DE102019217501A1 - Linear movement device with protected energy chain - Google Patents

Abstract

The invention relates to a linear movement device (30) for use in a Cartesian movement device, the linear movement device (30) having a housing (32) which extends along a linear axis (31), a slide on the housing (32) in the direction of the Axis (31) is mounted so as to be linearly movable, the linear movement device (30) being assigned an energy guide chain (50) which is movable along said axis (31). According to the invention, the energy guiding chain (50) is completely accommodated within a cavity which is formed by the housing (32), the cavity having at least one first opening (53) through which an associated energy line (52) is passed, the cavity being a single one has a second opening elongated in the direction of the axis (31), the energy line (52) running from the associated first opening (53), further via the energy guiding chain (50), further through the second opening to the slide.

Description

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

A Cartesian movement device is known from the catalog, which was available on October 25, 2019 at the Internet address http://www.boschrexroth.com/various/utilities/mediadirectory/download/index.jsp?obj ect_nr = R999000044. This is composed of several linear movement devices, the linear axes of which are typically arranged at right angles to one another, so that they span a Cartesian coordinate system. The drives of the individual linear motion devices are often connected to electrical power lines that are guided in energy chains. The movement device can be designed with guide troughs for the energy chains.

Various guides for energy chains are also known from the catalog, which was available on October 25, 2019 at the Internet address https://tsubaki-kabelschlepp.com/uploads/tx_tkg17pim/documents/pdf/Ablegerinnen-und-Fuehrungskanaele_DE.pdf.

One advantage of the present invention is that the individual linear movement devices of the Cartesian movement device as a whole, including the energy guiding chain, can be attached to one another. They can therefore be largely completely pre-produced by the manufacturer, with the user only having to carry out very few work steps in order to create an individual Cartesian movement device from several linear movement devices. It is no longer necessary for the user to mount the energy guiding chain separately on the movement device. In addition, the housings, which are often cantilevered, are stiffened in such a way that longer movement paths are possible. In addition, the energy chain is particularly well protected against environmental influences.

According to the independent claim, it is proposed that the energy chain is completely accommodated within a cavity which is formed by the housing, the cavity having at least one first opening through which an associated power line is passed, the cavity being a single one elongated in the direction of the axis having second opening, the power line from the associated first opening, further via the energy guiding chain, further through the second opening to the slide.

The linear movement device preferably comprises a drive with which the slide can be driven in the direction of the axis relative to the housing. The drive can comprise a belt drive, in particular a toothed belt drive, or a screw drive, in particular a ball screw drive. The drive can comprise an electric motor. The power line can be, for example, an electrical or a pneumatic line. It can be designed for the transmission of very small amounts of energy, such as are required for control purposes, or for the transmission of large amounts of energy, such as are required for drive purposes. It is conceivable that a plug connection for the power line is arranged in the area of the second opening.

Advantageous developments and improvements 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 fastened 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 the cavity housing. As a result, greater unsupported lengths are made possible in the case of a self-supporting assembly of the linear movement device.

It can be provided that the cavity, with the exception of the respective at least one first opening and the respective second opening, is designed to be essentially closed. Because of the second opening, the cavity is not completely sealed off from the outside. Accordingly, it is not a question of perfect tightness when assembling its individual parts. Rather, the closed construction is intended to achieve a high level of flexural rigidity for the housing.

It can be provided that the at least one first opening is essentially tightly closed. For example, the power line can be led through a cable entry bar (https://www.icotek.com/produktkatalog/kabeleinfuehrung/kel-24/), which forms the relevant first opening. The energy line is preferably held in the first opening with a friction fit so that it does not shift due to the movement of the energy guiding chain.

It can be provided that the cavity is delimited in sections by a first main body which extends with a constant cross-sectional shape along the axis, the respective second opening is arranged on the first main body. As a result, the cavity can be provided in a cost-effective manner, with the desired mobility of the energy guiding chain being given at the same time. The blank of the first main body is preferably produced from aluminum in an extrusion process, the second opening being produced by machining the said blank.

It can be provided that the housing comprises a second main body which extends with a constant cross-sectional shape along the axis, said cross-sectional shape being U-shaped with a base and two U-legs, the first and the second main body in the Area of the base are integrally formed or firmly connected to one another. The one-piece variant is particularly cost-effective for large quantities. The multi-part variant is more cost-effective for small quantities because the first main body can be used for differently designed linear movement devices without it having to be modified for this purpose.

It can be provided that the cavity is delimited in sections by a first and a second end cap, which are attached to opposite ends of the first main body with respect to the axis, all of the first openings being arranged in the first end cap. The cable entry bar mentioned above is preferably part of the first end cap.

It can be provided that a cross-sectional shape of the first main body is rectangular, the second opening being arranged on a narrower side of the rectangle. This results in a particularly compact linear movement device.

It can be provided that a longer side of the rectangle rests against the base or is formed in one piece with it. This results in a particularly firm connection between the first and the second main body, so that the entire housing has a high degree of rigidity.

Protection is also claimed for a Cartesian movement device with a first linear movement device and an auxiliary linear movement device, wherein the first linear movement device has a first axis, a first housing, a first carriage, a first energy chain, a first cavity and at least one first energy line, wherein it has a first of the preceding claims, wherein the auxiliary linear movement device has an auxiliary housing which extends along a linear auxiliary axis, wherein an auxiliary slide is mounted on the auxiliary housing in a linearly movable manner in the direction of the auxiliary axis, wherein the first housing or the first slide is attached to the auxiliary slide in such a way that the Auxiliary axis and the first axis are arranged at a non-zero angle. The angle between the auxiliary axis and the first axis is preferably 90 °. The auxiliary housing is preferably arranged in a stationary manner. The first linear movement device can comprise a first drive. The first power line preferably leads from the associated first opening to the auxiliary slide. The auxiliary linear movement device is preferably not designed according to the invention, since the cavity would be too large for the corresponding auxiliary power supply chain.

A second linear movement device can be provided which has a second axis, a second housing, a second slide, a second energy guiding chain, a second cavity and at least one second energy line, wherein it is designed according to one of claims 1 to 9, the second Housing or the second slide is attached to the first slide in such a way that the first and the second axis are arranged at an angle other than zero. The angle between the first and the second axis is preferably 90 °. The second linear movement device can comprise a second drive. The second power line preferably leads from the associated first opening to the first slide.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination, but also in other combinations or on their own, without departing from the scope of the present invention.

• 1 eine perspektivische Ansicht einer erfindungsgemäßen kartesischen Bewegungsvorrichtung;
• 2 eine perspektivische Ansicht der ersten Linearbewegungsvorrichtung von der entsprechenden zweiten Öffnung her;
• 3 eine weitere perspektivische Ansicht der ersten Linearbewegungsvorrichtung von den ersten Öffnungen her ohne den entsprechenden ersten Hauptkörper;
• 4 eine perspektivische Ansicht der zweiten Linearbewegungsvorrichtung ohne den entsprechenden ersten Hauptkörper;
• 5 einen Querschnitt einer zweiten Ausführungsform der ersten Linearbewegungsvorrichtung; und
• 6 einen Querschnitt einer dritten Ausführungsform der ersten Linearbewegungsvorri chtung.

The invention is explained in more detail below with reference to the accompanying drawings. It shows:

• 1 a perspective view of a Cartesian movement device according to the invention;
• 2 a perspective view of the first linear motion device from the corresponding second opening;
• 3 a further perspective view of the first linear motion device from the first openings without the corresponding first main body;
• 4th a perspective view of the second linear motion device without the corresponding first main body;
• 5 a cross section of a second embodiment of the first linear motion device; and
• 6th a cross section of a third embodiment of the first linear movement device.

1 shows a perspective view of a Cartesian movement device according to the invention 10 . The Cartesian Movement Device 10 is from an auxiliary linear motion device 20th and first and second linear motion devices 30th ; 40 composed. Corresponding linear motion devices without the cavity according to the invention are from FIG DE 197 38 988 B4 , the EP 340 751 B2 , the DE 200 80 368 U1 , the EP 828 083 B1 , the EP 1 975 463 B1 , the DE 103 54 040 A1 , the DE 10 2008 026 770 A1 , the EP 2 218 926 B1 , or the US 2005/265639 known. The linear guide of these linear motion devices typically comprises a linear roller bearing, which usually has endlessly revolving, spherical roller bodies. The drive can be designed with an electric motor, pneumatic, linear motor, piezomechanical or in any other conceivable way.

The auxiliary linear motion device 20th has an auxiliary housing 22nd , which is located along a linear auxiliary axis 21 extends. The auxiliary housing is at its two opposite longitudinal ends 22nd each with a stand 91 with a base plate 92 firmly connected. An auxiliary slide 23 is along the auxiliary axis 21 linearly movable on the auxiliary housing 22nd stored. The auxiliary slide 23 is powered by an auxiliary drive 24 in the direction of the auxiliary axis 21 driven, the auxiliary drive 24 in the present case an electric motor 25th and comprises a toothed belt. An auxiliary power supply chain also connects 90 the base plate 92 with the auxiliary slide 23 , where the power supply chain 90 in the direction of the auxiliary axis 21 is movable. All power supply and control lines for the first and second linear motion devices 30th ; 40 and the gripper 93 are required via the power supply chain 90 guided. The power supply chain 90 is presently not received in a cavity according to the invention, since this because of the stand 91 should be made very large.

The first linear motion device 30th has a first housing 32 , which is along a linear first axis 31 extends perpendicular to the auxiliary axis 21 is aligned so that the auxiliary axis 21 and the first axis 31 span a horizontal plane. The first case 32 is on the auxiliary slide 23 attached. The attachment is usually at an end area with respect to the first axis 31 provided so that the path of movement of the first carriage 33 can be used in the best possible way. The fastening can be designed as a screw connection, fastening means that can be actuated by hand, such as clamping levers, are also conceivable. On the first case 32 is a first sled 33 in the direction of the first axis 31 movably mounted. The first sledge 33 is by means of the first drive 34 in the direction of the first axis 31 drivable. The first drive 34 in the present case comprises a ball screw drive which is connected to a first electric motor via a toothed belt 35 is in rotary drive connection. The first linear motion device 30th is a first energy chain 50 assigned which the auxiliary slide 21 with the first sledge 31 connects. The first energy chain 50 is in the direction of the first axis 31 movable, being in a separate cavity housing 70 is included, which is part of the first housing 31 is. All power supply and control lines for the second linear motion device 40 and the gripper 93 are required via the first energy chain 50 guided.

The second linear motion device 40 has a second housing 42 which is along a linear second axis 41 extends perpendicular to the auxiliary axis 21 and to the first axis 31 oriented so that it is vertical. The second sledge 43 is in the direction of the second axis 41 movable on the second housing 42 stored, being on the first slide 33 is attached. The second sledge 43 is with a second drive 44 in the direction of the second axis 41 drivable, the second drive 44 presently comprises a ball screw drive with a second electric motor 45 is directly in rotary drive connection. At the bottom of the second housing 42 is a gripper 93 attached by means of the auxiliary linear motion device 20th and the first and second linear motion devices 30th ; 40 with respect to a Cartesian coordinate system which is derived from the auxiliary axis 21 and the first and second axes 31 ; 41 is stretched, is movable. Instead of the gripper 93 any other tool can be provided, which can preferably be operated automatically. The second case 42 In the present case, it also includes a separate cavity housing 71 , in which a second energy chain (No. 60 in 4th ) is added, which in the direction of the second axis 41 is movable. All power supply and control lines required for the gripper 93 and the electric motor 45 are required via the second energy chain 60 guided.

2 Fig. 13 is a perspective view of the first linear motion device 30th from the corresponding second opening 54 here. The first case 32 includes a separate cavity housing 70 which is fixed to the remaining first housing 32 connected is. The cavity housing includes a first main body 81 who deals with a constant, rectangular cross-sectional shape along the first axis 31 extends. The first main body 81 is preferably made of aluminum in an extrusion process. The one in the direction of the first axis 31 elongated second opening 53 is by means of a machining, in particular a milling, into the blank of the first main body 81 incorporated. The second opening 53 extends from the first end cap 83 with a constant width up to the vicinity of the second end cap 84 . The first and second end caps 83 ; 84 are on in the direction of the first axis 31 opposite ends of the first main body 81 attached, preferably by means of screws.

The first housing further comprises 32 a second main body 82 which is also with a constant cross-sectional shape in the direction of the first axis 31 extends. The second main body 82 encloses the linear guide of the first slide 33 and part of the first drive 34 . The second main body 82 is preferably made of aluminum in an extrusion process. It is understood that the first and second main bodies 81 ; 82 are preferably formed in one piece, wherein they are produced together in the extrusion process. In the 2 and 3 The two-part solution shown is used when the one-piece solution is not economical due to the small number of items or when, as with the second linear movement device, the materials of the first and second main body 81 ; 82 are different. In all variants, however, the aim is that the first and the second main body 81 ; 82 are firmly connected to one another in such a way that the corresponding composite has a flexural rigidity which is higher than the sum of the flexural rigidity of the two individual parts. In the present case, the fixed connection is made using a total of four terminal strips 96 reached, which in an adapted groove in the second main body 82 engage, each with the first main body 81 are screwed. Regarding 5 a variant is explained below, which further increases the flexural rigidity. Regarding 6th the one-piece variant is explained below.

The first main body 81 and the first and second end caps 83 ; 84 delimit a first cavity 51 , in which the first energy chain 50 is fully recorded. The first cavity 51 is with the exception of the first (No. 53 in 3 ) and the second opening 54 completed so that the first energy chain 50 is essentially inaccessible from the outside.

The first and second connectors should also be pointed out 94 ; 95 for the first power lines over the first power chain 50 are led. In the present case, these are designed as purely electrical plug connectors, since only electrical first power lines are used. The first electric motor 35 of the first drive 34 is on the first connector 94 connected without the corresponding power line via the first energy chain 50 is led. The first connector 94 is at one free end of the first power lines (No. 52 in 3 ) and movable accordingly so that it can be inserted into the third connector (No. 99 in 1 ) can be plugged in, which is firmly attached to the auxiliary slide (no.23 in 1 ) is arranged. The second connector 95 is fixed to the first sled 33 connected, for example on the connecting body 103 , which in the present case is designed as a bent sheet metal part. There is the fourth connector (# 100 in 3 ) the third linear movement device can be inserted.

3 Fig. 10 shows another perspective view of the first linear motion device 30th from the first openings 53 without the corresponding first main body (No. 81 in 2 ). The arrangement of the first energy chain can be seen 50 inside the first cavity (No. 51 in 2 ). The first energy chain 50 is in a plane divided by the first 31 and second axes (No. 41 in 1 ) is stretched, U-shaped bent, with the corresponding U-legs parallel to the first axis 31 are arranged. An end to the first energy chain 50 is on the inside of the first main body (No. 81 in 2 ) fastened, in particular screwed. The opposite, other end is fixed to a connecting body 103 connected to the first slide (No. 33 in 2 ) is attached. From the first connector 94 lead several first power lines 52 to the first end cap 83 . There they each enter through an associated first opening 53 into the first cavity 51 a. The first end cap 83 includes a cable entry strip available on the market 98 showing the first openings 53 forms, being flexible to the required number of the first power lines 52 is customizable. Contrary to the representation in 3 are the unused places on the cable entry bar 98 preferably closed.

The further course of a single first energy line 52 is in 3 shown as a dash-dotted line, the other first power lines 52 run parallel to it. From the relevant first openings 53 runs the first power line 52 via the first energy chain 50 to the second opening (No. 54 in 2 ). From there it runs outside the first housing 32 to the second connector 95 . During the movement of the first linear motion device 30th becomes the first power line 52 only in the area of the first energy chain 50 deformed, so within the first cavity 51 .

In 3 is also a connecting plate 97 visible which stuck to the first housing 32 , especially its first main body (No. 81 in 2 ), connected, in particular screwed, is. Via the connecting plate 97 is the first case 32 fixed to the auxiliary slide (No. 23 in 1 ) connected.

4th Fig. 13 is a perspective view of the second linear motion device 40 without the corresponding first main body. The cavity housing 71 the second linear motion device 40 is identical to the cavity housing except for the dimensions of the individual parts (No. 70 in 1 ) the first linear motion device formed, so that in this regard to the remarks 2 and 3 is referenced, the second energy chain 60 the first energy chain (No. 50 in 3 ), with the second power line 62 the first power line (No. 52 in 3 ) corresponds.

Because the second main body 82 the second linear motion device 40 is significantly smaller than that of the first linear motion device, the first main body became via the fastening threads 101 with the second main body 82 screwed, whereby the terminal strips (No. 96 in 2 ) was waived.

The second drive 44 the second linear motion device 40 includes a ball screw drive, the threaded spindle of which is directly driven by a second electric motor 45 is driven. The second main body 82 the second linear motion device 40 is made of steel, with the first main body still made of aluminum. Accordingly, the one-piece design of the first and second main body is out of the question here.

The fourth connector 100 which of the elongated second opening 64 is designed to be freely movable so that it can be inserted into the fixed second connector (no. 95 in 2 ) can be inserted. A second power line 62 leads via an associated first opening 63 to the second electric motor 45 , with a further second power line via a further first opening to the gripper 93 leads.

Because of the first main body, not shown, is the second opening 64 in 4th shown as a dashed line. It is in the direction of the second axis 41 elongated, the second power lines 62 are passed through there.

5 Figure 10 shows a cross section of a second embodiment of the first linear motion device 30 ' . The second embodiment of the first linear motion device 30 ' is identical to the first embodiment, apart from the differences described below, so that in this regard refer to the explanations 1 to 3 is referred. In the 1 , 2 , 3 and 5 the same or corresponding parts are provided with the same reference numerals.

To further increase the flexural strength of the first housing 32 is the corresponding first main body 81 with a dovetail-shaped extension 104 provided, which in an adapted recess in the second main body 82 engages positively. The dovetail-shaped extension 104 and the recess is preferably formed in extrusion molding of said main bodies 81 ; 82 made with. The engagement is preferably essentially free of play. The dovetail-shaped extension 104 can also be used on the second main body 82 be arranged, the adapted groove on the first main body 81 is arranged. Instead of the dovetail shape, other shapes that form an undercut are also conceivable, for example a T-shape.

In 5 is also the cross-sectional shape of the second main body 82 recognizable. This is U-shaped with a base 85 and two U-legs 86 educated. The base 85 lies on the first main body 81 at. Next is the rectangular cross-sectional shape of the first main body 81 to recognize, with the longer side of the rectangle at the base mentioned 85 is applied. The wall thickness is designed to be essentially constant over the circumference of the rectangular shape. The second opening 54 is arranged on the shorter side of the rectangle. The terminal strips 96 are screwed to the longer side of the rectangle.

The threaded spindle should also be pointed out 102 of the ball screw drive already mentioned. Because of further details in the area of the second main body 82 is on the DE 197 38 988 B4 referenced.

6th Fig. 10 shows a cross section of a third embodiment of the first linear motion device 30 " . The third embodiment of the first linear motion device 30 " is identical to the first and the second embodiment, apart from the differences described below, so that in this regard refer to the explanations 1 to 3 and 5 is referred. In the 1 , 2 , 3 , 5 and 6th the same or corresponding parts are provided with the same reference numerals.

In the third embodiment, the first and second main bodies are 81 ; 82 integrally formed with one another, so that the terminal strips and the dovetail-shaped extension can be dispensed with.

The second opening 54 could be like in 5 be arranged as shown. In the one-piece third embodiment, however, it is preferred to use the second opening 54 , as in 6th shown in the area of the base 85 the U-shape of the second main body 82 to arrange. The corresponding first power lines 52 can then largely within the first housing 32 so that they are not visible from the outside. The connecting body 103 ' is at the changed position of the second opening 54 customized.

The outside dimensions of the first and second main bodies 81 ; 82 have been adjusted to one another so that the exterior shape is free of steps. In the 6th The wall thicknesses shown can still be optimized with regard to maximum rigidity with minimum material consumption at the same time.

Reference number

10

Cartesian movement device

20th

Auxiliary linear motion device

21

Auxiliary axis

22nd

Auxiliary housing

23

Auxiliary slide

24

Auxiliary drive

25th

Electric motor

30th

first linear motion device (first embodiment)

30 '

first linear motion device (second embodiment)

30 "

first linear motion device (third embodiment)

31

first axis

32

first housing

33

first sledge

34

first drive

35

first electric motor

40

second linear motion device

41

second axis

42

second housing

43

second slide

44

second drive

45

second electric motor

50

first energy chain

51

first cavity

52

first power line

53

first opening

54

second opening 60 second energy chain

61

second cavity

62

second power line

63

first opening

64

second opening

70

Cavity housing of the first linear motion device

71

Cavity housing of the second linear motion device

81

first main body

82

second main body

83

first end cap

84

second end cap

85

Base

86

U-leg

90

Auxiliary energy chain

91

Stand

92

Base plate

93

Grapple

94

first connector

95

second connector

96

Terminal block

97

Connecting plate

98

Cable entry bar

99

third connector

100

fourth connector

101

Fastening thread

102

Threaded spindle

103

Connecting body (first embodiment)

103 '

Connecting body (second embodiment)

104

dovetail-shaped extension

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 19738988 B4 [0020, 0039]
• EP 340751 B2 [0020]
• DE 20080368 U1 [0020]
• EP 828083 B1 [0020]
• EP 1975463 B1 [0020]
• DE 10354040 A1 [0020]
• DE 102008026770 A1 [0020]
• EP 2218926 B1 [0020]
• US 2005265639 [0020]

Claims (11)

Linear movement device (30; 30 '; 30 "; 40) for use in a Cartesian movement device (10), the linear movement device (30; 30';30"; 40) having a housing (32; 42) which extends along a linear Axis (31; 41) extends, a slide (33; 43) being mounted on the housing (32; 42) so as to be linearly movable in the direction of the axis (31; 41), the linear movement device (30; 30 '; 30 "; 40) an energy guiding chain (50; 60) is assigned, which is movable along said axis (31; 41), characterized in that the energy guiding chain (50; 60) is received completely within a cavity (51; 61) which is supported by the housing ( 32; 42) is formed, the cavity (51; 61) having at least one first opening (53; 63) through which an associated power line (52; 62) is guided, the cavity (51; 61) having a single in Direction of the axis (31; 41) has an elongated second opening (54), wherein the energy line (52; 62) v on the associated first opening (53), further via the energy guiding chain (50; 60), continues through the second opening (54) to the slide (33; 43). Linear motion device according to Claim 1 , wherein the cavity (51; 61) is formed by a separate cavity housing (70; 71) which is attached to the remaining housing (32; 42) in such a way that the flexural rigidity of the entire housing (32; 42) is greater than the flexural rigidity of the entire housing (32; 42) without the cavity housing (70). Linear movement device according to one of the preceding claims, wherein the cavity (51; 61), with the exception of the respective at least one first opening (53; 63) and the respective second opening (54; 64), is essentially closed. Linear motion device according to one of the preceding claims, wherein the at least one first opening (53; 63) is essentially tightly closed. Linear movement device according to one of the preceding claims, wherein the cavity (51; 61) is delimited in sections by a first main body (81) which extends with a constant cross-sectional shape along the axis (31; 41), the respective second opening (54; 64) is arranged on the first main body (81). Linear motion device according to Claim 5 wherein the housing (32; 42) comprises a second main body (82) which extends with a constant cross-sectional shape along the axis (31; 41), said cross-sectional shape being U-shaped with a base (85) and two U- Legs (86) is formed, wherein the first and the second main body (81; 82) in the region of the base (85) are integrally formed or firmly connected to one another. Linear motion device according to Claim 5 or 6th , wherein the cavity (51; 61) is delimited in sections by a first and a second end cap (83; 84) which are attached to ends of the first main body (81) opposite with respect to the axis (31; 41), all of the first Openings (53; 63) are arranged in the first end cap (83). Linear motion device according to one of the Claims 5 to 7th wherein a cross-sectional shape of the first main body (81) is rectangular, the second opening (53; 64) being arranged on a narrower side of the rectangle. Linear motion device according to Claim 8 , related to Claim 6 wherein a longer side of the rectangle rests against the base (85) or is formed integrally therewith. Cartesian movement device (10) with a first linear movement device (30) and an auxiliary linear movement device (20), the first linear movement device (10) having a first axis (31), a first housing (32), a first carriage (33), a first energy chain (50), a first cavity (51) and at least one first energy line (52), wherein it is designed according to one of the preceding claims, wherein the auxiliary linear movement device (20) has an auxiliary housing (22) which extends along an auxiliary linear axis ( 21), an auxiliary slide (23) being mounted on the auxiliary housing (22) so as to be linearly movable in the direction of the auxiliary axis (21), the first housing (32) or the first slide (33) being attached to the auxiliary slide (23) in such a way that the auxiliary axis (21) and the first axis (31) are arranged at an angle other than zero. Cartesian movement device according to Claim 10 , wherein a second linear movement device (40) is provided which has a second axis (41), a second housing (42), a second slide (43), a second energy chain (60), a second cavity (61) and at least a second Power line (62) has, according to one of the Claims 1 to 9 is formed, wherein the second housing (42) or the second slide (43) is attached to the first slide (33) in such a way that the first and the second axis (31; 41) are arranged at an angle other than zero.

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