CN112797117A - Linear motion system with protected energy guiding chain - Google Patents

Abstract

The invention relates to a linear movement system (30) for use in a Cartesian movement system, wherein the linear movement system (30) has a housing (32) which extends along a linear axis (31), wherein a slide is mounted on the housing (32) so as to be linearly movable in the direction of the axis (31), wherein an energy guide chain (50) is assigned to the linear movement system (30), which can be moved along the axis mentioned. According to the invention, the energy supply chain (50) is completely accommodated in a cavity formed by the housing (32), wherein the cavity has at least one first opening through which the associated energy line is guided, wherein the cavity has a second opening which is elongated in the direction of the axis, wherein the energy line extends from the associated first opening further through the energy supply chain and further through the second opening to the slide.

Description

Linear motion system with protected energy guiding chain

Technical Field

The invention relates to a linear movement system and to a cartesian movement system with at least one such linear movement system according to the preamble of claim 1.

Background

A directory known as cartesian motion system is accessible by 25.10.2019 under the web address http:// www.boschrexroth.com/variance/utilities/mediareal/download/index jspbject _ nr = R999000044. This cartesian movement system is assembled from a plurality of linear movement systems whose linear axes are typically arranged perpendicular to one another, so that they span a cartesian coordinate system. The drive of the respective linear movement system is often connected to an electrical energy line guided in an energy guide chain. The movement system can be designed with a storage trough for the energy guiding chain.

Furthermore, the most different guiding mechanisms for energy guide chains are known from the directory accessible on 25.10.2019 under the web address https:// tsubaki-kabelschleple.com/uploads/tx _ tkg17 pim/documents/pdf/ablegeninnenen-und-fuehrengkakee _ de.pdf.

Disclosure of Invention

The advantage of the invention is that the individual linear motion systems of the cartesian motion system can be installed as a whole, including the energy guiding chain, next to one another. They can therefore be pre-produced as completely as possible by the manufacturer, wherein the user has to carry out only a few work steps in order to build up a single cartesian motion system from a plurality of linear motion systems. The user is no longer required to mount the energy guiding chain separately at the movement system. Furthermore, the housing, which is often arranged without support, is reinforced in such a way that a longer movement path is possible. Furthermore, the energy guiding chain is particularly well protected from environmental influences.

According to the independent claim, it is proposed that the energy supply chain is completely accommodated in a cavity formed by the housing, wherein the cavity has at least one first opening through which the associated energy line is guided, wherein the cavity has only one second opening which is elongated in the direction of the axis, wherein the energy line extends further through the energy supply chain from the associated first opening to the slide.

The linear movement system preferably comprises a drive with which the slide can be driven in the direction of the axis relative to the housing. The drive may comprise a belt drive, in particular a toothed belt drive, or a spindle drive, in particular a ball screw drive. The drive may comprise an electric motor. The energy line can be, for example, an electrical or pneumatic line. The energy circuit can be designed to deliver very small amounts of energy for control purposes or to deliver large amounts of energy for driving purposes. It is conceivable that a plug connection for the energy line is arranged in the region of the second opening.

Advantageous embodiments and refinements of the invention are specified in the dependent claims.

It can be provided that the cavity is formed by a separate cavity housing which is fixed to the remaining housing in such a way that the flexural rigidity of the entire housing is greater than the flexural rigidity of the entire housing without a cavity housing. This results in a large unsupported length when the linear movement system is mounted in an unsupported manner.

It can be provided that the cavity is substantially closed, with the exception of the respective at least one first opening and the respective second opening. The cavity is not completely sealed off to the outside by the second opening. Correspondingly, complete sealing is not important when assembling the parts. A high flexural rigidity of the housing should be achieved in a closed construction.

Provision can be made for the at least one first opening to be substantially hermetically closed. The energy line can, for example, be passed through a cable lead-in strip (http:// www.icotek.com/produktskatalog/kabelinfuehrung/kel-24 /) which forms the relevant first opening. The energy line in the first opening is preferably held in a friction-fit manner, so that it cannot be displaced by the movement of the energy guiding chain.

It can be provided that the cavity is partially delimited by a first body which extends with a constant cross-sectional shape along the axis, wherein the respective second opening is arranged at the first body. The cavity can thus be provided in a cost-effective manner, while at the same time the desired movement capability of the energy guiding chain is given. The blank of the first body is preferably manufactured from aluminum in an extrusion process, wherein the second opening is manufactured by chip machining of said blank.

Provision may be made for the housing to comprise a second body which extends along the axis with a constant cross-sectional shape, wherein the cross-sectional shape is configured as a U with a base and two U-shaped legs, wherein the first body and the second body are configured integrally or firmly connected to one another in the region of the base. The integrated variant is particularly cost-effective when the number of parts is large. The multipart variant is more cost-effective when the number of parts is small, since the first body can be used for differently designed linear movement systems without having to change the first body for this purpose.

It can be provided that the cavity is partially delimited by a first end cap and a second end cap, respectively, which are fastened to the ends of the first body lying opposite one another with respect to the axis, wherein all the first openings are arranged in the first end cap. The above-mentioned cable lead-in strip is preferably an integral part of the first end cap.

Provision can be made for the cross-sectional shape of the first body to be configured rectangular, wherein the second opening is arranged at the narrower rectangular side. A linear movement system which is particularly compact in design is thereby obtained.

Provision can be made for the longer rectangular side to rest against the base or to be formed integrally with this base. This results in a particularly strong connection between the first body and the second body, so that the entire housing has a high rigidity.

Furthermore, a cartesian movement system with a first linear movement system and an auxiliary linear movement system is claimed, wherein the first linear movement system has a first axis, a first housing, a first slide, a first energy guide chain, a first cavity and at least one first energy line, wherein the first linear movement system is constructed according to one of the preceding claims, wherein the auxiliary linear movement system has an auxiliary housing which extends along a linear auxiliary axis, wherein the auxiliary slide is mounted at the auxiliary housing in a linearly movable manner in the direction of the auxiliary axis, wherein the first housing or the first slide is fixed at the auxiliary slide in such a way that the auxiliary axis and the first axis are arranged at an angle different from zero. The angle between the secondary axis and the first axis is preferably 90 °. The auxiliary housing is preferably arranged in a stationary manner. The first linear motion system may include a first driver. The first energy line preferably leads from the associated first opening to the auxiliary slide. The auxiliary linear movement system is preferably not designed according to the invention, since the cavity for the respective auxiliary energy guiding chain is too large.

A second linear movement system can be provided, which has a second axis, a second housing, a second carriage, a second energy supply chain, a second cavity and at least one second energy line, wherein the second linear movement system is designed as claimed in one of claims 1 to 9, wherein the second housing or the second carriage is fixed to the first carriage in such a way that the first axis and the second axis are arranged at an angle different from zero. The angle between the first axis and the second axis is preferably 90 °. The second linear motion system may include a second driver. The second energy line preferably leads from the associated first opening to the first slide.

The features mentioned above and those yet to be explained below can of course be used not only in the respectively specified combination but also in other combinations or alone without departing from the scope of the invention.

Drawings

The invention is explained in more detail below with the aid of the figures. In the figure:

FIG. 1 is a perspective view of a Cartesian motion system in accordance with the present invention;

FIG. 2 is a perspective view of the first linear motion system from a corresponding second opening;

FIG. 3 is another perspective view of the first linear motion system from the first opening without the corresponding first body;

FIG. 4 is a perspective view of the second linear motion system without the corresponding first body;

FIG. 5 shows a cross-section of a second embodiment of the first linear motion system; and is

Fig. 6 shows a cross section of a third embodiment of the first linear motion system.

Detailed Description

Fig. 1 shows a perspective view of a cartesian motion system 10 according to the invention. The cartesian moving system 10 is composed of an auxiliary moving system 20 and first and second linear moving systems 30; 40 are assembled. Corresponding linear movement systems for cavities not according to the invention are known from DE 19738988B 4, EP 340751B 2, DE 20080368U 1, EP 828083B 1, EP 1975463B 1, DE 10354040 a1, DE 102008026770 a1, EP 2218926B 1 or US 2005/265639. The linear guide of these linear movement systems typically comprises a linear roller bearing, which mostly has continuously circulating, spherical roller bodies. The drive can be designed electrically, pneumatically, linearly, piezoelectrically or in any other conceivable manner.

The auxiliary linear movement system 20 has an auxiliary housing 22 which extends along a linear auxiliary axis 21. At its two opposite longitudinal ends, the auxiliary housing 22 is firmly connected to the base plate 92 by means of one stand 91 each. The auxiliary slide 23 is mounted on the auxiliary housing 22 so as to be linearly movable along the auxiliary axis 21. The auxiliary slide 23 is driven by an auxiliary drive 24 in the direction of the auxiliary axis 21, wherein the auxiliary drive 24 comprises a motor 25 and a toothed belt in the present case. Furthermore, an auxiliary energy guide chain 90 connects the base plate 92 to the auxiliary slide 23, wherein the auxiliary energy guide chain 90 can be moved in the direction of the auxiliary axis 21. First and second linear motion systems 30; all power supply and control lines required for 40 and the clamp 93 are guided by the auxiliary power chain 90. The auxiliary energy supply chain 90 is not currently accommodated in the cavity according to the invention, since this cavity must be designed to be very large due to the stand 91.

The first linear movement system 30 has a first housing 32 which extends along a linear first axis 31 which is oriented perpendicularly to the auxiliary axis 21, so that the auxiliary axis 21 and the first axis 31 lie in a horizontal plane. The first housing 32 is fixed at the auxiliary slider 23. The fastening is usually arranged at the end region with respect to the first axis 31, so that the path of movement of the first carriage 33 can be used as best as possible. The fastening can be designed as a screw connection, wherein manually operable fastening means, such as a clamping lever, are also conceivable. The first slider 33 is supported at the first housing 32 so as to be movable in the direction of the first axis 31. The first slider 33 can be driven in the direction of the first axis 31 by means of a first drive 34. The first drive 34 comprises a ball screw drive, which is in rotary drive connection with a first electric motor 35 via a toothed belt. A first energy transmission chain 50 is assigned to the first linear movement system 30, which connects the auxiliary slide 21 to the first slide 31. The first energy guiding chain 50 can be moved in the direction of the first axis 31, wherein it is accommodated in a separate hollow housing 70, which is an integral part of the first housing 31. All energy supply and control lines required for the second linear movement system 40 and the gripper 93 are guided by the first energy guide chain 50.

The second linear movement system 40 has a second housing 42 which extends along a second linear axis 41 which is oriented perpendicularly to the auxiliary axis 21 and perpendicularly to the first axis 31, so that it is arranged perpendicularly. The second slider 43 is mounted on the second housing 42 so as to be movable in the direction of the second axis 41, wherein the second slider is fixed to the first slider 33. The second slide 43 can be driven in the direction of the second axis 41 by means of a second drive 44, the second drive 44 in the present case comprising a ball screw drive which is in direct rotationally driving connection with a second electric motor 45. At the lower end of the second housing 42, a clamp 93 is fixed, which can be moved by the auxiliary linear motion system 20 and the first and second linear motion systems 30; 40 about a secondary axis 21 and first and second axes 31; 41 spreader cartesian coordinate system. Instead of the gripper 93, any other preferably automatically actuable tool can be provided. The second housing 42 in the present case likewise comprises a separate hollow housing 71, in which a second energy supply chain (reference number 60 in fig. 4) is accommodated, which can be moved in the direction of the second axis 41. All the energy supply lines and control lines required for the gripper 93 and the motor 45 are guided by the second energy chain 60.

Fig. 2 shows a perspective view of the first linear motion system 30 from the corresponding second opening 54. The first housing 32 includes a separate cavity housing 70 that is securely connected to the remaining first housing 32. The cavity housing includes a first body 81 that extends along the first axis 31 in a constant rectangular cross-sectional shape. The first body 81 is preferably manufactured from aluminium in an extrusion process. The second opening 53, which is elongated in the direction of the first axis 31, is machined into the blank of the first body 81 by means of a chip machining, in particular a milling machining. The second opening 53 extends from a first end cap 83 having a constant width to the vicinity of a second end cap 84. First and second end caps 83; 84 are preferably fixed by means of screws at the ends of the first body 81 opposite in the direction of the first axis 31.

Furthermore, the first housing 32 comprises a second body 82, which likewise extends with a constant cross-sectional shape in the direction of the first axis 31. The second body 82 encloses the linear guide mechanism of the first slider 33 and a part of the first driver 34. The second body 82 is preferably manufactured from aluminum in an extrusion process. Of course, the first and second bodies 81; 82 are preferably integrally constructed in that they are commonly manufactured in an extrusion process. When the integrated solution is less economical due to the small part count or when the first and second bodies 81; 82 are different, as in the second linear movement system, the two-part solution shown in fig. 2 and 3 is used. In all variants, however, the first and second bodies 81; 82 are firmly connected to one another in such a way that the respective connection has a bending stiffness which is higher than the sum of the bending stiffnesses of the two parts. The fixed connection is currently achieved by means of a total of four clamping strips 96, which engage in matching grooves in the second body 82, wherein the clamping strips are each screwed to the first body 81. With reference to fig. 5, a variant with further increased bending stiffness is explained further below. The integrated variant is explained further below with reference to fig. 6.

A first body 81 and first and second end caps 83; 84 define a first cavity 51 in which the first energy guiding chain 50 is completely accommodated. The first cavity 51 is closed except for a first opening (reference numeral 53 in fig. 3) and a second opening 54, so that the first energy guiding chain 50 is substantially inaccessible from the outside.

It is also noted that the first and second plug connectors 94 for the first energy line; 95, the first energy line is guided by the first energy guiding chain 50. At present, they are designed as purely electrical plug connectors, since only the first electrical energy line is available. The first electric motor 35 of the first drive 34 is connected to the first plug connector 94, without the corresponding energy line being guided via the first energy chain 50. The first plug connector 94 is connected to the free end of the first energy line (reference numeral 52 in fig. 3) and can be moved accordingly, so that the first plug connector can be inserted into a third plug connector (reference numeral 99 in fig. 1), which is arranged firmly on the auxiliary slide (reference numeral 23 in fig. 1). The second plug connector 95 is firmly connected to the first slider 33, for example, at a connecting body 103, which is currently designed as a plate bending element. Where the fourth plug connector of the third linear motion system (reference numeral 100 in fig. 3) is plugged in.

Fig. 3 shows another perspective view of the first linear motion system 30 from the first opening 53 without the corresponding first body (reference numeral 81 in fig. 2). The arrangement of the first energy guiding chain 50 within the first cavity (reference numeral 51 in fig. 2) can be seen. The first energy guiding chain 50 is bent in a U-shape in a plane spanned by the first axis 31 and the second axis (reference numeral 41 in fig. 1), wherein the respective U-shaped sides are arranged parallel to the first axis 31. One end of the first energy guiding chain 50 is fixed, in particular screwed, at the inner side of the first body (number 81 in fig. 2). The opposite end is firmly connected to a connecting body 103 fixed to the first slider (reference numeral 33 in fig. 2)). A plurality of first energy lines 52 are guided from the first plug connector 94 to the first end cap 83. Where they each enter the first cavity 51 through the associated first opening 53. The first end cap 83 comprises a commercially available cable lead-in strip 98 which forms the first opening 53, wherein the first opening can be flexibly adapted to the required number of first energy lines 52. Contrary to what is shown in fig. 3, the unwanted space of the cable lead-in strip 98 is preferably closed.

Fig. 3 shows a dashed-dotted line another course of the single first energy line 52, wherein the further first energy line 52 runs parallel thereto. The first energy line 52 extends from the associated first opening 53 through the first energy guide chain 50 to the second opening (reference numeral 54 in fig. 2). From there, it extends outside the first housing 32 to the second plug connector 95. During the movement of the first linear movement system 30, the first energy line 52 alone deforms in the region of the first energy guiding chain, i.e. in the first cavity 51.

Furthermore, fig. 3 shows a connecting plate 97, which is firmly connected, in particular screwed, to the first housing 32, in particular to the first main body (reference numeral 81 in fig. 2) of the first housing. The first housing 32 is firmly connected to the auxiliary slider (reference numeral 23 in fig. 1) by the connecting plate 97.

Fig. 4 shows a perspective view of the second linear motion system 40 without the corresponding first body. The cavity housing 71 of the second linear motion system 40 is configured to correspond to the cavity housing (reference numeral 70 in fig. 1) of the first linear motion system except for the dimensions of the respective parts, so that reference is made to the explanations with respect to fig. 2 and 3, wherein the second energy conduction chain 60 corresponds to the first energy conduction chain (reference numeral 50 in fig. 3), wherein the second energy line 62 corresponds to the first energy line (reference numeral 52 in fig. 3).

Since the second body 82 of the second linear movement system 40 is significantly smaller than the second body of the first linear movement system, the first body is screwed to the second body 82 by means of the fixing thread 101, with the clamping bar (reference number 96 in fig. 2) being dispensed with.

The second drive 44 of the second linear movement system 40 comprises a ball screw drive, the screw of which is driven directly by a second electric motor 45. The second body 82 of the second linear motion system 40 is made of steel, wherein the first body is also made of aluminum. Accordingly, the one-piece embodiment of the first body and the second body is not considered here.

The fourth plug connector 100 assigned to the elongated second opening 64 is designed to be freely movable so that it can be plugged into the second, fixed plug connector (reference numeral 95 in fig. 2). A second energy line 62 leads to the second electric motor 45 via the associated first opening 63, wherein a further second energy line leads to the holder 93 via a further first opening.

The second opening 64 is shown in dashed lines in fig. 4 due to the first body, which is not shown. It is of elongate design in the direction of the second axis 41, wherein the second energy line 62 is routed there through.

Fig. 5 shows a cross section of a second embodiment of the first linear motion system 30'. The second embodiment of the first linear motion system 30' is constructed in correspondence with the first embodiment except for the differences explained later, and reference may thus be made to the explanations made with respect to fig. 1 to 3 for this purpose. In fig. 1, 2, 3 and 5, identical or corresponding parts are provided with the same reference numerals.

In order to further increase the flexural rigidity of the first housing 32, the respective first body 81 is provided with a dovetail-shaped projection 104 which engages in a form-fitting manner in a matching recess in the second body 82. The dovetail-shaped protrusion 104 and the groove are preferably formed by pressing the main body 81; 82 are manufactured together. The scarf joint is preferably substantially free of play. A dovetail-shaped protrusion 104 may also be arranged at the second body 82, wherein a matching groove is arranged at the first body 81. Instead of a dovetail shape, other undercut shapes, such as a T-shape, are also conceivable.

Furthermore, the cross-sectional shape of the second body 82 can be seen in fig. 5. This is configured in a U-shape having a base 82 and two U-shaped sides 86. The base 85 rests against the first body 81. The rectangular cross-sectional shape of the first body 81 can further be seen, wherein the longer rectangular side rests against said base 85. The wall thickness is configured substantially constant over the circumference of the rectangle. The second opening 54 is arranged at the shorter rectangular side. The clamping strips 96 are screwed to the longer rectangular sides.

Note also the screw 102 of the ball screw transmission already mentioned. For further details in the region of the second body 82 reference may be made to DE 19738988B 4.

Fig. 6 shows a cross section of the third embodiment of the first linear motion system 30'. The third embodiment of the first linear motion system 30' is constructed in correspondence with the first or second embodiment, except for the differences explained subsequently, and reference may thus be made to the explanations made with respect to fig. 1 to 3 and 5 with regard thereto. In fig. 1, 2, 3, 5 and 6, identical or corresponding parts are provided with the same reference numerals.

In the third embodiment, the first and second bodies 81; 82 are constructed integrally with one another, so that the clamping strips and the dovetail-shaped projections can be dispensed with.

The second opening 54 is arranged here as shown in fig. 5. In the third embodiment, however, it is preferred that the second opening 54 is arranged in the region of the U-shaped base 85 of the second body 82, as shown in fig. 6. The respective first energy line 52 can then be guided as far as possible within the first housing 32, so that it cannot be seen from the outside. The connecting body 103' matches the changed position of the second opening 54.

First and second bodies 81; 82 are adapted to each other so that a profile without projections is obtained. The wall thickness shown in fig. 6 can also be optimized in view of the maximum rigidity with at the same time minimal material consumption.

List of reference numerals

10 Cartesian motion system

20 assisted linear motion system

21 minor axis

22 auxiliary housing

23 auxiliary slide block

24 auxiliary drive

25 electric motor

30 first Linear motion System (first embodiment)

30' first linear motion system (second embodiment)

30' first linear motion system (third embodiment)

31 first axis

32 first casing

33 first slide

34 first driver

35 first motor

40 second linear motion system

41 second axis

42 second housing

43 second slide

44 second driver

45 second motor

50 first energy guide chain

51 first cavity

52 first energy circuit

53 first opening

54 second opening

60 second energy guiding chain

61 second cavity

62 second energy circuit

63 first opening

64 second opening

70 hollow shell of first linear motion system

71 hollow housing of a second linear motion system

81 first body

82 second body

83 first end cap

84 second end cap

85 base

86U-shaped edge

90 auxiliary energy guide chain

91 standing rack

92 bottom plate

93 clamping apparatus

94 first plug connector

95 second plug connector

96 clamping strip

97 connecting plate

98 cable leading-in strip

99 third plug connector

100 fourth plug connector

101 fixed screw thread

102 lead screw

103 connecting body (first embodiment)

103' linker (second embodiment)

104 dovetail-shaped projection

Claims (11)

1. Linear motion system (30; 30 '; 40) for use in a Cartesian motion system (10), wherein the linear motion system (30; 30 '; 40) has a casing (32; 42) that extends along a linear axis (31; 41), wherein a slide (33; 43) is supported at the casing (32; 42) in a manner that enables linear motion along the direction of the axis (31; 41), wherein an energy-guiding chain (50; 60) is provided for the linear motion system (30; 30 '; 40), which energy-guiding chain is movable along the mentioned axis (31; 41),

the energy guiding chain (50; 60) is completely accommodated in a cavity (51; 61) formed by the housing (32; 42), wherein the cavity (51; 61) has at least one first opening (53; 63) through which an associated energy line (52; 62) is guided, wherein the cavity (51; 61) has only one second opening (54) which is elongated in the direction of the axis (31; 41), wherein the energy line (52; 62) extends from the associated first opening (53) further through the energy guiding chain (50; 60) and further through the second opening (54) to the slide (33; 43).

2. Linear motion system according to claim 1, wherein the cavity (51; 61) is formed by a separate cavity housing (70; 71) which is fixed at the remaining housing (32; 42) in such a way that the bending stiffness of the entire housing (32; 42) is greater than the bending stiffness of the entire housing (32; 42) without cavity housing.

3. Linear motion system according to one of the preceding claims, wherein the cavities (51; 61) are substantially configured closed except for the respective at least one first opening (53; 63) and the respective second opening (54; 64).

4. Linear motion system according to any of the preceding claims, wherein the at least one first opening (53; 63) is substantially sealingly closed.

5. Linear movement system according to one of the preceding claims, wherein the cavity (51; 61) is partially delimited by a first body (81) extending with a constant cross-sectional shape along the axis (31; 41), wherein the respective second opening (54; 64) is arranged at the first body (81).

6. Linear movement system according to claim 5, wherein the housing (32; 42) comprises a second body (82) which extends along the axis (31; 41) with a constant cross-sectional shape, wherein the mentioned cross-sectional shape is configured as a U-shape with a base (85) and two U-shaped sides (86), wherein the first and second bodies (81; 82) are configured integrally or firmly connected to each other in the region of the base (85).

7. Linear movement system according to claim 5 or 6, wherein the cavity (51; 61) is partially delimited by a first and a second end cap (83; 84), respectively, which are fixed at the ends of the first body (81) opposite with respect to the axis (31; 41), wherein all first openings (53; 63) are arranged in the first end cap (83).

8. Linear motion system according to any of the claims 5 to 7, wherein the cross-sectional shape of the first body (81) is configured as a rectangle, wherein the second opening (53; 64) is arranged at the narrower rectangular side.

9. Linear motion system according to claim 8, referring back to claim 6, wherein the longer rectangular side abuts at the base (85) or is constructed integrally with the base.

10. Cartesian motion system (10) with a first linear motion system (30) and an auxiliary linear motion system (20), wherein the first linear movement system (10) has a first axis (31), a first housing (32), a first slide (33), a first energy guide chain (50), a first cavity (51) and at least one first energy line (52), wherein the first linear movement system is constructed according to one of the preceding claims, wherein the auxiliary linear movement system (20) has an auxiliary housing (22) which extends along a linear auxiliary axis (21), wherein the auxiliary slide (23) is supported on the auxiliary housing (22) in a linearly movable manner in the direction of the auxiliary axis (21), wherein the first housing (32) or the first slide (33) is fixed to the auxiliary slide (23) in such a way, such that the auxiliary axis (21) and the first axis (31) are arranged at an angle different from zero.

11. Cartesian movement system according to claim 10, wherein a second linear movement system (40) is provided, having a second axis (41), a second housing (42), a second slide (43), a second energy guide chain (60), a second cavity (61) and at least one second energy line (62), wherein the second linear movement system is constructed according to one of claims 1 to 9, wherein the second housing (42) or the second slide (43) is fixed at the first slide (33) in such a way that the first and second axes (31; 41) are arranged at an angle different from zero.

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