at least a substantially square contour, which applies to the illustrated embodiments. Here, the stators 23 are oriented such that two of the four outer faces opposite each other are respectively oriented parallel to the stator row 58.

[0100] Preferably and corresponding to the illustrated embodiments, the stators 23 belonging to the same stator row 58 are arranged spaced apart from each other along the axial direction of the y-axis. Thereby, an intermediate space 62 is formed between two successively arranged stators 23 of each stator row 58. The intermediate space 62 is preferably narrower than the width of the stator 23 measured in the same direction.

[0101] It depends especially on the base plane of the stator 23 that is perpendicular to the z-axis. The following arrangement is also feasible, in which the stator 23 abuts against each other within at least one stator row 58 and preferably within each stator row 58.

[0102] The stators 23 belonging to the stator rows 58 that are successive in the x-axis direction are suitably arranged at a certain distance from each other in the x-axis direction, where the distance is especially smaller than the distance between the stators 23 belonging to the corresponding same stator row 58.

[0103] Each stator 23 has a central region 63 when viewed in the z-axis direction. The central region 63 is suitably on the longitudinal axis of the driven body 24 assigned to the stator 23 in question. The particularly advantageous distribution of the stators 23 in the stator plane 61 is set such that a plurality of stator groups 64 are obtained, each of which consists of a plurality of stators 23. The plurality of stators belong to the stator rows 58 that are successive in the x-axis direction and their central regions 63 are at least substantially on an imaginary connecting line 65 that is inclined with respect to the x-axis. The connecting lines 65 of the plurality of stator groups 64 run parallel to each other. Particularly advantageous is the inclination of the connecting line 65 by 45 degrees with respect to the x-axis achieved in this embodiment.

[0104] In Figures 1 to 8 the embodiment, there are two stator groups 64 each consisting of three stators 23, and the previously mentioned given situation applies to these stator groups. In Figure 9 the embodiment, four such stator groups 64 are obtained, three of which have a total of three stators and the fourth stator group 64 includes two stators 23.

[0105] In addition to the stators 23 that are on the common connecting line 65 in the case of forming the stator groups 64, there can also be at least one additional stator 23 that does not belong to such a stator group 64.

[0106] Suitably, each stator row 58 contains at least one stator 23 that overlaps with two stators 23 of at least one adjacent stator row 58 in the y-axis direction. It is understood that one or more stator rows 58 can have at least one stator 23 at the end of the stator row 58 that overlaps with only one stator 23 of at least one adjacent stator row 58.

[0107] Due to the previously explained arrangement or distribution of the stators 23 and the drive modules 22 containing the stators 23, the system basic unit 2 can be realized in a small size in the drive domain 18 in the y-axis direction, although each of the individual stators 23 has a greater width than each in the working unit 6.

[0108] The working unit 6 is narrower in the y-axis direction than the respective stator 23. Furthermore, expediently, each length section of each driven body 24 extending outside the stator 23 and each coupling section 26 also has a smaller width in the y-axis direction than the associated stator 23.

[0109] In the manner described, according to Figure 5 In a projection onto a plane at right angles to the z-axis, sufficient space remains between the coupling sections 26 of drive units 7 whose stators are in the same stator row 58 to allow gripping by a coupling section 26 belonging to a drive unit 7 whose stator 23 is arranged in each consecutive stator row 58.

[0110] If we look at the frontmost stator row 58 closest to the working area 17, the coupling sections 26 belonging to its stator 23 have a spacing from one another in the y-axis direction that is sufficiently large so that the coupling sections 26 of the stators 23 associated with the successive stator rows 58 can extend between them. The spacing from one another is, by way of example, so large that the coupling sections 26 associated with each other stator row 58 can also be grasped through.

[0111] Since the coupling section 26 is arranged at a distance upstream of the stator 23 in the z-axis direction, ie, by way of example, facing downward, it can easily extend in the x-axis direction past the respective stator 23 .

[0112] Preferably, within each stator row 58, the distance between the central areas 63 of the stators 23 directly adjacent to each other, measured in the y-axis direction, is at least a multiple of the width of the coupling section 26 measured in the y-axis direction, wherein the multiple mentioned above relates to the number of all stator rows 58 present. That is, if, for example, there are three stator rows 58 in total in the exemplary embodiment, the distance between the central areas 63 of the stators 23 adjacent to each other within each stator row 58 is at least three times the width of the coupling section 26. In order to achieve a compact structural width of the system base unit 2, the distance is expediently selected such that the coupling sections 26 extending therebetween can either abut against each other in a slidable manner or are arranged at only a small distance from each other.

[0113] In principle, the closer the associated drive module 22 or its stator 23 is to the working region 17 , the shorter the coupling section 26 can be, since the distance between the output body 24 and the associated guide rod 36 is correspondingly smaller.

[0114] Nevertheless, it is considered to be advantageous if, according to this exemplary embodiment, all coupling sections 26 have the same length in the x-axis direction, which offers the advantage that all coupling sections 26 can be guided on the rear side wall 33 b in a linearly displaceable manner.

[0115] Furthermore, this provides an advantageous solution in that the coupling section 26 is configured as a coupling slider 45 having slider bodies 53 that are identical to one another. This applies to the illustrated embodiment.

[0116] Despite this design consistency of the slider bodies 53, in order to achieve a driving coupling with a driven body 24 that is placed at different distances relative to the working area 17, appropriately, each slider body is provided with receiving structures 55 the number of which corresponds to the number of stator rows 58, and the spacing between them measured in the x-axis direction corresponds to the spacing between the stator rows 58. Then only the receiving structures belonging to one of the driven bodies 24 among the plurality of receiving structures 55 are equipped with spindle nuts 54.

[0117] Alternatively, each coupling section 26 can also be provided with a number of internal threads 52 corresponding to the number of stator rows 28 present, where at the same time only one internal thread is correspondingly used for thread engagement with the threaded spindle section 49.

[0118] When the drive module 22 is configured as a rotary drive (which is the case when an electric motor is applied), inside the stator 23 there extends the further driven shaft 66 already mentioned above, which represents a length section of the driven body 24 and is non-rotatably coupled to the threaded spindle section 49. The driven shaft 66 and the threaded spindle section 49 can be integrally formed or can also be configured as separate, fixedly connected structural components.

Claims

1. A positioning system for positioning an end effector (10), having a system base body (4), at which a plurality of working units (6) are arranged side by side in the axial direction of the y-axis of an x-y-z coordinate system. In order to position the correspondingly arranged end effector (10), the working units can move linearly in the axial direction of the z-axis, which is orthogonal to the y-axis, during the performance of a working movement (8). It is characterized in that the working units (6) can perform their working movements (8) independently of one another and relative to the system base body (4), wherein each working unit (6) is assigned a dedicated drive unit (7) for generating its working movement (8), and wherein the drive units (7) are arranged side by side in the axial direction of the y-axis. Furthermore, each drive unit (7) has a stator (23) that is fixed in position with respect to the system base body (4) and a follower (24) that can move actively during the performance of a driven movement (25). The follower (24) is drivingly coupled to the assigned working unit (6) via a coupling section (26) in order to cause the working movement (8), and the stator (23) is arranged distributed in a plurality of stator rows (58) that are successive in the axial direction of the x-axis and oriented in the axial direction of the y-axis. The stators (23) of correspondingly adjacent stator rows (58) in the axial direction of the x-axis are arranged overlapping and offset from one another in the axial direction of the y-axis. Each working unit (6) has a guide rod (36) that is oriented in the axial direction of the z-axis and can move. The guide rod is fixed at the coupling section (26) and is linearly displaceably supported at the system base body (4), and an assembly interface (9) for mounting the end effector (10) is constructed on the guide rod.

2. The positioning system according to claim 1, wherein It is configured as a metering system (1a), wherein the end effector (10) correspondingly relates to a metering unit (10a) for meteringly sucking and / or discharging a fluid quantity.

3. The positioning system according to claim 1 or 2, characterized in that, The drive unit (7) is arranged in a drive area (18) that is adjacent to the working unit (6) in the axial direction of the x-axis.

4. The positioning system according to claim 1 or 2, characterized in that, The coupling section (26) of the drive unit (7) is arranged spaced apart from the subordinate stator (23) in the axial direction of the z-axis, and has a width that is smaller than that of the subordinate stator (23) when measured in the axial direction of the y-axis, corresponding to the working unit (6).

5. The positioning system according to claim 4, wherein The drive unit (7) is arranged in a drive area (18) that is adjacent to the working unit (6) in the axial direction of the x-axis, and the coupling section (26) of the drive unit (7) whose stator (23) belongs to a stator row (58) that is preceded on the side facing the working unit (6) by at least one other stator row (58) extends past the stator (23) of at least one preceding stator row (58) at a spacing measured in the axial direction of the z-axis.

6. The positioning system according to claim 1 or 2, characterized in that, The stators (23) belonging to the same stator row (58) are arranged at intervals from one another in the axial direction along the y-axis.

7. The positioning system according to claim 1 or 2, characterized in that, The stators (23) of the drive unit (7) are arranged in at least three stator rows (58) succeeding one another in the axial direction along the x-axis.

8. The positioning system according to claim 1 or 2, characterized in that, The stator rows (58) adjacent to one another in the axial direction along the x-axis contain an equal number of stators (23) or a different number of stators (23) from one another.

9. The positioning system according to claim 1 or 2, characterized in that All the stators (23) are placed at the same height in a common stator plane (61) orthogonal to the z-axis in the axial direction along the z-axis.

10. The positioning system according to claim 1 or 2, characterized in that, The stators (23) are distributed such that, when viewed in the axial direction along the z-axis, a plurality of stator groups (64) are obtained, each of which consists of a plurality of stators (23) belonging to stator rows (58) succeeding one another in the axial direction along the x-axis and whose central regions (63) are at least substantially on an imaginary connecting line (65) inclined with respect to the x-axis, wherein the connecting lines (65) of the plurality of stator groups (64) run parallel to one another.

11. The positioning system according to claim 1 or 2, characterized in that, When viewed in the axial direction along the z-axis, the stators (23) have at least substantially a square contour.

12. The positioning system according to claim 1 or 2, characterized in that, Each coupling section (26) is constructed separately with respect to the assigned driven body (24) and is drivingly connected to the driven body (24).

13. The positioning system according to claim 1 or 2, characterized in that, Each coupling section (26) is constructed as a coupling slider (45) which is displaceably supported at the system base body (4) in the axial direction along the z-axis.

14. The positioning system according to claim 1, characterized in that, All the guide rods (36) extend with their longitudinal axes (36a) in a common guide rod plane (44) orthogonal to the x-axis.

15. The positioning system according to claim 1, wherein The system base body (4) has two carrier plates (31, 32) which extend respectively in a plane orthogonal to the z-axis and are spaced from one another in the axial direction along the z-axis in the case of restricting a coupling space (34) accommodating the coupling sections (26), wherein each guide rod (36) bridges the spacing between the two carrier plates (31, 32) and is linearly displaceably supported in the two carrier plates (31, 32).

16. The positioning system according to claim 1 or 2, characterized in that, Each drive unit (7) has a dedicated drive module (22) with a stator (23) and a driven body (24).

17. The positioning system according to claim 16, characterized in that, The drive unit (7) relates to an electric drive unit, and its drive modules (22) are respectively electric drive modules.

18. The positioning system according to claim 1 or 2, characterized in that, The driven body (24) of each drive unit (7) is constructed rod-shaped and oriented such that its longitudinal axis (24a) extends in the axial direction along the z-axis.

19. The positioning system according to claim 18, wherein The driven body (24) of each drive unit (7) can be driven to perform a rotational driven motion (25) about its longitudinal axis (24a) and is in threaded engagement with the assigned coupling section (26), such that the rotational driven motion (25) of the driven body (24) causes a linearly oriented linear motion (28) of the coupling section (26) in the axial direction along the z-axis, and the linear working motion (8) of the working unit (6) connected to the coupling section (26) is caused by the linear motion (28).

20. The positioning system according to claim 19, wherein The coupling section (26) of each drive unit (7) has a plurality of receiving structures (55) spaced apart from one another in the axial direction along the x-axis for selectively receiving the spindle nut (54), and the threaded spindle section (49) of the assigned driven body (24) is in threaded engagement with the spindle nut.

21. The positioning system according to claim 11, wherein, The contours of the stators (23) are identical to one another.

22. The positioning system according to claim 13, characterized in that, The coupling slider (45) is configured in a plate shape and oriented such that its plate plane runs orthogonally to the y-axis.

23. The positioning system according to claim 15, characterized in that, The stators (23) of all drive units (7) are fixed at one of the two carrier plates (31, 32).

24. The positioning system according to claim 16, wherein The stator (23) has the module housing (23a) of the drive module (22), and the stator (23) is fixed to the system base body (4) by means of the module housing.

25. The positioning system according to claim 17, characterized in that The electric drive module relates to an electric motor.

26. The positioning system according to claim 25, wherein The electric motor is a stepper motor.

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