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

Description

[0001] 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 manufacturing such a mounting arrangement.

[0002] A well-known application for the articulated mounting of an actuator is a positioning device comprising a base and a slide, wherein one or more actuators are arranged between the base and the slide and can consequently adjust the position and orientation of the slide relative to the base. The actuators can be, in particular, linear actuators connected to the base or the slide via a universal joint. Such a configuration is found, for example, in hexapods, where the slide is connected to the base via six actuators.

[0003] Such a device is described, for example, by document WO2021147267A1.

[0004] Fig. 1 Figure 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. The base 11 and the support 12 have recesses that directly accommodate the corresponding articulation axes 8a of the universal joints 8 connected to the actuators 10. During assembly, the articulation axes 8a must be aligned in the corresponding recesses of the base 11 and the support 12, respectively, and then fixed with an additional element to ensure high absolute accuracy of the positioning device.

[0005] The following disadvantages exist: The creation of the recesses in the form of semicircular grooves in the base and the slide 11, 12 makes manufacturing complex. As mentioned above, the articulation axes 8a of the universal joints 8 must be aligned in the recesses of the base 11 and the slide 12 when mounting the actuators 10 in the positioning device. This is a complex process and is not easily feasible in the field, i.e., with an existing setup on the positioning device or when the positioning device is integrated into a higher-level structure. Screws required to fix the articulation axes 8a to the base 11 or the slide 12 are typically only accessible from the top or bottom of the base 11 or the slide 12. This complicates the mounting of the actuators 10 in the overall system and sometimes makes replacing the actuators 10 in the field impossible.

[0006] 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 setup or installation of the positioning device.

[0007] This problem is solved by an assembly arrangement according to claim 1. According to the invention, the assembly arrangement comprises a joint device that can be coupled to the actuator, a bearing that supports the joint device or a part or element of the joint device, and a bearing seat that is detachably connected to the bearing.

[0008] Various designs are conceivable for the joint device: for example, those with joint elements in which corresponding parts slide and / or roll against each other, as in classic or conventional swivel or ball joints. Joint devices with solid-state joints or spring joints are also conceivable. Combinations of different joint types are also possible for the joint device. In a preferred embodiment, the joint device is a universal joint.

[0009] The bearing is a separate component that accommodates the joint or a part or element thereof. The bearing can thus be pre-assembled with the joint. Furthermore, the joint, or a part or element thereof, can be connected to the actuator. Therefore, to install an actuator pre-assembled with the bearing and joint into the positioning device, only the bearing needs to be positioned and secured in the bearing seat, i.e., connected to the bearing seat. Similarly, removing an actuator is as simple as disconnecting the bearing from the bearing seat.

[0010] Advantageous further training is the subject of sub-claims.

[0011] The use of the term 'or' in connection with features of the invention shall be understood herein - unless explicitly stated otherwise - as a non-exclusive 'or' or as a non-exclusive disjunction.

[0012] According to the invention, the bearing and the bearing seat 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 at least partially in a form-fit manner, with the bearing forming the male coupling section and the bearing seat the female coupling section. A coupled state can be achieved through the form-fit interaction of the bearing and the bearing seat in which some degrees of freedom of the bearing are already restricted relative to the bearing seat, thus facilitating pre-positioning of the bearing in the bearing seat.

[0013] It may be advantageous if the female coupling section forms a housing to accommodate the male coupling section, with the housing at least partially enclosing the male coupling section in the coupled state.

[0014] It may prove useful if the assembly arrangement has at least one locking device to secure the bearing and the bearing seat to each other in the coupled state, the locking device preferably comprising: a. a spring device, in particular as a primary locking device, to resiliently force the bearing and the bearing seat into the coupled state; and / or b. a locking device, in particular as a secondary locking 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 by friction, particularly preferably in two different directions.

[0015] 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, which are not yet locked in the coupled state, are locked by the spring mechanism and the locking device, thereby enabling the bearing to be securely and precisely connected to the bearing seat.

[0016] It can be advantageous if the bearing has a flat contact surface which, in the coupled state, is in contact with a flat contact surface of the bearing seat, wherein the bearing rests against at least one protruding section of the bearing seat, which is preferably oriented perpendicular to the contact surface of the bearing seat. This already restricts some degrees of freedom of the bearing relative to the bearing seat, thereby achieving pre-positioning of the bearing within the bearing seat.

[0017] It can prove practical to pull the bearing against a first contact section of the bearing seat using a screw and / or to press it against a second contact section of the bearing seat using a spring, with the first and second contact sections of the bearing seat preferably being perpendicular to each other. This method of position fixing ensures high repeatability of the assembly process. Furthermore, it simplifies field assembly, as the bearing self-aligns to a certain extent within the bearing seat.

[0018] It can also be advantageous if the joint device is designed as a universal joint with two non-parallel joint axes, where one of the joint axes is supported by the bearing and the other joint axes can be coupled to the actuator. Universal joints allow for a relatively simple and precise mounting of the actuator, enabling tilting or pivoting of the actuator about two mutually perpendicular tilting or rotation axes.

[0019] It can be useful if the bearing includes two opposing axle mounts, each accommodating one end section of the supported joint axis of the cardan joint.

[0020] It can be advantageous if the bearing receives the supported pivot axis of the universal joint by frictional engagement, particularly by clamping, and / or is bonded to the supported pivot axis of the universal joint by material bonding, particularly by gluing or welding. The choice of connection type depends on the application. A clamping connection can provide a detachable connection if separation of the universal joint and bearing is essential. Conversely, a permanent and secure connection can be achieved through a material bond.

[0021] It can be advantageous if the bearing has at least one multi-part axle mount, the parts of which are connected to each other by at least one screw connection, in order to clamp an end section of the supported joint axis of the universal joint, wherein 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.

[0022] Another aspect of the present invention relates to a positioning device comprising a base, a slide, and at least one actuator arranged between them, wherein the at least one actuator is connected to the base or the slide by the mounting arrangement according to one of the preceding embodiments, and wherein the bearing seat is integrally connected to the base or the slide. In such a positioning device, the actuators can be easily installed, removed, or replaced.

[0023] It can be advantageous if the bearing seat is integrally connected to the base or the slide. This particularly simplifies the assembly of the positioning device.

[0024] It can 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, in particular, a space-saving arrangement of the bearing in the bearing seat, which simultaneously leads to weight savings in the base or the slide and thus to a lighter positioning device.

[0025] It can be advantageous 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 the slide. This improves accessibility to the screws. Therefore, the actuators can be installed and removed even in an existing setup or installation of the positioning device, particularly because the base and the slide can remain in their position.

[0026] It can be advantageous if the recess forming the bearing seat extends beyond an edge of the base or the slide. This allows the bearing to be easily inserted into the bearing seat.

[0027] It may be advantageous if the positioning device is a parallel kinematic positioning device and preferably a hexapod having six actuators.

[0028] Another 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, 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 it is mounted in the positioning device to ensure that the output-side part of the actuator is not rotated by a full spindle revolution, as otherwise the set actuator length will deviate by the amount of the spindle pitch.The aforementioned device simplifies the handling of an actuator during assembly. In particular, it allows an actuator pre-assembled with the bearing to be positioned between the base and the slide for mounting, preventing the output-side part of the actuator from rotating.

[0029] It can be practical if the holding section includes a clamp and a support section, the clamp being configured to hold the joint device in a rotation-proof manner, and the support section being configured to support the bearing in a rotation-proof manner.

[0030] It can be advantageous for the clamp to be either integrally connected to the main body or detachably attached to it. An integral connection between the main body and the clamp can be achieved 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 different 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. Brief description of the characters

[0031] Fig. 1 shows a mounting arrangement for the articulated mounting of an actuator on a base of a positioning device according to the state of the art. Fig. 2 shows a mounting arrangement for the articulated mounting of an actuator on a base of a positioning device according to an embodiment of the present invention. Fig. 3shows a bearing connected to a cardan joint of the assembly arrangement according to the invention in a side view. Fig. 4 Figure 1 shows a bearing connected to a cardan joint of the assembly arrangement according to the invention in a perspective view. Fig. 5 shows a sectional view of an embodiment of the assembly arrangement according to the invention. Fig. 6 shows a detailed view of the base of the positioning device, which includes a bearing seat and a spring device (primary locking mechanism). Fig. 7 shows a device for mounting an actuator in a positioning device. Fig. 8 The device shows Fig. 7 during the mounting of an actuator between a base and a substrate of the positioning device. Fig. 9 The device shows Fig. 7 , in which clamps for holding the cardan joints are integrally connected to a main body of the device. Fig. 10shows an alternative embodiment of the device in which clamps for holding the cardan joints are detachably attached to a main body of the device. Detailed description of preferred embodiments

[0032] With reference to Figs. 2 to 6 A preferred embodiment of the present invention is described in detail below.

[0033] The assembly comprises a bearing 2, a universal joint 8 with two non-parallel joint axes 8a, 8b, one of which joint axis 8a 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.

[0034] Bearing 2 and bearing seat 1 are at least partially complementary to each other. In particular, bearing seat 1 is formed by a preferably cuboid recess in a surface of a base 11 or a support 12. Bearing 2 comprises a connection section 4, which is preferably designed as a cuboid base and is therefore at least partially positively fitted into bearing seat 1. Bearing 2, in particular the connection section 4, thus corresponds to a male coupling element. Bearing seat 2 corresponds to a female coupling element. When bearing 2 is fitted into bearing seat 1, bearing 2 and bearing seat 1 are in a coupled state in which at least some translational and / or rotational degrees of freedom of bearing 2 are restricted relative to bearing seat 1.

[0035] 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 connecting section 4 of the bearing 2. The (main) contact surface 4a of the bearing 2 forms the underside of the cuboid connecting section 4. Furthermore, the bearing seat 1 has at least two contact sections 1b, 1c which project vertically beyond the (main) contact surface 1a of the bearing seat (1). In addition, the two contact sections 1b, 1c are oriented perpendicular to each other and thus, in conjunction with the (main) contact surface 1a of the bearing seat 1, form a kind of semi-open housing that positively engages the bearing 2, in particular the connecting section 4, at its corresponding sections.

[0036] In the preferred embodiment, the bearing seat 1 is formed as a cuboid recess in a surface of the base 11 or the slide 12. Of course, the recess can also have a different shape. However, to create a coupled state, it is advantageous in any case if the bearing 2 and the bearing seat 1 have complementary shapes. Furthermore, the bearing seat 1 need not be formed by a recess, but can, for example, also be formed by corresponding stops provided on the surface of the base 11 or the slide 12.

[0037] Furthermore, the assembly arrangement includes a locking device 5a, 5b, 6, which secures the bearing 2 and the bearing seat 1 to each other in the coupled state. The locking device 5a, 5b, 6 includes a spring assembly (spring) 6, which constitutes a primary locking mechanism and resiliently forces the bearing 2 and the bearing seat 1 into the coupled state. As the Fig. 2 and 6 The spring assembly (spring) 6, which can be removed from the bearing seat 1, 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 by a screw. The spring 6 is shaped such that it presses on a lateral section of the bearing 2 and thus forces the bearing 2 against the contact section 1c of the bearing seat 1. The lateral section of the bearing 2 against which the spring 6 presses is preferably not arranged perpendicular to the (main) contact surface 4a of the bearing 2, but is designed as an inclined plane. Thus, the bearing 2 experiences not only a horizontal force from the spring 6, which forces the bearing 2 against the contact section 1c of the bearing seat 1, but also a vertical force, which forces the bearing 2 against the (main) contact surface 1a of the bearing seat 1.

[0038] Furthermore, the safety device 5a, 5b, 6 includes a locking device 5a, 5b, which constitutes a secondary safety device and positively locks all degrees of freedom of movement of the bearing 2 relative to the bearing seat 1 in the coupled state, without play. Specifically, the locking device 5a, 5b consists of 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 bores extending from the mounting section 1b (see Fig. 5The screws 5a initially press the bearing 2 against the mounting section 1b before finally fixing the bearing 2 in this position by means of a force-fit connection in the bearing seat 1. Furthermore, the locking device 5a, 5b has an additional screw 5b that penetrates the bearing 2, and in particular the (main) contact surface 4a, at an oblique angle and is screwed into a threaded bore that extends in precisely 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, although angle ranges between 30° and 50° are conceivable. The screw 5b allows the final position of the bearing 2 in the bearing seat 1 to be fixed.

[0039] 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, whereby the angles that the longitudinal axes of the screws 5a enclose with the (main) contact surface 1a can be in a range of + / - 50°.

[0040] In addition to the connection section 4, the bearing 2 comprises a receiving section 3 for receiving the articulating axis 8a of the universal joint 8. The receiving section 3 is formed by two opposing axle supports 3a, 3b, each of which receives an end section of the supported articulating axis 8a of the universal joint 8. The receiving section 3, or the axle supports 3a, 3b, is / are integrally formed with the connection section 4.

[0041] 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 4The upper part 3a1, 3b1 and the lower part 3a2, 3b2 of each axle mount 3a, 3b are connected to each other by two screws 7 such that they clamp an end section of the supported joint axle 8a of the universal joint 8. The respective longitudinal axis of these screws 7 forms an angle other than 90° with the (main) contact surface 4a of the bearing 2 (see Fig. 5This alignment of the screw axes is achieved in particular by ensuring that a top surface of the lower part 3a2, 3b2 and / or the upper part 3a1, 3b1 is not parallel to the (main) contact surface 4a of the bearing 2. For an approximately cuboid-shaped upper part 3a1, 3b1, this can be achieved, for example, by ensuring that a contact plane between the upper part 3a1, 3b1 and the lower part 3a2, 3b2 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, as the use of appropriate tools is not obstructed by the universal joint 8 or the actuator 10 connected to it.

[0042] In addition to clamping the joint axis 8a by friction, it can also be bonded to the axle mounts 3a, 3b by adhesive bonding or welding. A combination of friction and bonded mounting is also possible.

[0043] Another aspect of the invention relates to a positioning device 9 comprising the assembly arrangement according to the invention. Such a positioning device 9 is described below with reference to Fig. 8 described. Fig. 8 Figure 1 shows the mounting of an actuator 10 between the base 11 and the specimen carrier 12 of the positioning device 9. Fig. 8For illustrative purposes, only one actuator 10 is shown, although a total of six actuators are 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 slide 12. In principle, however, 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, more preferably, a hexapod. In this case, the positioning device 9 comprises six actuators 10 arranged between the base 11 and the slide 12.

[0044] According to the invention, at least one of the actuators 10 is connected to the base 11 or the slide 12 by the mounting arrangement described above. The actuator 10 is coupled to the articulation axis 8b of the universal joint 8. The bearing seat 1 is integrally connected to the base 11 or the slide 12. In particular, the bearing seat 1 is designed as a recess in an actuator-side surface of the base 11 or the slide 12. As the Fig. 2 and 8 The recess, which can be removed, extends over an edge of the base 11 or the slide 12. That is, the bearing seat 1 is accessible from a circumferential side of the base 11 or the slide 12. In the case of an approximately round base 11 or a round slide 12, as in Fig. 8As shown, this corresponds to accessibility from the radial direction. In a case where the base 11 and the slide 12 are located in an existing structure, i.e., in a case where the distance between the base 11 and the slide 12 is already approximately fixed, such an arrangement of the recesses has the advantage that the bearings 2 connected to the actuator 10 can simply be pushed into the bearing seat 1 in the radial direction.

[0045] Furthermore, the longitudinal axes of the screws 5a, described above, run parallel to the actuator-side surface of the base 11 or the slide 12, and parallel to the contact surface 1a of the bearing seat 1. In contrast, the longitudinal axis of screw 5b runs non-parallel to the actuator-side surface of the base 11 or the slide 12 and simultaneously non-parallel to the contact surface 1a of the bearing seat 1. The direction of the longitudinal axis of screw 5b forms an angle of 45° with the actuator-side surface of the base 11 or the slide 12, and the contact surface 1a of the bearing seat. This ensures circumferential and radial access to screws 5a and 5b. The mounting of the bearing 2 in the bearing seat 1 is therefore facilitated and, in particular, is not obstructed by the actuator 10 itself.

[0046] The orientation of the longitudinal axes of screws 5a and 5b described above is based on the orientation of the actuator-side surface of the base 11 and the slide 12, respectively. Alternatively, the orientation of the longitudinal axes of screws 5a and 5b can be specified with reference to a principal axis of the positioning device. The principal axis of the positioning device is a central axis that intersects the base 11 and the slide 12. In the initial state, i.e., in the undisplaced state of the positioning device, the base 11 and the slide 12 are parallel to each other and perpendicular to the principal axis. In the typical application, the principal axis runs vertically and the base 11 lies in a horizontal plane (see Fig. 8Good accessibility to screws 5a and 5b in the present positioning device is generally achieved by aligning the longitudinal axes of screws 5a and 5b at an angle of + / - 50° to an orthogonal to the main axis of the positioning device. In the typical application described above, the orthogonal to the main axis is therefore horizontal and parallel to the base 11. Of course, there are applications where the positioning device is installed in an inclined position, in which case the main axis is not vertically oriented.

[0047] Another aspect of the present invention relates to a device 13 for mounting an actuator 10 in a positioning device 9. In particular, the mounting arrangement according to the invention can be produced quickly and easily with such a device 13. How Fig. 7The device 13, which can be removed, comprises a main body 14, designed as a handle, and two retaining sections 15 connected to the main body 14. The retaining 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. 8As shown, the anti-rotational fixation of the bearing 2 allows the bearing 2, pre-assembled with the actuator 10, to be pre-aligned so 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 microscope slide 12 and has a pre-assembled bearing 2 at both ends. That is, when the actuator 10 is positioned between the base 11 and the microscope slide 12 using the device 13, the bearings 2 can be easily aligned in the corresponding bearing seats 1 due to their anti-rotational pre-alignment.

[0048] 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 cardan joint 8 in a rotationally secure manner, while the support section 17 is provided to support the bearing 2 in a rotationally secure manner. In the Fig. 9In the illustrated embodiment, the clamp 16 is integrally connected to the main body 14. The embodiment which Fig. 10 The figure shows a clamp 16 that is detachably attached to the main body 14. Reference symbol list

[0049] 1 Bearing seat 1a Contact surface of the bearing seat 1b, 1c Mounting section of the bearing seat 2 Bearing 3 Mounting section of the bearing 3a, 3b Axle mount 3a1, 3b1 Upper part of the axle mount 3a2, 3b2 Lower part of the axle mount 4 Connecting section of the bearing 4a Contact surface of the connecting section (contact surface of the bearing) 5a, 5b Screw connection (screw), locking device or secondary safety device 6 Spring (device) or primary safety device 7 Screw connection (screw) 8 Joint device 8a First joint axis of the joint device designed as a cardan joint 8b Second joint axis of the joint device designed as a cardan joint 9 Positioning device 10 Actuator 11 Base 12 Object carrier 13 Mounting device 14 Main body (handle) of the mounting device 15 Holding section of the mounting device 16 Clamp 17 Support section

Claims

1. Mounting assembly for the articulated mounting of an actuator (10) in a positioning device (9), comprising a joint device (8) that can be coupled to said actuator (10), a bearing (2) that supports said joint device (8), and a bearing seat (1) that is connected to said bearing (2) in a detachable manner, characterized in that said bearing (2) and said bearing seat (1) are configured as complementary male and female coupling sections that can be moved between an uncoupled state and a coupled state and, in the coupled state, interact in a positive-fit manner at least in sections, wherein said bearing (2) forms said male coupling section and said bearing seat (1) forms said female coupling section.

2. Mounting assembly according to the preceding claim, characterized in that said female coupling section forms a housing for receiving said male coupling section, wherein said housing encloses said male coupling section at least in sections in the coupled state.

3. Mounting assembly according to one of the preceding claims, characterized in that said mounting assembly comprises at least one securing device (5a, 5b, 6) for securing said bearing (2) and said bearing seat (1) to one another in the coupled state, wherein said securing device (5a, 5b, 6) preferably comprises: a. a spring device (6), in particular as a primary securing device, to force said bearing (2) and said bearing seat into the coupled state in a spring-loaded manner; and / or b. a locking device (5a, 5b), in particular as a secondary securing device, to lock all degrees of freedom of motion of said bearing (2) relative to said bearing seat (1) in a positive-fit manner in the coupled state, preferably without play, wherein said locking device (5a, 5b) preferably acts in a force-fit manner, particularly preferably in two different directions.

4. Mounting assembly according to one of the preceding claims, characterized in that said bearing (2) comprises a flat contact surface (4a) which, in the coupled state, is in contact with a flat contact surface (1a) of said bearing seat (1), wherein said bearing (2) abuts against at least one abutment section (1b, 1c) of said bearing seat (1) which protrudes beyond said contact surface (1a) of said bearing seat (1) and is preferably aligned perpendicular to said contact surface (1a) of said bearing seat (1).

5. Mounting assembly according to one of the preceding claims, characterized in that said bearing (2) is drawn against a first abutment section (1b) of said bearing seat (1) by a screw (5a) and / or is pressed against a second abutment section (1b) of said bearing seat (1) using a spring (6), wherein said first abutment section (1b) and said second abutment section (1c) of said bearing seat (1) are preferably aligned perpendicular to one another.

6. Mounting assembly according to one of the preceding claims, characterized in that said joint device (8) is configured as a universal joint with two non-parallel joint axes (8a, 8b), wherein one of said joint axes (8a) is supported by said bearing (2) and the other of said joint axes (8b) can be coupled to said actuator (10).

7. Mounting assembly according to the preceding claim, characterized in that said bearing (2) comprises two oppositely disposed axis seats (3a, 3b), each of which receives an end section of said supported joint axis (8a) of said universal joint (8).

8. Mounting assembly according to one of the preceding claims 6 or 7, characterized in that said bearing (2) receives said supported joint axis (8a) of said universal joint (8) in a force-fit manner, in particular by clamping, and / or is connected to said supported joint axis (8a) of said universal joint (8) in a positive substance-fit manner, in particular by adhesive bonding or welding.

9. Mounting assembly according to one of the preceding claims 6 to 8, characterized in that said bearing (2) comprises at least one multi-part axis seat (3a1, 3a2, 3b1, 3b2), the parts of which are connected to one another by at least one screw connection (7) for clamping an end section of said supported joint axis (8a) of said universal joint (8), wherein the longitudinal axis of said screw connection (7) preferably encloses an angle other than 90° with a flat contact surface (4a) of said bearing (2).

10. Positioning device (9) comprising a base (11), an object carrier (12) and at least one actuator (10) arranged between said base (11) and said object carrier (12), characterized in that said at least one actuator (10) is connected to said base (11) or said object carrier (12) by said mounting assembly according to one of the preceding claims.

11. Positioning device (9) according to the preceding claim, characterized in that said bearing seat (1) is formed integrally with said base (11) or said object carrier (12).

12. Positioning device (9) according to the preceding claim, characterized in that said bearing seat (1) is formed as a recess in the surface of said base (11) on the actuator side or in the surface of said object carrier (12) on the actuator side.

13. Positioning device (9) according to one of the claims 10 to 12, characterized in that said bearing (2) is connected to said bearing seat (1) by at least one screw connection (5a, 5b), the longitudinal axis of which is aligned within an angular range of + / - 50° to an orthogonal line of the main axis of said positioning device, runs preferably in the direction of the orthogonal line of said main axis, in particular in a direction parallel to a surface of said base (11) or said object carrier (12) on the actuator side.

14. Positioning device (9) according to claim 12, characterized in that said recess, as which said bearing seat (1) is configured, extends beyond an edge of said base (11) or said object carrier (12).

15. Positioning device (9) according to one of the claims 10 to 14, characterized in that said positioning device (9) is a parallel kinematic positioning device and preferably a hexapod comprising six actuators (10).

16. Device (13) for mounting an actuator (10) in a positioning device (9), in particular for producing a mounting assembly according to one of the claims 1 to 9, comprising a main body (14), which is preferably configured as a handle, and at least one holding section (15) which is connected to said main body (14) and is configured to hold a joint device (8) which is coupled to a bearing (2) and to said actuator (10), and to hold said bearing (2) in a rotationally locked manner.

17. Device (13) according to the preceding claim, characterized in that said holding section (15) comprises a clamp (16) and a support section (17), wherein said clamp (16) is configured to hold said joint device (8) in a rotationally locked manner, and said support section (17) is configured to support said bearing (2) in a rotationally locked manner.

18. Device (13) according to the preceding claim, characterized in that said clamp (16) is integrally connected to said main body (14) or is attached to said main body (14) in a detachable manner.