EP4348822A1

EP4348822A1 - Drive device, drive motor and method for driving a spindle

Info

Publication number: EP4348822A1
Application number: EP22733885.2A
Authority: EP
Inventors: Burhanettin Koc; Reinhard Hübner; Simon Kapelke; Hansjörg LUCKERT-MCBEATH
Original assignee: Physik Instrumente PI GmbH and Co KG
Current assignee: Physik Instrumente PI GmbH and Co KG
Priority date: 2021-05-27
Filing date: 2022-05-27
Publication date: 2024-04-10
Also published as: WO2022248711A1; CN117546400A; DE102021113751A1

Abstract

The invention relates to a drive device (1) for driving a spindle (90) having a spindle axis (A90) which is accommodated in a spindle compartment (39) extending along a spindle compartment longitudinal axis, said drive device (2) comprising: a first actuator device (10, 210) and a second actuator device (20, 220) which is reversibly variable when activated along a first actuator axis L1 or a second actuator axis L2; an operating device (40, 140, 240); and a frame device (30, 130, 230). The assembly comprising the frame device (30, 130, 230) and the operating device (40, 140, 240) has at least two bearing surface portions (51, 52, 151, 152, 254, 264) which are provided for contact with two different contact points (91, 92) of the spindle (90) in order to set the spindle (90) in rotation. The frame device (30, 130, 230) is designed as a structurally continuous component which completely surrounds the spindle compartment (39), the first actuator device (10) and the second actuator device (20). The invention also relates to a drive motor and a method for driving a spindle (90).

Description

Drive device, drive motor and method for driving a spindle

The invention relates to a drive device, a drive motor and a method for driving a spindle.

A drive device with two actuators is known from CN 106208806A.

One object of the invention is to provide a drive device designed as an alternative to known drive devices, and a motor with such a drive device, which is advantageous in terms of accuracy as well as in terms of manufacture and assembly.

This object is solved with the features of the independent claims. Further embodiments are specified in the subclaims that refer back to them.

According to the invention, a drive device is provided for driving a spindle with a spindle axis A90 by actuating the drive device (1). The drive device (1) according to the invention has: a spindle space (39) for accommodating a section of the spindle (90) which extends in a longitudinal axis of the spindle space, a first actuator device (10, 210) with a first end (11), with a second end (12) and with a first actuator (13), the extent of which can be reversibly changed when activated along a first actuator axis Li, the first end (11) and the second end (12) being related to the first actuator axis Li are oriented opposite to each other and wherein the first actuator axis Li runs transversely to the spindle axis A90 of a spindle (90), a second actuator device (20, 220) with a first end (21), with a second end (22) and with a second actuator ( 23), the extent of which can be reversibly changed when it is actuated along a second actuator axis L ₂ , the first end (21) and the second end (22) being oriented opposite to one another in relation to the second actuator axis L ₂ and where the first Actuator axis Li and the second actuator axis l_ ₂ run along each other, with either the first ends (11, 21) or the second ends (21, 22) being actuation ends and the respective other ends of the actuator devices (10, 210, 20, 220) Reference ends are a frame device (30, 130, 230), with either the frame device (30, 130, 230) or an actuating device (40, 140, 240) of the drive device (1) being located at both actuating ends of the actuator devices (10 , 20, 210, 220) is fixed, and in particular is fixed in a rotationally fixed manner, and in each case at least one actuating component (131,

132, 133, 255, 265), which runs in a cantilevered manner over its entire extent between the actuating ends or from the actuating ends of the actuator devices (10, 210, 20, 220) and has a contact surface section (152, 254 , 264) which extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space (39) in one section and for contact with a respective spindle surface contact point (91, 92) of the spindle (90) is provided in order to rotate the spindle (90) upon actuation of the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices (10, 210, 20, 220), the Resilience of the actuating component (131, 132,

133, 255, 265) is set such that, if a section of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device causes a movement component of the at least one contact surface section along the actuator axes (L1, L2).

According to the invention, the first actuator device and the second actuator device are generally arranged or mounted on the frame device.

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features described herein in such a way that either the first ends or the second ends of the actuator devices are actuation ends and the other ends of the actuator devices are reference ends, which are fixed at a constant distance from one another when the drive device is actuated. In these embodiments, it can be provided in particular that are the reference ends, which are rotationally fixed at a constant distance from one another when the drive device is actuated.

Independently of this, the drive device according to the invention can have: a first actuator device with a first end, with a second end and with a first actuator, the extent of which can be reversibly changed when actuated preferably electrically along a first actuator axis Li, the first end and the second end are oriented opposite to one another in relation to the first actuator axis Li and the first actuator axis Li runs transversely to the spindle axis A90 of a spindle, a second actuator device with a first end, with a second end and with a second actuator, the extent of which is preferably electrically controlled is reversibly variable along a second actuator axis L ₂ , wherein the first end and the second end are oriented opposite to one another with respect to the first actuator axis Li and wherein the first actuator axis Li and the second actuator axis L ₂ run along one another, an actuating device, and a frame device.

In each embodiment of the drive device according to the invention, it can be provided that the arrangement of the frame device and the actuating device has at least two contact surface sections, each of which extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ and in the direction of the spindle axis A90 form different surface areas seen from each other, which are provided for contact with a spindle at two different contact points in order to rotate the spindle when the first and the second actuator device are actuated.

In each embodiment of the drive device according to the invention it can be provided that the first and the second actuator device each bear with the first end on the frame device and each with the second end on the actuating device and with the frame device being structural is a continuous component that completely surrounds the spindle space, the first actuator device and the second actuator device in the circumferential direction defined by the spindle axis A90.

The drive device according to the invention, which has the arrangement of the frame device and the actuating device with at least two contact surface sections, can additionally be implemented with any other feature provided according to the invention in a combination of features described herein in such a way that the arrangement of the frame device (30, 130 , 230) and the actuating device (40, 140, 240) has at least one actuating component (131, 132, 133, 255, 265) with a contact surface section (51, 52, 151, 152, 254, 264), the actuating component (131, 132, 133, 255, 265) is fixed in each case to the actuating ends of the actuator devices (10, 210, 20, 220) and from these in each case over their entire extension between the respective actuating ends or from respective actuating ends of the actuator devices (10, 210, 20, 220) runs in a self-supporting manner, with the flexibility of the actuating component (131, 132, 133, 255 , 265) is set such that, if a section of the spindle (90) is located in the spindle space, the actuating component (131, 132, 133, 255, 265) is resiliently prestressed against the spindle and the expansion or contraction of at least one actuator device is a Causes movement components of the at least one contact surface section along the actuator axes (12, _L2 ) and in particular along the circumferential direction of a spindle inserted into the spindle space.

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a feature combination described herein in such a way that the actuator devices each have a piezoelectric actuator.

In each embodiment of the drive device according to the invention, which has two contact surface sections, in particular of the actuating component structure, it can be provided that the at least two contact surface sections are opposite to one another, viewed in the direction of the longitudinal axis of the spindle space.

In each embodiment of the drive device according to the invention be provided that the at least two contact surface sections are concavely curved as seen from the spindle space and the curvature is formed along the circumferential direction defined with respect to the spindle space longitudinal axis or a spindle axis and is designed such that it is on a circumferential section of a longitudinal axis located in the spindle space Section of a spindle rests flat.

In each embodiment of the drive device according to the invention, it can be provided that the arrangement of the frame device and the actuating device resiliently prestresses the first actuator device along the first actuator axis Li and the second actuator device along the second actuator axis L ₂ , thereby resiliently prestressing the actuating device in the direction of the spindle space provide.

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features as described herein in such a way that the arrangement of the frame device (30, 130, 230) and the actuating device (40, 140, 240) has at least two contact surface sections (51 , 52, 151 , 152, 254, 264), which each extend at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ and, seen in the direction of the longitudinal axis of the spindle space, form surface areas that are located differently from one another, which Contact with two different contact points (91, 92) of the spindle (90) are provided in order to rotate the spindle (90) when the first and the second actuator device (10, 20) are actuated, the first and the second actuator device ( 10, 20, 210, 220) each with the first end (11, 21) on the frame device (30, 130, 230) u nd each having a second end (12, 22) in contact with the actuating device (40, 140, 240) or an actuating piece (141) and wherein the frame device (30, 130, 230) is designed as a structurally continuous component which defines the spindle space ( 39), completely surrounds the first actuator device (10) and the second actuator device (20) in the circumferential direction defined by the longitudinal axis of the spindle space.

The drive device according to the invention can also be implemented with any other feature provided according to the invention in a combination of features described in each case in such a way that the at least one Abutment surface portion (152, 254, 264) is a surface portion of either an outer layer of the actuating member (131, 132, 133, 255, 265) made of or comprising a ceramic material, or an insert piece attached to a is inserted into the outside of the actuating component (131, 132, 133, 255, 265) facing the spindle space, or is a surface section of a section of the actuating component (131, 132, 133, 255, 265) which forms the contact surface section (152 , 254, 264) and is made of a ceramic material or comprises a ceramic material. The embodiments of the drive device that have a contact surface section (152, 254, 264), which is a surface section of a ceramic material, can be implemented in particular in such a way that the ceramic material has one or more of the following material components or consists of these: aluminum oxide ceramic , ZTA (Zirconia Toughened Alumina), ATZ (Alumina Toughened Zirconia).

According to a further aspect of the invention, a drive motor is provided with a drive device according to an embodiment described herein and with a spindle which is accommodated in the spindle space of the frame device and whose spindle axis A90 runs transversely to the first actuator axis Li or to the second actuator axis L ₂ , wherein each of the at least one contact surface section (152, 254, 264) contacts a respective spindle surface contact point (91, 92) of the spindle (90), the resilience of the actuating component (131, 132, 133, 255, 265) being set in such a way that due to the contact between each of the contact surface sections (152, 254, 264) and a respective spindle surface contact point (91, 92), the expansion or contraction of at least one actuator device a movement component of the at least one contact surface section along the actuator axes (Li, L ₂ ) caused.

The drive motor according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features described herein in such a way that an actuation surface section of the spindle which, depending on the axial position of the spindle, is located on the spindle at least one spindle surface contact point ( 91, 92) of the spindle (90), particularly in the axial range of movement of the spindle that is specified as the maximum when it is actuated, a surface section of either an outer layer of the spindle (90), which is made of a ceramic material, or of an insert piece, which is on an outside of the spindle (90) facing the spindle space in it is inserted, or is a surface portion of a portion of the spindle (90) comprising the actuation surface portion of the spindle and is made of a ceramic material or comprises a ceramic material.

The embodiments of the drive motor according to the invention, which have an actuation surface section that is a surface section of a ceramic material, can additionally be implemented with any other feature provided according to the invention in a combination of features described herein in such a way that the ceramic material has one or more of the following material components has or consists of these: aluminum oxide ceramics, ZTA (zirconia toughened alumina), ATZ (alumina toughened zirconia).

In each embodiment of the drive motor according to the invention, it can be provided that the at least two contact surface sections are resiliently pressed on two different, preferably opposite contact points of the spindle.

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features as described herein in such a way that the first ends (11, 21) are actuating ends and the respective other ends of the actuator devices (10,

210, 20, 220) are reference ends of the actuator devices (10, 210, 20, 220), the frame device (30) comprising: two side portions (131, 132) having at the actuating ends of the first and second actuator devices (10, 20) are non-rotatably fixed, and a connecting section (134) which connects the two side sections (131, 132), wherein the two side sections (131, 132) and the connecting section (134) as an actuating component (131, 132, 133) is realized, each over its entire Extension between the actuating ends is cantilevered and has a contact surface section (152) which extends at least in sections along the direction of the first actuator axis Li or the second actuator axis _L2 , delimits the spindle space (39) in one section and makes contact are provided with a respective spindle surface contact point (91, 92) of the spindle (90) in order to rotate the spindle (90) upon actuation of the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices offset, wherein the resilience of the actuating component (131, 132, 133) is set such that, if a section of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device along a movement component of the contact surface section (152). the actuator axes (Li, L ₂ ) caused.

These embodiments can be implemented in such a way that the two side sections (131, 132) are fixed in a rotationally fixed manner on the actuation ends of the first and second actuator devices (10, 20).

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features described herein in such a way that the reference ends of the actuator devices (10, 210, 20, 220), in particular by an intermediate piece located between the reference ends, or a component of the frame device, are fixed at a constant distance from one another when the actuator devices are actuated.

Each embodiment of the drive device according to the invention, which has an arrangement of the frame device and the actuating device with at least two contact surface sections, can be implemented in such a way that the surface regions, viewed in the direction of the longitudinal axis of the spindle space, can be different from one another and in particular form opposite surface regions that the drive device or the actuating device has an actuating piece or intermediate piece which is located between reference surfaces and is in particular held by them and has a first contact surface section which is located facing the spindle space, wherein the first end of the first actuator device abuts a first actuator surface or first interface surface and the first end of the second actuator device abuts a second actuator surface or second interface surface, the first actuator surface or second interface surface, respectively and the second actuating piece surface or second intermediate piece surface are at least partially opposite to one another and are oriented along the first actuator axis Li and the second actuator axis L ₂ .

These embodiments of the drive device can be implemented in such a way that the frame device presses the respective second ends of the first and second actuator device against the actuating piece from two opposite sides.

In these embodiments of the drive device, the first actuating piece surface or intermediate piece surface and the second actuating piece surface or intermediate piece surface can extend at least in sections transversely to the first actuator axis Li and the second actuator axis L ₂ .

The drive device according to the invention with the intermediate piece can additionally be implemented with any other feature provided according to the invention in a combination of features as described herein in such a way that the intermediate piece (141) has a first contact surface section (151) facing the spindle space (139) which is extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space (139) in one section and is provided for contact with a respective spindle surface contact point (91) of the spindle (90) in order to rotate the spindle ( 90) upon actuation of the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices (10, 210, 20, 220) in rotation together with the abutment surface portion (152) of the connecting portion (134). offset.

The drive device according to the invention with the intermediate piece can additionally be implemented with any other feature provided according to the invention in a combination of features described herein in such a way that each of the at least one contact surface section (151, 152) contacts a respective spindle surface contact point (91, 92) of the spindle (90).

In each embodiment of the drive device according to the invention, in which the arrangement of the frame device and the actuating device has at least two contact surface sections which, viewed in the direction of the longitudinal axis of the spindle space, form surface areas which are located differently from one another and the actuating device is designed as an actuating piece, it can be provided that that the frame device has a first side portion, a second side portion that extends along the first side portion, a first connection portion and a second connection portion, wherein the first connection portion and the second connection portion extend along each other and both respectively connect the first side portion and the second side portion that the spindle space is located between the actuation piece and the second connecting portion and the second connecting portion the contact surface portion) au fpoints.

In particular, the contact surface section is suitable that a peripheral section of the spindle rests flat against it and is concavely curved as seen from the spindle space and the curvature is formed in the circumferential direction defined with respect to the spindle axis, that a surface of the actuating piece facing the spindle space has a contact Has surface portion, wherein the contact surface portions of the connecting portion and actuating piece are opposite each other with respect to the spindle axis.

According to the invention there is also provided a drive motor with a drive device according to an embodiment described herein and with a spindle which is partly located in the spindle space, in which the assembly of the frame device and the actuating device has at least one abutment surface portion and each of the at least one Abutment surface portion (151, 152) contacts a respective spindle surface contact point (91, 92) of the spindle (90). These embodiments of the drive motor can have at least two contact surface sections which, seen in the direction of the longitudinal axis of the spindle space, form surface areas that are located differently from one another and the actuating device is designed as an actuating piece, and with a spindle with a spindle axis, the spindle between the contact surface sections is located, wherein the assembly of the frame device and the actuator device presses the abutment surface portions to the respective contact points of the spindle.

The drive device according to the invention can also be implemented with any other feature provided according to the invention in a combination of features as described herein in such a way that the frame device (230) has: a first actuator support part (251) on which the first actuator device (210) is attached with its first End (11) rests as the reference end, a second actuator support part (261) on which the second actuator device (220) rests with its first end (21) as the reference end, the drive device (201) having: a first Actuator functional part (255) with a first actuating section (258) on which the first actuator device (210) is fixed with its second end (12) as the actuating end and is in particular fixed in a rotationally fixed manner, a second actuator functional part (265) with a second actuating portion (268) on which the second actuator device (220) with its second end (22) is fixed in a rotationally fixed manner as an actuating end, the first actuator function t part (255) is realized as the first actuating component and the second actuator functional part (265) as a second actuating component, the actuating component being cantilevered over its entire extent from the actuating ends of the actuator devices (210, 220) and having a contact surface section (254, 264).

In these embodiments of the drive device, it can be provided that the contact surface sections are each curved concavely from the spindle space. It can be provided in particular that the curvatures are formed in the circumferential direction defined with respect to the spindle axis and are suitable for these to lie flat on the contact points of a circumferential section of the spindle, with the surface-normal directions of points of the first friction Surface section in the circumferential direction of the spindle axis in an angular range that contains the direction of the first actuator axis Li and the surface normal directions of points of the second friction surface section in the circumferential direction of the spindle axis in an angular range that contains the direction of the second actuator axis L ₂ .

In the embodiments of the pretensioning device according to the invention, in combination with one or more of the other variants or embodiments of the drive device otherwise described or contained herein, it can be provided that the first and the second actuating section extend along one another.

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features as described herein in such a way that the first actuator functional part (255) has the first actuation section (258) and a first contact section (257) which is connected to the first actuation section (258), and the second actuator functional part (265) has the second operating section (268) and a second contact section (267), which is connected to the second operating section (268), the first and second Operating section (258, 268) extend along each other.

In the embodiments of the drive device according to the invention with actuating sections, each with a first contact section, the contact surface sections can each be curved concavely from the spindle space.

The drive device according to the invention can additionally be implemented with any other feature provided according to the invention in a combination of features as described herein in such a way that the first and the second actuating section (258, 268) each have an outer end section (285, 286) which is opposite to the first abutment section (257) or the second abutment section (267), the outer end section (285) of the first operating section (258) and the outer end section (386) of the second operating section (268) being connected to one another via a coupling section (280). are, so that the first actuator functional part (255), the second actuator functional part (265) and the coupling section (280) are realized as a one-piece actuating component, the runs cantilevered over its entire extent between the actuating ends.

In this respect, according to the invention, a drive motor is provided with a drive device with actuator functional parts and actuator support parts and a spindle with a spindle axis A90, which is accommodated in the spindle space, the spindle between the first contact surface section and the second contact surface section is located, each of the at least one contact surface section (151, 152) contacting a respective spindle surface contact point (91, 92) of the spindle (90). In these embodiments of the drive motor, it can be provided that the arrangement of the frame device and the actuating device presses the first contact surface section and the second contact surface section against the respective contact points of the spindle.

According to a further aspect of the invention, a method is provided for driving a spindle with a spindle axis A90, which is accommodated in a spindle space of a drive motor with an embodiment of the drive device according to the invention, the drive device supplying the first actuator and the second actuator with a control signal and preferably with an electrical voltage signal periodically and in phase opposition, the slopes of a rising edge and a falling edge of the drive signal of the same drive period each having different slopes to one another.

According to a further aspect of the invention, a method is provided for driving a spindle of a drive motor with a spindle space for accommodating the spindle, with two actuator devices and with an actuating component structure, with the actuator devices being able to actuate the actuating component structure in order to rotate the spindle according to the To drive the stick-slip principle, with the actuating devices each being controlled with one of two control signals, each of which has a sequence of at least one signal pulse section (SP61, SP62 or SP71, SP72), each signal pulse section having:

(a) one stick control section (613, 614, 713, 714) in each case, the section with the greatest slope having a slope that falls below a predetermined maximum stick slope value, the stick control section of the two Signal-pulse section occur simultaneously and in phase opposition,

(b) subsequently followed in each case by a plateau phase of different duration,

(c) then followed by a respective slip activation section of the two signal pulse sections at mutually different points in time, the respective sections with the smallest gradient having a gradient that falls below a predetermined minimum slip gradient value, with the stick activation section that is defined in step ( a) had a positive slope, has a negative slope in step (c), and wherein the stick control section that had a negative slope in step (a) has a negative slope in step (c),

(d) then followed by a respective plateau phase of different duration up to a simultaneous end point for both signal pulse sections.

According to a further aspect of the invention, a method is provided for driving a spindle (90) with a spindle axis A90, with a drive device (2), the drive device having: two actuator devices (10, 20, 210, 220), with either a frame device (30, 130, 230) or an actuating device (40, 140, 240) of the drive device (1) is fixed to both actuating ends of the actuator devices (10, 20, 210, 220), and is in particular fixed in a rotationally fixed manner, and in each case at least an operating member (131,

133, 255, 265) is set such that, if a section of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device causes a movement component of the at least one contact Surface section along the actuator axes (L1, L2), wherein the drive device (2) periodically controls the first actuator (13) and the second actuator (23) with a control signal, the gradients of a rising edge and a falling edge of the control signal being half a period of the same Control period have different slopes relative to each other in terms of amount.

According to the invention, an actuator device or an actuator can generally be an electromechanical element. The electromechanical element can be designed as a piezo actuator. Alternatively, this can also be designed as a bulk element.

The term "compliance" is used herein as the reciprocal of stiffness, as is common in the mechanical arts. In this sense, “stiffness” is understood to be a variable that describes the resistance a body or component can offer to deformation caused by external influences (torque or force). The rigidity depends on two factors: the geometry of the respective body or component and its material. Stiffness can be extensional, torsional, and flexural, or a combination of these specific stiffnesses.

The term "cantilevered" in relation to a component means here that this component does not require any other external load-bearing elements to fulfill its function. This component is therefore a component of the respective drive device according to the invention or of the respective motor according to the invention, which is mounted on only one side or on two sections or ends located opposite one another. The component can in particular be a frame device provided according to the invention or a part of the frame device or an actuator functional part or actuating component provided according to the invention.

The term "along" means in connection with a directional statement mentioned herein, which can also relate in particular to the course of a contour line or a surface or a direction of a component or a structural component such as an axis or a shaft or a central axis thereof, in relation to a reference direction or a reference axis that a section of the course or the Tangent to a respective contour line or respective surface or the direction in an explicitly or implicitly specified viewing direction deviates locally or in sections by an angle of no more than 45 degrees and in particular by no more than 30 degrees from the respective reference direction or reference axis to which the respective directional statement is based .

The term "transverse" means in the context of a directional statement mentioned herein, which can also relate in particular to the course of a contour line or a surface or a direction of a component or a structural component such as an axis or a shaft or a central axis thereof, in relation to a reference direction or a reference axis, that a section of the course or the tangent to a respective contour line or respective surface or the direction in an explicitly or implicitly specified viewing direction locally or in sections at an angle of between 45 degrees and 135 degrees, and preferably at an angle , which is between 67 degrees and 113 degrees, deviates from the respective reference direction or reference axis to which the respective directional information is based.

A “distance” in particular between two objects or two surfaces or reference points is understood here to mean in particular the shortest distance or the shortest distance between the two objects or surfaces or reference points, the shortest distance or the shortest distance being non-zero in terms of amount , unless explicitly stated otherwise in this regard.

Here, the term "fixed" in relation to two component parts and in particular in relation to two contact points or contact surfaces or reference sides is understood to mean that the two component components and in particular the two contact points or contact surfaces or reference sides maintain predetermined positions relative to one another, even if external forces act on at least one of the assembly components or internal stresses act on at least one of the assembly components or at least one of the assembly components executes a movement.

Herein, under the term "rotatably fixed" in relation to two component parts and in particular in relation to two contact points or Contact surfaces or reference sides of one of two component parts is understood to mean that the two component components and in particular the two contact points or contact surfaces or reference sides maintain predetermined positions relative to one another, even if external forces or moments or forces and moments act on at least one of the component components or internal stresses in at least one of the structural components act or at least one of the structural components performs a rotary movement.

A "longitudinal direction" or another reference direction of a reference line, such as in particular a central axis or a line running in the middle or a center line of at least one structural component or a component and in particular a guideway results here in particular as a connecting line of the centroids of the respective smallest cross-sectional areas of the respective structural component along a determined or predetermined direction or between two determined or predetermined ends. In the event that the reference line can be curved or at least partially curved, the reference direction can generally be understood as a local longitudinal direction. Here, however, the reference direction can also be understood as the direction of a straight-line defined reference line, with a line being used to determine the straight-line reference line whose position relative to the curved line results in the smallest total deviation between these lines or the smallest deviation area. The same applies if a straight reference line is to be derived from a curved line herein.

The term "elongated" in relation to a component and in particular in relation to a leaf spring or leaf spring arrangement is understood herein to mean that a first length of the component, which results in a first longitudinal direction, is at least 1.2 times greater is as a second length of the component resulting in a second longitudinal direction perpendicular to the first longitudinal direction and the thickness direction. In this case, the first length can in particular be the largest length in terms of absolute value. The lengths mentioned can also result in a reference plane, which can in particular be a middle plane.

A longitudinal direction of a component can be understood here in particular as the above-described first longitudinal direction and a width direction can be understood here in particular as the above-described second longitudinal direction. The term "substantially" in relation to a feature or a value is understood herein in particular that the feature contains a deviation of 20% and especially 10% from the feature or its geometric property or value.

A “curved course of a line or edge or surface” means that the surface, viewed along a reference direction, has no corner over the entire width running transversely to the reference direction, i.e. has a differentiable course.

As used herein, "curvature" of a component, or a surface of a component, along a direction, e.g., along a longitudinal direction, means that the component curves along that direction. The course of the curvature is visible in a viewing direction transverse to this direction and can be visible, for example, along a width direction of the component.

“Orientation” in relation to a surface and in particular a surface is understood here to mean the normal to the respective surface. In the event that the surface in question is not a straight but, for example, a curved surface, the normal to a straight surface of the same size can be used to determine the surface normal, for whose position relative to the curved surface is given in the sum gives the smallest deviation.

An "extension" of a surface section is understood to mean a direction of a planar surface section that runs along the referenced surface section and, in relation to this, if it has curved sections or sections of different orientation, has such a position that the sum of the deviation amounts between the two surface sections is minimal. With regard to a length of the extent of a surface section, a length of a fictitious surface section of the same size in a direction to be defined is understood here, which has a position relative to the reference surface section in which the sum of the deviation amounts between the two surface sections is minimal.

The term "integral" in relation to a part or component is used understood herein that the part or component is manufactured as one piece. The part or component can be formed from several pieces or parts that are connected or coupled to one another or connected to one another. In this regard, the term “made from one piece” is understood to mean that the part or component is made from a one-piece starting workpiece during its manufacture.

The term "electromechanical material" is used herein to mean a material that - when the material is subjected to a corresponding electrical voltage - carries out a dimensional change; For example, a change in length can be caused in an element made of an electromechanical material by applying a voltage.

The term "actuating surface section of the spindle" is understood here to mean a surface section of the spindle which, in a predetermined maximum axial operating range or adjustment range of the spindle due to the actuation of at least one of the actuator devices, comes into contact with the at least one contact surface section of the frame device or the actuating device and in particular the actuating Component or the actuator functional part is located facing or can be located.

Herein, the logical connection "or" in relation to two alternatives is understood to mean only one or the other of the alternatives, unless otherwise specified.

Embodiments of the invention are described below with reference to the accompanying figures. Here, the description of features or components of embodiments according to the invention is to be understood in such a way that a relevant embodiment according to the invention, unless this is explicitly excluded, can also have at least one feature of another embodiment, in each case as an additional feature of this relevant embodiment or as an alternative feature, replacing another feature of that embodiment in question. The figures show:

Figure 1 is a sectional view of an embodiment of the erfindungsmäßen drive device, a frame device with a clamping arrangement, a first actuator device with a first actuator, a second actuator device with a second actuator and an actuating part, wherein the actuating part and the frame device are arranged in such a way that they can accommodate an actuating body in the form of a spindle, in order to position them with contact surface sections when the actuator devices are activated to be driven to perform an adjusting movement, the spindle also being shown, the side view being in the viewing direction of the longitudinal axis of the spindle, and a first adjusting direction being shown for the spindle in the form of an arrow,

Figure 2 shows an example of a first electrical control signal for activating the first actuator device of the embodiment of the drive device of Figure 1,

Figure 3 shows an example of a second electrical control signal for activating the second actuator device of the embodiment of the drive device in Figure 1 with the control signal shown in Figure 2, with the first control signal and at the same time as the second control signal turning the spindle in the first adjustment direction , which is shown in Figure 1, is driven,

FIG. 4 shows the embodiment of the drive device in the representation of FIG.

FIG. 5 shows an example of a further first control signal for activating the first actuator device of the embodiment of the drive device in FIG.

Figure 6 shows an example of a further second control signal for activating the second actuator device of the embodiment of the drive device in Figure 1 with the control signal shown in Figure 5, with the further first control signal and at the same time as the further second control signal spindle in the second adjusting direction, which is shown in Figure 4, is driven,

Figure 7 is a finite element model of the embodiment of the drive device of Figure 1, a simulated or calculated first deformation state drive device shows

FIG. 8 shows a finite element model of the embodiment of the drive device from FIG. 1, which shows a simulated or calculated second deformation state of the drive device,

Figure 9 shows a schematic sectional view of a variant of the embodiment of the drive device of Figure 1,

Figure 10 shows a first side view of a further embodiment of the drive device according to the invention, which has a frame device with a clamping arrangement, which is formed from a first and a second clamping device, a first actuator device, a second actuator device and actuating sections each with a contact surface section, the spindle also is shown and where the side view results in the viewing direction of the longitudinal axis of the spindle,

FIG. 11 shows a second side view of the embodiment of the drive device from FIG. 10,

Figure 12 is a perspective view of the embodiment of the drive device of Figure 10,

FIG. 13 shows a perspective view of the combination of the first clamping device and the first actuator device, the first clamping device being shown in a clamping state in which it clamps the first actuator device,

FIG. 14 shows a side view of a variant of the embodiment of the drive device of FIG. 10, the side view being obtained in the viewing direction of the longitudinal axis of the spindle,

15 shows a perspective view of a section of the drive device according to FIG. 14 containing the combination of the first clamping device of the drive device of FIG. 14 and the first actuator device, the first clamping device being shown in a clamping state in which it clamps the first actuator device,

FIG. 16 shows a finite element model of the embodiment of the drive device of FIG Figure 14, which shows a simulated or calculated first state of deformation of the drive device,

FIG. 17 shows a finite element model of the embodiment of the drive device from FIG. 14, which shows a simulated or calculated second deformation state of the drive device,

FIG. 18 for the embodiment of the drive device in FIG. 14, a representation of the progression of displacements or path amplitudes of a second end of the second actuator and a second contact surface section, each over time, due to activation of the first and second actuator device according to the invention,

19 shows a side view of a further variant of the embodiments of the drive device of FIGS. 10 and 14, the side view being obtained in the viewing direction of the longitudinal axis of the spindle,

Figure 20 is a perspective view of the clamping arrangement of the embodiment of Figure 19,

FIG. 21 shows a side view of the clamping arrangement according to FIG. 20,

Figure 22 is a schematic side view of the clamping arrangement shown in Figures 20 and 21, with a solid line showing a state of deformation in a first direction and a dashed line showing a state of deformation in a second direction, which is opposite to the first direction is,

FIG. 23 shows a side view of a further variant of the embodiments of the drive device from FIG. 19, with additional electrical connection devices being shown compared to the representation in FIG.

FIG. 24 shows a perspective representation of the embodiments of the drive device from FIG. 19 with the electrical connection devices,

FIG. 25 shows the side view of the embodiment of the drive device from FIG. 23, in which an adjustment direction of the spindle is entered in the form of an arrow, FIG. 26 shows a representation of an exemplary first electrical control signal for activating the first actuator device of the embodiment of the drive device in FIG. 23,

FIG. 27 shows an example of a second electrical control signal for activating the second actuator device of the embodiment of the drive device in FIG. 23 with the control signal shown in FIG. shown in Figure 25 is driven,

Figure 28 shows a representation of a control of a drive device or a drive motor with two actuator devices, wherein Figure 28 shows two electrical control signals for activating the two actuator devices by way of example, the control in particular as control of a first actuator device and a second actuator device according to one of the ones described herein Embodiments of the drive device or the drive motor can be used, whereby in the event that the control of Figure 28 is applied to a drive device according to Figure 10 or Figure 19, the spindle is driven clockwise in the direction of view of the drawing plane of the respective representations,

Figure 29 shows an illustration of control of a drive device or a drive motor with two actuator devices according to Figure 28, in the event that the control of Figure 28 is applied to a drive device according to Figure 10 or Figure 19, the spindle in the viewing direction of the Character level of the respective representations is driven counterclockwise,

Figure 30 shows a plan view of an insert piece which can be inserted into the respective actuating component structure on an outside of an actuating component structure facing the spindle space and in particular a frame device or an actuating component or actuator functional part of a drive device according to the invention, the insert piece being made of a ceramic material is made,

Figure 31 is a side view of the insert of Figure 30,

Figure 32 is a perspective view of the insert of Figure 30, 33 shows a side view of a drive device, which is a variant of the drive device from FIG. 23, with an insert piece from FIG.

Figure 34 is a plan view of the drive device of Figure 33,

Figure 35 is a perspective view of an arrangement of two drive devices of Figure 33, which drive devices, individually or in combination, can drive a spindle carried by the inserts.

The embodiments of the drive device 1 according to the invention and in particular the embodiment of the drive device 1 shown in FIG. In the embodiment of FIG. 1, the actuating device 40 is defined by sections 131, 132, 133 of the housing.

The actuator is also referred to herein generally as an actuator assembly structure.

An actuator device 10, 20 provided in relation to the invention can generally have an actuator 13 or 23 or consist of an actuator 13 or 23. For example, the actuator device 10, 20 can have the actuator 13 or 23 and an at least partially present outer coating of the actuator 13 or 23. Alternatively or additionally, the actuator device 10, 20 can have the actuator with or without an at least partial outer coating and a housing that surrounds the actuator 13 or 23 with or without an at least partial outer coating. Such a housing can be designed in such a way that it prestresses the actuator 13, 23 or additionally prestresses it.

The actuator 13, 23 is a piezo actuator, ie an actuator 13, 23 made of piezoelectric and in particular piezoceramic material. Actuators made from a different electromechanical material are also conceivable. In general, any form of actuator is conceivable, including hydraulically or pneumatically operated actuators, or actuators made of a shape memory material. The drive device 1 is provided for driving a spindle 90 with a spindle axis A90. To accommodate the spindle 90, the drive device 2 has a spindle space 39, which extends along a longitudinal axis of the spindle space. For this purpose, the embodiments of the drive device 1 according to the invention have: the first actuator device 10 with a first end 11, with a second end 12 and with a first actuator 13, the expansion of which can be reversibly changed when it is activated along a first actuator axis Li, the first end 11 and the second end 12 are oriented opposite to one another with respect to the first actuator axis Li and the first actuator axis Li runs transversely to the spindle axis A90 of a spindle 90, the second actuator device 20 having a first end 21, a second end 22 and a second actuator 23, the extent of which can be reversibly changed when electrically actuated along a second actuator axis L ₂ , the first end 21 and the second end 22 being oriented opposite to one another in relation to the first actuator axis Li and the first actuator axis Li and the second Actuator axis L ₂ running along each other, the actuating device 40 and the frame assembly 30 which provides a spindle space 39 for receiving the spindle 90 .

Either the first ends (11, 21) or the second ends (21, 22) can be used as actuating ends and the respective other ends of the actuator devices (10, 210,

20, 220) can be defined as reference ends.

In each embodiment of the drive device according to the invention, the frame device 30 can be implemented as an integral, i.e. cohesive, dimensionally stable component. The frame device 30 can also be manufactured as one piece, i.e. as a continuous structure, e.g. as a casting. The frame device 30 can also be manufactured or assembled from a number of components which are fastened to one another.

In each embodiment of the drive device according to the invention, the Actuator axes Li, L ₂ or at least one of the actuator axes, L ₂ can run transversely to the spindle axis A90 of the spindle 90 and, in particular, perpendicularly to the spindle axis A90. The first actuator axis Li and the second actuator axis L ₂ can be located in a straight plane or run along a straight plane that is defined by the spindle axis A90 as its surface normal.

In each embodiment of the drive device 1 according to the invention or in each embodiment of the drive motor M, it can be provided that the arrangement of the frame device 30 and the actuating device 40 has a surface area with at least two contact surface sections 51, 52, which each extend at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ and seen in the direction of the longitudinal axis of the spindle space form surface areas which are located differently from one another and which are intended for contact with two different contact points 91, 92 of the spindle 90 when it is inserted into the drive device 1 . The respective current spindle contact points 91 , 92 of the spindle 90 are each a surface section of the spindle surface 90a whose position on the spindle surface 90a depends on the rotary position of the spindle 90 . The two different spindle contact points 91, 92 can in particular be arranged opposite one another with respect to the spindle axis A90. In the event that the spindle 90 is rotating, the spindle contact points 91, 92 are instantaneous contact points that are constantly changing in location within the spindle surface 90a.

In each embodiment of the drive device according to the invention, it can be provided that at least one of the at least two surface sections 51, 52 is realized according to one or both of the following alternatives (A1), (A2):

(A1) at least one of the at least two surface sections 51, 52 extends at least in sections along the direction of the first actuator axis Li,

(A2) at least one of the at least two surface sections 51, 52 extends at least in sections along the direction of the second actuator axis L ₂ .

In this case, two contact surface sections 51, 52, seen in the direction of the longitudinal axis of the spindle space or the spindle axis A90, can overlap or overlap each other not overlapping, i.e. next to each other. Alternatively or additionally, it can be provided that the at least two contact surface sections 51, 52 are located in such a way that they have points that are opposite one another as seen in the spindle space longitudinal axis or the spindle axis A90.

The two contact surface sections 51 , 52 can each be concavely curved as viewed from the spindle space 39 . In particular, in each embodiment of the drive device 1 according to the invention, it can be provided that at least two contact surface sections 51, 52 are located in such a way that at least one surface normal at a point or a point thereof is the direction of a vertical of the first actuator axis Li or the second actuator axis L ₂ or both actuator axes Li, L ₂ has. In particular, the vertical line of the respective actuator axis lies in a plane that is defined as the surface normal by the longitudinal axis of the spindle space or by the spindle axis A90. In particular, the surface normal directions of points of at least one area of contact surface sections 51, 52 can define an angular range that contains the direction of a vertical of the first actuator axis Li or the second actuator axis L ₂ or both actuator axes Li, L ₂ .

According to the invention, a drive motor M is also provided with a drive device 1 according to an embodiment described herein and a spindle 90 , the spindle 90 being accommodated in the spindle space 39 of the frame device 30 .

The drive device 1 is provided for driving a spindle 90 with a spindle axis A90. To accommodate the spindle 90, the drive device 2 has a spindle space 39, which extends along a longitudinal axis of the spindle space. The longitudinal axis of the spindle space runs in the direction of spindle axis A90 or along spindle axis A90. The spindle axis A90 runs transversely to the first actuator axis Li or transversely to the second actuator axis L ₂ or both transversely to the first actuator axis Li and transversely to the second actuator axis L ₂ . In the design of the drive motor M according to the invention, the at least two contact surface sections 51, 52 are each in contact with one of two different spindle contact points 91, 92 of the spindle surface 90a of the spindle 90. By particularly simultaneous actuation of the first actuator device 10 and the second actuator device 20, the spindle 90 in at least one of two mutually opposite circumferential directions R1 (Figure 1), R2 (Figure 4), with respect to the Spindle space longitudinal axis or spindle axis A90 are defined, driven or moved. The rotations of the spindle 90, which are also referred to herein as adjusting movements, result in corresponding spindle output movements in a respective direction that runs along or in the direction of the spindle axis A90 and depends on the thread of the spindle 90.

In the embodiments of the drive motor M according to the invention, the at least two spindle contact points 91, 92 form two different surface areas, in particular when viewed in the direction of the spindle space longitudinal axis or the spindle axis A90. The at least two spindle contact points 91 , 92 can overlap, but not cover, in particular when viewed in the direction of the longitudinal axis of the spindle space or the spindle axis A90 . In particular, the at least two spindle contact points 91, 92 form, in particular in the direction of the longitudinal axis of the spindle space or the spindle axis A90, at least in sections two mutually opposite contact points.

In each embodiment of the drive device according to the invention, it can be provided that at least one of the at least two spindle contact points 91, 92 is implemented according to one or both of the following alternatives (B1), (B2):

(B1) at least one of the at least two spindle contact points 91, 92 extends at least in sections along the direction of the first actuator axis Li,

(B2) at least one of the at least two spindle contact points 91, 92 extends at least in sections along the direction of the second actuator axis L ₂ .

The embodiment of the drive motor M shown in FIG. 1 has the first actuator device 10 with the first actuator 13 and the second actuator device 20 with the second actuator 23 . The first actuator axis Li and the second actuator axis L ₂ run along one another and, in particular, parallel to one another.

The actuator axes L1, _L2 run transversely and in particular perpendicularly to the spindle axis A90 of the spindle 90 and to the longitudinal axis of the spindle space. The spindle axis A90 runs parallel to the longitudinal axis of the spindle space.

The drive device 1 according to the invention, shown in FIG is on. Optionally, an actuating piece 141 is provided, which is also referred to herein as an intermediate piece. This can also be omitted and implemented by a component of the housing, for example a strut, which projects in particular from section 133 between the reference ends 12, 22 of the actuator devices 10, 20 and on which the reference ends 12, 22 bear. The first end 11 of the first actuator device 10 bears against a first actuating piece surface 141a of the actuating piece 141 and the first end 21 of the second actuator device 20 bears against a second actuating piece surface 141b of the actuating piece 141, with the first actuating piece surface 141a and the second actuating piece surface 141b are at least partially opposed to each other and oriented along the first actuator axis Li and the second actuator axis L ₂ . As illustrated, the first actuating piece surface 141a and the second actuating piece surface 141b can extend at least in sections transversely to the first actuator axis Li and the second actuator axis L ₂ .

Furthermore, as shown in Figure 1, it can be provided in each of the aforementioned embodiments that the frame device 130 has a first side section 131, a second side section 132, which extends along the first side section 131, a first connecting section 133 and a second connecting section 134 wherein the first connecting portion 133 and the second connecting portion 134 extend along each other and both connect the first side portion 131 and the second side portion 132, respectively. The second connection section 134 can also be omitted. The spindle space 139 is located between the actuating piece 141 and the second connecting portion 134 and defines a spindle space longitudinal axis. If a spindle 90 is used in the drive device 1, the longitudinal axis of the spindle space runs parallel to the spindle axis A90 or is identical to the spindle axis A90. Thus, the frame device 130 is designed as a structurally continuous component that completely surrounds the spindle space 139, the first actuator device 10, the second actuator device 20 and the actuating piece 141 in the circumferential direction defined by the longitudinal axis of the spindle space or in the longitudinal axis of the spindle space.

The operating piece 141 has a first contact surface section 151 . This is located facing the spindle space 139 and can be a section of a Actuating surface 141c of the actuating piece 141, which connects the first actuating piece surface 141a and the second actuating piece surface 141b and is also located facing the spindle space 129 at least in sections. The first contact surface section 151 is suitable in that it is in contact with a respective current first spindle contact point 91 of the spindle surface 90a of the spindle 90 and in particular lies flat against it at least in sections. The first contact surface section 151 can be designed as a straight surface. As an alternative to this, the first contact surface section 151, as shown in FIG. The curvature of the first contact surface section 151 is formed in the circumferential direction defined with respect to the longitudinal axis of the spindle space or the spindle axis A90, ie it extends along the circumferential direction.

The second connecting portion 134 has a second abutment surface portion 152 . The second contact surface section 152 is suitable in that it is in contact with a respective current second spindle contact point 92 of the spindle surface 90a of the spindle 90 and in particular rests flat against it at least in sections. As shown in FIG. 1, the contact surface section 152 can be concavely curved as viewed from the spindle space 139 . The curvature of the second contact surface section 152 is formed in the circumferential direction defined with respect to the longitudinal axis of the spindle space or the spindle axis A90, i.e. it extends along the circumferential direction.

The first contact surface section 151 and the second contact surface section 152 are arranged opposite one another at least in sections. Accordingly, the at least two spindle contact points 91,

92, in particular seen in the direction of the longitudinal axis of the spindle space or the spindle axis A90, at least in sections two opposing contact points.

One or both of the following components (a), (b) can have a thread profile in these embodiments:

(a) the abutting surface portion 151 of the operation piece 141,

(b) the second abutment surface portion 152 of the second connection portion 134. The first contact surface section 151 and the second contact surface section 152 or one of these two contact surface sections can in particular each be implemented as a friction surface section.

In the embodiment of the drive device 101 according to FIG. 1, the frame device 130 exerts a compressive force on the first actuator device 10 along the first actuator axis Li and on the second actuator device 20 along the second actuator axis L ₂ , each from two opposite sides. As a reaction to this compressive force, the actuating device 140 is supported in a direction transverse to the first actuator axis Li.

In the embodiments of the drive device 101 or the drive motor M, which are described with reference to FIG. 1, the frame device 130 is designed as a structurally continuous and dimensionally stable component, as described. The frame assembly 130 shown in Figure 1 is additionally manufactured as one piece.

In the embodiments of drive device 101 or drive motor M, which are described with reference to FIG completely surrounds the longitudinal axis of the spindle space, the following preload situation results:

(V1) a bias of the operating piece 141 by the first

side portion 131 and through the second side portion 132 so that the side portions 131, 132 press on the actuating piece 141 located therebetween;

(V2) a bias of the second connection portion 134 and the

Actuating piece 141 from opposite sides in the direction of the spindle space 139 or the longitudinal axis of the spindle space, and in particular their respective contact surface sections 151, 152, from opposite sides in the direction of the spindle space 139 or the longitudinal axis of the spindle space or spindle 90.

In this way, the frame device 130 is particularly such as an option designed such that the arrangement of the frame device 130 and the actuating device 40 or the actuating piece 141 resiliently prestresses the first actuator device 10 along the first actuator axis Li and the second actuator device 20 along the second actuator axis L ₂ and provides a resilient prestress with respect to the spindle space 139 ready.

Appropriate actuation of first actuator device 10 and second actuator device 20 or one of the two actuator devices 10, 20 of drive motor M or 100 results in a corresponding change in length of at least one of the two actuator devices 10, 20, which causes a movement of actuator device 40 or of the operating piece 141 caused. The movement of the actuating device 40 or the actuating piece 141 takes place in one direction along the first actuator axis Li or along the second actuator axis L ₂ and, depending on the actuation, is a simple linear movement in just one direction or an oscillating movement that alternates in two opposite directions set directions. The frame device 30 or 130 causes a movement of the actuating device 40 or the actuating piece 141 in a direction along one of the actuator axes Li, L ₂ and the simultaneous interaction between the first contact surface section 152 and the respective current first spindle contact point 91 and also at the same time a counter-movement of the second connecting section 134 along one of the actuator axes Li, L ₂ along a direction that is opposite to the direction of movement of the actuating device 40 or of the actuating piece 141 . In this way, the abutment surface portions 151, 152 also move in opposite directions to each other, and by the contact of the abutment surface portions 151, 152 with the spindle 90, both abutment surface portions 151, 152 drive the spindle 90 in the same rotational direction at a time on.

In general, in the case of the drive device according to FIG. 1, the frame device 130 is fixed at both actuation ends of the actuator devices 10, 20 and, in particular, is fixed in a rotationally fixed manner. The section 131, 132, 133 act as an actuating component or actuating component structure, which runs in a cantilevered manner over its entire extent between the actuating ends or from the actuating ends of the actuator devices 10, 20 and has a contact Surface section 152, which in each case extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space 39 in one section and is intended for contact with a respective spindle surface contact point 92 of the spindle 90, around the spindle 90 upon actuation of the first actuator device 10 or the second actuator device 20 or both actuator devices in rotation.

1 shows an adjusting movement of the spindle 90 in the direction of rotation R1, and FIG. 4 shows an adjusting movement of the spindle 90 in the direction of rotation R2, which is directed opposite to the direction of rotation R1.

In order to improve the counter-movement of the second connecting section 134, it can be provided that, seen in the spindle space longitudinal axis or the spindle axis A90 and in the longitudinal extension of the first side section 131 between the first connecting section 133 and the second connecting section 134, the first side section 131 and the second side portion 132, viewed in the direction of the spindle space longitudinal axis or the spindle axis A90, each have one or both of the following increases in thickness:

(C1) an increase in thickness 131c or 132c in the region of the first

Actuator device 10 or the second actuator device 20, wherein a thickness reduction 131e, 131f or 132e, 132f is formed on both sides next to the increase in thickness 131c or 132c;

(C2) a thickness increase 131d or 132d in the area between the thickness increase 131c or 132c and the second connecting section 134, with a thickness reduction 131f, 131g or 132f, 132g being formed on both sides next to the thickness increase 131d or 132d is.

As an alternative to the embodiments of the drive device 101 with prestressing of the contact surface sections 151, 152 in the direction of the spindle space 139 or towards the spindle 90, the frame device 130, with otherwise any other combination of features described herein, can also be designed in such a way that although the prestressing (V1 ), but not the bias voltage (V2). The actuation of the first actuator device 10 and the second actuator device 20 and the drive of each embodiment of the drive motor M according to the invention or the spindle 90 takes place in that one or both of the following control signals (D1), (D2) in the form of a voltage signal to the first actuator device 10 or the second actuator device 20 is applied:

(D1) Applying a first drive signal in the form of a first

Voltage signal to the first actuator device 10 or the first actuator 13;

(D2) Applying a second drive signal in each case in the form of a second

Voltage signal to the second actuator device 20 or the second actuator 23.

In general, the first actuator device 10 changes its length between a minimum length in the first actuator axis Li at a relative minimum of the first voltage signal S1 (e.g. time T 1 in FIG. 2) and a maximum length in the first actuator axis Li at the relative maximum of the first Voltage signal S1 (eg time T3 in Figure 2). In general, the second actuator device 20 also changes its length between a maximum length in the second actuator axis L ₂ at a relative maximum of the second voltage signal S2 (e.g. time T 1 in FIG. 3) and a minimum length in the second actuator axis L ₂ at the relative minimum of the second voltage signal S2 (eg point in time T3 in FIG. 3).

2, 3, 5 and 6 show control signals in the form of voltage signals, with which embodiments of the drive motor M or 100 according to the invention, but generally any embodiment of the drive motor M according to the invention, can be driven. Voltage signals from FIGS. 2 and 3 are applied to the first actuator device 10 and the second actuator device 20 or the first actuator 13 or the second actuator 23 in order to bring about an actuating movement of the spindle 90 in the first direction of rotation R1 (Figure 1) and voltage signals of FIGS. 5 and 6 are applied to the first actuator device 10 and the second actuator device 20 or the first actuator 13 or the second actuator 23 in order to bring about an actuating movement of the spindle 90 in the second direction of rotation R2 (FIG. 4).

To cause an adjusting movement of the spindle 90 in the first direction of rotation R1 (Figure 1) or second direction of rotation R2 (Figure 4). a time-dependent and periodic first voltage signal S1 with a sawtooth waveform is applied to the first actuator device 10 and a time-dependent and periodic second voltage signal S2 with a sawtooth waveform is applied to the second actuator device 20, the signals running in opposite directions over time and being in phase. “In phase” is understood herein to mean that the periods of the two signals are identical relative to each other and the zero crossings occur at the same points in time. There may be deviations of 20% of the respective amount from this information. “Opposite” is understood here to mean that in a time segment with a rising edge in a first voltage signal S1, S2 there is a falling edge in the respective other voltage signal S2 or S1 and vice versa.

In order to cause an actuating movement of spindle 90 in the first direction of rotation R1 (Figure 1), the slope of the first voltage signal S11 between a first relative minimum at a point in time T11 and a subsequent relative maximum in time at a point in time T13 is greater in absolute terms than the slope of the first voltage signal S1 between this relative maximum at time T13 and the relative minimum following this next in time at time T15. The gradient between times T11 and T13 can be greater by a factor of at least 1.05 than between times T13 and T15.

At the same time, to cause an adjusting movement of the spindle 90 in the first direction of rotation R1 (Figure 1), the slope of the second voltage signal S12 between a first relative maximum at the time T11 and a subsequent relative minimum at the time T13 is greater in absolute terms than the slope of the second voltage signal S12 between this relative minimum at time T13 and the relative maximum following this next in time at time T13.

As an alternative to this, a relative maximum of the first voltage signal S11 and a relative minimum of the second voltage signal S12 can occur up to a time difference of up to 20%. With this definition or without this definition, a relative minimum of the first voltage signal S11 and a relative maximum of the second voltage signal S12 can occur up to a time difference of up to 20%. In these variants of the voltage signals S11, S12, the increase in absolute value between times T11 and T13 can be greater by at least a factor of 1.01 and in particular by a factor of at least 1.10 than between times T3 and T5.

The first voltage signal S1 and the second voltage signal S12 can also have other signal forms at the same time or independently of one another. Instead of the sawtooth profile shown in FIGS. 2, 3, 4 and 5, the first voltage signal S1 and the second voltage signal S12 can have a sinusoidal or trapezoidal shape. Also, for all voltage signals S11, S12 that can be used according to the invention, at least one relative maximum and at least one relative minimum or one of these extremes can be constant over a specific period of time, ie plateau-shaped.

In general, the first voltage signal S11 and the second voltage signal S12 are each periodic and, between two relative extremes that are adjacent to one another, has a section with a gradient that is greater in absolute terms than the greatest gradient in terms of absolute value, that between two relative extremes that are adjacent to one another and temporally precede or follow the aforementioned extremes. The respective pairs of relative extrema can be directly adjacent in time. However, the respective pairs of relative extremes do not have to be directly adjacent in time, but several pairs of extremes with a greater gradient, preferably with the same gradient sign, but also with different gradient signs, can follow one another directly, before or after one pair of relative extremes with a smaller slope in terms of absolute value.

In connection with the signal forms of the first voltage signal S11 and the second voltage signal S12, the term "greater gradient" is understood to mean a gradient at which between the first contact surface section 51 and the first spindle contact point 91 in contact with it and between the second contact surface section 52 and the second spindle contact point 92 in contact with it, at least temporary slipping occurs, since the movement of the contact surface sections 51 , 52 due to the respective coefficient of friction relative to the respective spindle contact point 91 , 92 affects the inertia of the Spindle not overcoming 90 or less overcomes than the movements of the contact surface sections 51 , 52 in a section with a “smaller gradient in terms of absolute value”.

FIG. 9 shows a variant of the embodiments of the drive motor M, 100 according to the invention described with reference to FIG. The actuating surface 141c of the actuating piece 141 is designed concave overall, as seen from the spindle space 139 . The first abutment surface portion 151 is a portion or abutment of the operating surface 141c that is in contact with the first spindle contact point 91 of the spindle 90, and is unitarily integrated in shape with the operating surface 141c. The frame device 130 of FIG. 9 is simplified compared to the embodiment shown in FIG.

A further embodiment of the drive device according to the invention, which is shown in FIG. 10 and designated by reference numeral 201, has a frame device 230 with a first clamping device 231, with a second clamping device 235, with a first actuator support part 251 and with a second actuator Support part 261 on. The first clamping device 231 has a first end section 233, a second end section 234 and a connecting section 232 connecting them. The second clamping device 235 has a first end section 237, a second end section 238 and a connecting section 236 connecting them.

Furthermore, the drive device 201 has an actuating device 240 . This has: a first functional actuator part 255 with a first contact surface section 254 and a second functional actuator part 265 with a second contact surface section 264, the contact surface sections 254, 264 being arranged opposite one another and together between them one Form spindle space 239.

The first actuator device 10 is located between the first actuator support part 251 and the first actuator functional part 255, with the first actuator support part 251 and the first actuator functional part 255 each being at opposite ends 11 and 12 of the first actuator device 10 directly or indirectly via an intermediate component. For example, the first end 11 is located on the first actuator support part 251 and that second end 12 to the first actuator functional part 255. The first actuator support part 251, the first actuator functional part 255 and the first actuator device 10 form a first actuating structure 250.

The second actuator device 20 is located between the second actuator support part 261 and the second actuator functional part 265, with the second actuator support part 261 and the second actuator functional part 265 each being at opposite ends 21 and 22 of the second actuator device 20 directly or indirectly via an intermediate component. For example, the first end 21 is in contact with the second actuator support part 261 and the second end 22 is in contact with the second actuator functional part 265 . The second actuator support part 261, the second actuator functional part 265 and the second actuator device 20 form a second actuating structure 260.

The contact surface sections 254, 264 can have the features of a variant of a contact surface section described herein and, in particular, can be concavely curved as viewed from the spindle space 239. The curvatures are formed in the circumferential direction defined with respect to the spindle axis A90 and are suitable such that they lie flat on the spindle surface 90a.

The first actuator support part 251 has a first base section 252 and a first support section 253 adjoining it. The first actuator functional part 255 has a first attachment section 256 and a first actuating section 258 and a first connecting section 257 connecting them. The first support section 253 rests on the first end 11 and the first connecting section 257 rests on the second end 12 of the first actuator device 10 . The first base portion 252 and the first attachment portion 256 are attached to the first end portion 233 of the jig 231 by means of a connecting member 233s. The first actuator support part 251 and the first actuator functional part 255 can be designed in such a way that the first support section 253 exerts pressure on the first end 11 and the first connecting section 257 exerts pressure on the second end 12 in order to move the first actuator device 10 to be pressed together from its two ends 11 , 12 . In a variant of the actuating device 240, the first attachment section 256 can be omitted and the first connection section 257 can be attached to the second end 12. A first actuating section 258 extends from the first connecting section 257 along the first actuator axis Li. The first actuation section 258 has a surface section 259 which faces the spindle space 239 . In the actuation surface 259, the first abutment surface portion 254 is located. This can generally have features that are described here with reference to other contact surface sections, and in particular can be implemented as a friction surface with respect to a surface section that surrounds the actuating surface 259 .

In an analogous manner, the second actuator support part 261 has a second base section 262 and a second support section 263 adjoining it. The second actuator functional part 265 has a second fastening section 266 and a second actuating section 268 and a second connecting section 267 connecting them. The second support section 263 rests on the first end 21 and the second connecting section 267 rests on the second end 22 of the second actuator device 20 . The second base portion 262 and the second attachment portion 266 are attached to the second end portion 234 of the jig 231 by means of a connecting member 234s. The second actuator support part 261 and the second actuator functional part 265 can be designed in such a way that the second support section 263 exerts pressure on the first end 21 and the second connecting section 267 exerts pressure on the second end 12 in order to move the second actuator device 20 from its two ends 21 , 22 together.

The connecting sections 257, 267 and in particular the actuator functional parts 255, 265, also referred to herein as the actuating component, form the actuating device 140, 240 or the actuating component structure. It can optionally be provided that one of the actuator functional parts 255, 265 does not rest against the spindle.

In the embodiment of Figures 10 and 19, the actuating device 240 of the drive device 201 is fixed to both actuating ends of the actuator devices 10, 20, 210, 220 and has at least one actuating component 255, 265 each, which extends over its entire extent between the actuating ends or from the actuating ends of the actuator devices 10, 210, 20, 220 runs cantilevered and has a contact surface section 254, 264, which extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space 39 in a portion and is intended to contact a respective spindle surface contact point 91, 92 of the spindle 90, around the spindle 90 upon actuation of the first Actuator device 10, 210 or the second actuator device 20, 220 or both actuator devices 10, 210, 20, 220 to rotate.

The actuator support parts 251, 261 can be regarded as parts of the frame device in each embodiment of the drive device that is described with reference to FIGS. 10, 19, 33.

In a variant of the actuating device 240, the second attachment section 266 can be omitted and the second connection section 267 can be attached to the second end 22. A second actuating section 268 extends from the second connecting section 267 along the second actuator axis L ₂ . The second actuation section 268 has a surface section 269 which faces the spindle space 239 . In the actuation surface 269, the second abutment surface portion 264 is located. This can generally have features that are described here with reference to other contact surface sections, and in particular can be implemented as a friction surface with respect to a surface section that surrounds the actuating surface 269 .

The surface portions 259, 269 face and oppose each other. Likewise, the abutment surface portions 254, 264 face and oppose each other.

The first clamping device 231 connects the first end section 233 and the second end section 234 and is configured in a substantially curved manner between them. The first clamping device 231 can be designed in the form of a plate or a bow. In particular, the connecting section 232 has a curvature in the area that does not bear against the first end section 233 and the second end section 234 . As shown in FIG. 10, this can be a uniform curvature, so that it has no inflection point. According to FIG. 10, the curvature is concavely curved as seen from the spindle space 239 . As an alternative to this, the connecting section 232 can also be convexly curved. In this way, the connecting section 232 prestresses the first actuating section 258 and the second actuating section 268 in a resilient manner from two opposite sides toward the spindle space 239 and against the spindle 90, respectively.

The optionally provided second clamping device 235 connects in a similar way the first base section 252 of the first actuator support part 251 and the second base section 262 of the second actuator support part 261. The first end section 237 is attached to the first base section 252 and the second end section 238 to the second base section 262, e.g. by means of a respective connecting element or by means of a material connection. In particular, this arrangement of the second clamping device 235, the first base section 252 and the second base section 262 can be implemented in such a way that the second clamping device 235 clamps the first base section 252 and the second base section 262 together relative to one another, i.e. it exerts forces on the base sections 252, 262 , which push these towards each other.

In each embodiment of the drive device 1 , 201 according to the invention with all other features otherwise described herein and optionally alternative features, the first tensioning device 231 and the second tensioning device 235 can be fastened to one another and in this way form a peripheral frame device 230 . In this case, it can be provided that the first actuator support part 251 and the first actuator functional part 255 are spaced apart from one another or are fastened together on at least one of the clamping devices 231 , 235 . Provision can also be made here for the second actuator support part 261 and the second actuator functional part 265 to be spaced apart from one another or fastened together on at least one of the clamping devices 231 , 235 .

In the embodiments of drive device 200 described herein, frame device 230 with first clamping device 235 and second clamping device 235 is therefore embodied as a structurally continuous component that includes spindle space 239, first actuator device 10, and second actuator device 20 in the longitudinal axis through the spindle space defined circumferential direction completely surrounds.

It can be particularly advantageous if the first base section 252 and the first actuator support section 253 and the second base section 262 and the second actuator support section 263 each form a lever. As a result, the forces exerted by the second clamping device 235 cause

(D1) that the first actuator supporting portion 253 presses the first actuator device 10 against the first actuator functional part 255 or the first abutting portion 257, and thereby pretensioning the first actuator device 10 and the first actuator functional part 255 with the first actuating section 258;

(D2) that the second actuator support section 263 presses the second actuator device 20 against the second actuator functional part 265 or the second contact section 267 and thereby prestresses the second actuator device 20 and the second actuator functional part 265 with the second actuating section 268.

In the embodiment of the drive device 1, 201 according to the invention according to Figure 10, the connecting section 257 of the first actuator functional part 255, which bears against the second end 12 of the first actuator device 10, extends laterally towards the spindle space 239 and from the first fastening section 256 of the first actuator - Support part 251 gone. In the embodiment of Figure 10, the first actuating section 258 also extends from the connecting section 257 along the first actuator axis Li and the first contact surface section 254 extends at least in sections along the first actuator axis Li. The connecting section 267 of the second actuator functional part 265 also extends , which bears against the second end 12 of the second actuator device 20, laterally towards the spindle space 239 and away from the second fastening section 266 of the second actuator support part 261.

In the embodiment of FIG. 10, the second actuating section 268 also extends from the connecting section 267 along the second actuator axis L ₂ and the second contact surface section 264 extends at least in sections along the second actuator axis L ₂ . Thus, the first and the second contact surface section 254, 264 form surface regions that are located differently from one another, viewed in the direction of the longitudinal axis of the spindle space.

Likewise, the surface normal directions of points of at least one area of contact surface sections 254, 264 define an angular range that contains the direction of a vertical of the first actuator axis Li or the second actuator axis L ₂ or both actuator axes Li, L ₂ .

In the embodiment of the drive device 1, 201 according to the invention according to Figure 10, the first actuating section 258 and the second actuating section 268 are each designed as a free end of the first fastening section 256 and the second fastening section 266, which is only attached to the respective connecting section 257 or 267 is mounted so that it cannot move or is connected to the respective connecting section 257 or 267. Included the first fastening section 256 and the second fastening section 266 can be resiliently mounted in particular on the respective connecting section 257 or 267 . As a result of the aforementioned features (D1), (D2), the first actuation section 258 and the second actuation section 268 are each resiliently pressed against the spindle 90 in order to optimize the driving of the spindle 90 .

As an alternative to these embodiments, the drive device 1, 201 according to the invention can also be implemented in such a way that the actuating sections 258, 268 are mounted on the respective actuator support part 251 or 261, so that the respective contact surface section 254, 264, depending on the design of the actuating sections 258 and 268, presses less or not resiliently against the spindle 90.

As shown in FIG. 10, the second clamping device 235 can be curved or essentially curved in the area between the first end section 237 and the second end section 238 . In particular, the connection section 236 can be curved or essentially curved. Irrespective of this, the second tensioning device 235 can be designed in the form of a plate or a bow overall. In particular, the connecting section 236 has a curvature in the area that does not bear against the first end section 237 and the second end section 238 . As shown in FIG. 10, this can be a uniform curvature, so that it has no inflection point. According to FIG. 10, the curvature is concavely curved as seen from the spindle space 239 . As an alternative to this, the connecting section 236 can also be convexly curved. In this way, the connecting section 236 prestresses the first actuating section 258 and the second actuating section 268 in a resilient manner from two opposite sides toward the spindle space 239 or against the spindle 90 .

Actuation of at least one of the actuator devices 10, 20 of the drive motor 200 according to Figure 10 causes, as in the embodiments described above, a relative movement of the first contact surface section 254 along the first actuator axis or of the second contact surface section 264 along the second actuator axis _L2 or both of these relative movements. Due to the contact of the contact surface sections 254, 264 with the spindle surface 90a drives at least one of the two contact Surface sections 254, 264 rotate the spindle 90 in a predetermined direction of rotation controlled in accordance with the control signals. In the event that only one of the actuator devices 10, 20 is actuated, only that contact surface section 254 or 264 drives the spindle 90 which is functionally connected to the actuator device 10 or 20 that is actuated in each case. When actuating the actuator devices 10, 20 in opposite directions at the same time, the contact surface sections 254, 264 drive the spindle 90 in the same direction of rotation for a period of time 90, corresponding to the circumferential direction in which the contact surface sections 254 and 264 are the first spindle contact point 91 and move the second spindle pad 92.

FIG. 14 shows a variant according to the invention of the embodiments of the drive motor M or 200 according to the invention described here with reference to FIG. 10. The embodiment of the drive motor 200 according to the invention shown in FIG. Since the features of this embodiment have the same or similar functions as the features of the drive motor 200 shown in FIG. 14, the same reference symbols as in FIG. 10 are used for the corresponding features in FIG.

In contrast to the embodiments of the drive motor 200 according to the invention, which is shown in FIG. 10, the drive motor 200 in FIG.

In addition, in contrast to the embodiment of the drive motor M or 200 according to the invention shown in FIG. 10, in the embodiment of the drive motor M or 200 according to the invention shown in FIG. 14, the first actuator support parts 251, 261 are each formed in blocks.

FIGS. 16 and 17 use a simplified finite element model of the embodiment of the drive device in FIG. 14 to show a first deformation state and a second deformation state when the same is actuated accordingly. The first state of deformation and the second state of deformation can each be an extreme state of deformation. FIG. 18 shows a representation of the time course of the deformation of the second end 22 of the second actuator 23 calculated or simulated with the aid of the finite element model according to FIGS. Surface section 264 due to a corresponding periodic activation of the first actuator 13 and the second actuator 23. The curves show that a relatively small deformation of the second end 22 of the second actuator 23 causes a larger displacement or path amplitude of the second contact surface section 264, the in particular by a factor of 1.1 or by a factor of 1.2 greater than the respectively associated movement of the second end 22 of the second actuator 23. This also applies analogously to the deformation of the first end 21 of the first actuator 13 and the displacement or displacement amplitude of the first contact surface section 254.

FIG. 19 shows a variant according to the invention of the embodiment of the drive motor M or 200 according to the invention shown in FIG. 14, the same reference symbols as in FIG. 14 being used for the corresponding features in FIG.

In contrast to the embodiments of the drive motor 200 according to the invention, which is shown in FIG. 10, the actuating device 240 is made in one piece and has a coupling section 280 for this purpose. The coupling portion 280 has a first end portion 281, a second end portion 282, and a connecting portion 283 connecting the first end portion 281 and the second end portion 282 to each other. The first end section 281 is connected to an outer end section 285 of the first actuating section 258, seen from the first connecting section 257 or, viewed from the first clamping device 231, via a first transition section 287, in particular in a dimensionally stable or resilient manner. The second end section 282 is connected to an outer end section 286 of the second actuating section 268, viewed from the second connecting section 267 or, viewed from the first clamping device 231, via a second transition section 288, in particular in a dimensionally stable manner. In this way, the spindle 90 is located between the connecting portion 283 and the first jig 231 .

As shown in Figure 19, the cross sections of the transition sections 287, 288 are in seen from the longitudinal axis of the spindle space or the spindle axis A90 compared to the actuating sections 258, 268 and their end sections 285, 286 and compared to the connecting section 283 of the coupling section 280. In the embodiment of the drive motor 200 shown in Figure 19, this causes a resilient connection of the connecting section 283 to the first actuating section 258 and the second actuating section 268.

As shown in FIG. 19, the second clamping device 236 can be designed to be dimensionally stable, so that it is not or only slightly deformed when the actuators 13, 23 are actuated. FIG. 22 shows that a resilient prestressing of the actuating sections 258, 268 against the spindle 90 is achieved by the one-piece design of the 240. However, this is only provided as an option.

This also ensures that the arrangement of the frame device 230 and the actuating device 240 resiliently prestresses the first actuator device 10 along the first actuator axis Li and the second actuator device 20 along the second actuator axis L ₂ , thereby resiliently prestressing the actuating device 240 in the direction of the spindle space 239 provide.

In the embodiments of the drive motor 200 according to the invention, which is described with reference to FIG. 10, it can be provided that one of the actuating sections 258 or 268 does not bear against the spindle 90 and accordingly has no contact surface section 254 or 2564.

Voltage signals S31, S32 are shown in FIGS. 26 and 27, with which embodiments of the drive motor 200, which are described with reference to FIG. 19, can be actuated and adjustment movements of the spindle 90 can be carried out. The times T31, T32, T33, T34, T35, T36 specified therein are to be understood analogously to the times T21, T22, T23, T24, T25, T26 of Figures 5 and 6.

The following is another method for driving a spindle 90 with a spindle axis A90 mounted in a spindle space 39 of a drive motor with two actuator devices that can actuate an actuation component structure to drive the spindle. The drive motor can be implemented according to an embodiment of a drive motor described herein or in some other way. This method is therefore generally applicable to a drive motor with two actuator devices and with an actuation component structure, the actuation component structure Actuation of the actuation component structure with control signals according to the method according to FIGS. 28, 29 drives the spindle according to the stick-slip principle.

By way of example, the time profiles of two control signals in the form of voltage signals of this embodiment of the method according to the invention are shown in FIGS. 28 and 29. Each of FIGS. 28 and 29 shows two control signals which are fed to the respective actuator devices at the same time. In each of FIGS. 28 and 29, the solid line is a control signal that is supplied to a first actuator device V1, and the dashed line is a control signal that is supplied to a second actuator device V2 of the same drive device. In particular, the first actuator device can be e.g. the first actuator device 10 according to one of the embodiments of the drive device 1 according to the invention described herein and the second actuator device e.g. the second actuator device 10 can each be of the same embodiment of the drive device according to the invention.

The representation of Figure 28 shows two control signals S61, S62, with a first control signal S61, which is drawn with a dashed line, a first actuator device of the respective drive device is supplied and a second control signal S62, which is drawn with a solid line, a second Actuator device of the respective drive device is supplied. The control signals S61, S62. Each activation signal S61, S62 represents at least one signal pulse section SP61 or SP62 and, as shown, can be composed of a time sequence of a plurality of signal pulse sections. By way of example, in FIG. 28, for clarification, a single signal pulse segment is delimited by two time limits PA1, PA2, each of which is represented by a dot-dash line. The combination of the at least one signal pulse segment SP61 or the at least one signal pulse segment SP71 causes the driven actuator devices of the drive motor to drive the spindle in a first direction of rotation. Applied to the embodiments of the drive motor M according to the invention in FIG. 10 or in FIG. 19 or in FIG. 33, the spindle is driven clockwise when looking at the plane of the drawing of the representations of these figures.

In detail, the course of the control signal S61 in a respective signal pulse section SP61 is as follows: (K61) At the signal point 611, the first actuator device is in a contracted state, ie it has a relatively small length expansion. Extending from this signal point is a rising signal edge 613 with a positive slope value. In terms of absolute value, this gradient value is below a maximum stick gradient value up to which a stick state between a first contact surface section of an actuating component structure (in the embodiments of the drive motors described herein, the first contact surface section 51 or 254) and a current first Spindle contact point of the spindle exists. This stick state ends at signal point 615. At signal point 615, the first actuator device is in an expanded state, ie it has a relatively large length expansion. The end of the stick state can generally be defined in that a predetermined maximum stick slope value is exceeded.

(K62) From this signal point 615, a plateau phase 617 extends over time, that is to say a signal section with a slope essentially with the value zero. In general, it can be defined that this plateau phase 617 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This definition can generally be predetermined for the method described here. This plateau phase 617 ends with the signal point 619.

(K63) At the signal point 619, a falling signal edge 621 begins with a negative slope value and a relatively large slope in terms of amount, which is greater in terms of amount than the amount of the slope of the stick-rising signal edge 613. This slope value is above a minimum slip in terms of amount - Slope value above which there is a slip condition between the first abutment surface section of the actuating component structure and a respective instantaneous first spindle contact point of the spindle. In general, the absolute value of the maximum stick gradient is smaller than the absolute value of the minimum slip gradient by a factor, it being possible to define that this factor is at least 0.1 or at least 0.2. This slip state ends at signal point 623. At signal point 623, the first actuator device is in a contracted state, ie it has a relatively small length expansion. The end of the slip condition can generally be defined by the fact that the slope falls below a predetermined minimum slip value.

(K64) From this signal point 623 extends over time a plateau phase 625, ie a signal section with an essentially zero slope. In general, it can be defined that this plateau phase 625 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This plateau phase 625 ends with the signal point 627. The plateau phase 625 is longer by a factor than the plateau phase 618 and it can be predetermined in this context that this factor has at least the value 1, 1 or at least the value 1.5 or at least the value 2. At least one further signal pulse section SP61 with the determination criteria (K61), (K62), (K63), (K64) can begin after or with the signal point 627.

In detail, the profile of the control signal S62 in a respective signal pulse segment SP62 is as follows:

(K65) At the signal point 612, the second actuator device is in an expanded state, ie it has a relatively large length expansion. Extending from this signal point is a falling signal edge 614 with a negative slope value.

In terms of absolute value, this slope value is below a maximum stick slope value up to which a stick state between a second contact surface section of an actuation component structure (in the embodiments of the drive motors described herein, the first contact surface section 52 or 264) and a respective current first Spindle contact point of the spindle exists. This stick state ends at signal point 616. At signal point 616, the second actuator device is in a contracted state, ie it has a relatively small length expansion. The end of the slip condition can generally be defined as a predetermined maximum stick slope value being exceeded.

(K66) From this signal point 616, a plateau phase 618 extends over time, that is to say a signal section with a slope essentially with the value zero. In general, it can be defined that this plateau phase 618 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This definition can generally be predetermined for the method described here. This plateau phase 618 ends with the signal point 620.

(K67) At signal point 620, a rising signal edge 622 begins with a positive slope value and a relatively large slope in terms of amount, which is greater in terms of amount than the amount of the slope of falling signal edge 614. In absolute terms, this slope value is above a minimum slip slope value, from which a slip condition exists between the first contact surface section of the actuating component structure and a respective instantaneous first spindle contact point of the spindle. In general, the absolute value of the maximum stick gradient is smaller than the absolute value of the minimum slip gradient by a factor, it being possible to define that this factor is at least 0.1 or at least 0.2. This stick state ends at signal point 624. The end of the slip state can generally be defined in that a predetermined minimum slip slope value is not reached.

(K68) From this signal point 624, a plateau phase 626 extends over time, that is to say a signal section with a slope essentially with the value zero. In general, it can be defined that this plateau phase 626 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This plateau phase 626 ends with the signal point 628. The plateau phase 626 is shorter in time than the plateau phase 625 by a factor and it can be predetermined in this context that this factor has at least the value 1, 1 or at least the value 1.5 or at least the value 2. At least one further signal pulse section SP62 with the determination criteria (K65), (K66), (K67), (K68) can begin after or with the signal point 628.

In detail, the profile of the activation signal S71 in a respective signal pulse segment SP71 is as follows:

(K71) At signal point 711, the first actuator device is in an expanded state, ie it has a relatively large length expansion. Extending from this signal point is a falling signal edge 713 with a negative slope value.

In terms of absolute value, this slope value is below a maximum stick slope value up to which a stick state between a second contact surface section of an actuation component structure (in the embodiments of the drive motors described herein, the first contact surface section 52 or 264) and a respective current first Spindle contact point of the spindle exists. This stick state ends at signal point 715. At signal point 715, the first actuator device is in a contracted state, ie it has a relatively small length expansion. The end of the stick state can generally be defined by a predetermined minimum stick slope value in terms of absolute value is exceeded.

(K72) From this signal point 715, a plateau phase 717 extends over time, that is to say a signal section with a slope essentially with the value zero. In general, it can be defined that this plateau phase 717 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This definition can generally be predetermined for the method described here. This plateau phase 717 ends with the signal point 719.

(K73) At signal point 719, a rising signal edge 721 begins with a positive slope value and a relatively large slope in terms of amount, which is greater in terms of amount than the amount of the slope of rising signal edge 713. This slope value is above a minimum slip slope value in terms of amount, at which point there is a slip condition between the first abutment surface portion of the actuating component structure and a respective instantaneous first spindle contact point of the spindle. In general, the absolute value of the maximum stick gradient is smaller than the absolute value of the minimum slip gradient by a factor, it being possible to define that this factor is at least 0.1 or at least 0.2. This slip state ends at signal point 723. At signal point 723, the first actuator device is in an expanded state, ie it has a relatively large length expansion. The end of the slip condition can generally be defined by the fact that the slope falls below a predetermined minimum slip value.

(K74) From this signal point 723, a plateau phase 725 extends over time, ie a signal section with a slope essentially with the value zero. In general, it can be defined that this plateau phase 725 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This plateau phase 725 ends with the signal point 727.

At least one further signal pulse section SP71 with the determination criteria (K71), (K72), (K73), (K74) can begin after or with the signal point 727.

In detail, the profile of the activation signal S72 in a respective signal pulse section SP72 is as follows:

(K75) At the signal point 712, the second actuator device is in a contracted state, ie it has a relatively small length expansion. From this signal point From there extends a rising signal edge 714 with a positive slope value. In terms of absolute value, this slope value is below a maximum stick slope value up to which a stick state between a second contact surface section of an actuation component structure (in the embodiments of the drive motors described herein, the first contact surface section 52 or 264) and a respective current first Spindle contact point of the spindle exists. This stick state ends at signal point 716. At signal point 716, the second actuator device is in an expanded state, ie it has a relatively large length extension. The end of the stick state can generally be defined in that a predetermined maximum stick slope value is exceeded.

(K76) From this signal point 716, a plateau phase 718 extends over time, that is to say a signal section with a slope essentially having the value zero. In general, it can be defined that this plateau phase 718 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This definition can generally be predetermined for the method described here. This plateau phase 718 ends with the signal point 720.

(K77) At the signal point 720, a falling signal edge 722 begins with a negative slope value and a relatively large slope in terms of amount, which is greater in terms of amount than the amount of the slope of the rising signal edge 714. This slope value is above a minimum slip slope value in terms of amount, at which point there is a slip condition between the first abutment surface portion of the actuating component structure and a respective instantaneous first spindle contact point of the spindle. In general, the absolute value of the minimum slip gradient value is greater than the absolute value of the maximum stick gradient value by a factor, it being possible to define that this factor is at least 0.1 or at least 0.2. This slip condition ends at signal point 724. The end of the slip condition can generally be defined by the fact that a predetermined minimum slip slope value is not reached.

(K78) From this signal point 724, a plateau phase 726 extends over time, that is to say a signal section with a slope essentially having the value zero. In general, it can be defined that this plateau phase 726 begins when the gradient value falls below the value of 20 degrees and in particular the value of 10 degrees. This plateau phase 726 ends with the signal point 728. The Plateau phase 726 is longer by a factor than plateau phase 717 and in this context it can be predetermined that this factor has at least the value 1, 1 or at least the value 1.5 or at least the value 2. At least one further signal pulse section SP72 with the determination criteria (K75), (K76), (K77), (K78) can begin after or with the signal point 728.

The signal pulse sections for a first and a second actuator device for the method according to Figures 28, 29 is generally defined in that two control signals each have a sequence of at least one signal pulse section SP61, SP62 or SP71, SP72, each signal pulse section having:

(a) A stick control section 613, 614, 713, 714, the section of which has the greatest gradient has a gradient that falls below a predetermined maximum stick gradient value, the stick control sections of the two signal pulse sections occurring simultaneously and in phase opposition, i.e. a first Stick control section of the first signal pulse section and a second stick control section of the first signal pulse section have opposite gradients, i.e. one of the stick control sections has a positive gradient and another of the stick control sections has a negative gradient.

(b) This is followed by a plateau phase of different duration for both signal pulse sections.

(c) The respective plateau phases are each followed by a slip activation section of the two signal pulse sections at different points in time, the respective sections with the smallest gradient having a gradient that falls below a predetermined minimum slip gradient value, with that stick activation section which had a positive slope in step (a), has a negative slope in step (c), and the stick driving section which had a negative slope in step (a) has a negative slope in step (c).

(d) This is followed by a plateau phase of different duration up to a simultaneous end point for both signal pulse sections.

FIGS. 30 to 32 show representations of an insert 500 that can be used according to the invention. The insert 500 has a base body 510 which has a concave recess 513 on an outer surface 511 . Otherwise he is Base body 510 is essentially cuboid in shape, but can also have a different shape. The outside of the concave 513 is formed as a threaded portion 520 having multiple threads. The threaded section 520 represents a section of a thread that is limited in the circumferential direction and is therefore suitable for bearing against a spindle contact point 91 , 92 of the spindle 90 . For this purpose, the insert piece 500 is arranged at a corresponding location on an outer side or a recess of the outer side of an actuating component structure 40, 140, 240 or an actuating device or a frame device 30, 130, 230. In addition, the insert 500 may be located at a corresponding location of the interface or actuator. The threaded section 520 is located facing the spindle space or the spindle 90 .

The insert 500 is made of a ceramic material or comprises a ceramic material. The ceramic material has one or more of the following material components or consists of these: aluminum oxide ceramic, ZTA (zirconia toughened alumina), ATZ (alumina toughened zirconia).

According to the invention, in the embodiments described herein, the insert 500 can be used, for example, in one or more of the following alternatives:

(i) The embodiments described with reference to FIG. 1 can have the insert piece 500 as an insert in the second connecting section 134 at a point at which the threaded section 520 rests against a time-varying spindle contact point 91, 92 of the external thread of the spindle 90.

(ii) The embodiments described with reference to FIG. 1 can have the insert piece 500 as an insert in the intermediate piece 141 or actuation piece at a point at which the threaded section 520 rests against a time-varying spindle contact point 91, 92 of the external thread of the spindle 90.

(ii) The embodiments described with reference to FIGS. 10 and 19 and 33 can have the insert piece 500 as an insert in the actuating sections 258, 268 at a point where the threaded section 520 at one time-varying spindle contact point 91 , 92 of the external thread of the spindle 90 . The threaded section 520 forms a contact surface section 254, 264 in each case.

A further embodiment of the drive device according to the invention is shown in FIGS. 33 and 34, to which reference numeral 501 is assigned. This embodiment is based on the embodiment of the drive device according to the invention, which is described here with reference to FIG. 19 or FIG. 10, and has two insert pieces 501, 502 according to FIGS. 30 to 32. Otherwise, the drive device 501 can have any other feature provided according to the invention of the embodiments described with reference to FIG. 19 or FIG. 10 in a combination of features described in each case.

The inserts 501 , 502 are inserted into the actuating portions 258 , 268 at a location where the threaded portion 520 abuts a time varying spindle contact point 91 , 92 of the external threads of the spindle 90 . The threaded section 520 forms a contact surface section 254, 264 in each case.

The embodiment of the drive device according to the invention according to FIGS. 33 and 34 has actuating sections 258, 268 which, specifically on the side of the actuating sections 258, 268 facing the spindle space, have corresponding depressions. In each case, a base body section 514 is inserted, which is located on an insert side 512, which is opposite the outer surface 511, so that a base body section 515 with the outer surface 511 protrudes from the visible outer circumference of the actuating sections 258, 268 . As an alternative to this, the inserts 501, 502 can also be located completely in the recess, so that the outer surface 511 forms a smooth transition to the outer contour of the respective actuating section 258, 268.

The embodiment of the drive device 401 according to the invention according to FIGS. 33 and 34 has a component actuating structure 440 realized in one piece. This differs from the component actuation structure 240 of the embodiments of the drive device according to Figure 19 in particular in that the first connection section 257 and the first connection section 267 are connected to one another by an actuation connection section 470, with the actuation connection section 470 bridging the spindle space. From this For this reason, components and parts and combinations of features and their respective variants with the same function as described with reference to FIG. 19 are assigned the same reference symbols and are not described again here with reference to FIGS. 33 to 35 in order to avoid repetition.

The component actuating structure 440 of the drive device 401 thus has: the first actuating component 255 or first actuator functional part, the second actuating component 265 or the second actuator functional part, the actuating connecting section 470 and the coupling section 280.

The inserts 501, 502 arranged according to FIG. 33 in the actuating components 255, 265 or actuating sections 258, 268 do not have to be provided in this embodiment of the drive device according to FIGS. 33 and 34 and can therefore also be omitted.

A section of the spindle 90 is inserted into the drive device 401, which is shown in FIG. 33, so that a drive motor M is also shown in FIGS. Reference number 400 is assigned to this.

Reference List

1 drive device 0 first actuator device 1 first end of the first actuator 13 2 second end of the first actuator 13 3 first actuator 0 second actuator device 1 first end of the second actuator 23 2 second end of the second actuator 23 3 second actuator 0 frame device 9 spindle space 0 actuating device 1 first Abutment surface portion 2 second abutment surface portion a spindle surface of spindle 90 1 first spindle contact point of spindle 90 2 second spindle contact point of spindle 90 0 drive motor 1 drive device 0 frame device 1 first side portion c thickness increase of first side portion 131 d thickness increase of first side portion 131e First side portion thickness reduction 131 f First side portion thickness reduction 131 g First side portion thickness reduction 131 2 second side portion c Second side portion thickness increase 132d Second side portion thickness increase 132e Second side portion thickness increase reduction of the second side section 132f thickness reduction of the second side section 132g thickness reduction of the second side section 132 3 first connection section 4 second connection section 9 spindle space 0 actuating device or actuating component structure 1 intermediate piece or actuating piece a intermediate piece surface b intermediate piece surface 1 first contact surface section of the intermediate piece 1412 second system -surface portion of frame device 1303 surface portion of intermediate piece 141 1 friction surface portion 0 drive motor 1 drive device 0 frame device 1 first tensioning device 2 connecting portion first end section connecting element second end section connecting element second clamping device connecting section first end section second end section spindle space actuating device or actuating component structure first actuating structure first actuator support part first base portion of the first actuator support part 251 actuator support portion of the first actuator support part 251 first contact surface portion first actuating component or first actuator functional part first attachment portion of the first actuator support portion 251 first connecting portion first actuating portion actuating surface of the first actuator functional portion 255 second actuating structure second actuator support portion second base portion of the second actuator support portion 261 actuator support portion of the second actuator support portion 261 second contact Surface section of the second actuation component or second actuator functional part, second attachment section, second connection section, second actuation section witht actuating surface of the second actuator functional part 265 coupling section first end section of the coupling section 280 second end section of the coupling section 280 connecting section of the coupling section 280 outer end section of the first operating section 258 outer end section of the second operating section 268 first transitional section between the first end section 285 and the connecting section 283 second transitional section between the second end portion 286 and the connecting portion 283 driving motor driving device component actuating structure actuating connecting portion driving motor insert insert base body outer surface insert side concave recess 514 base body section

515 base body section

520 threaded section

611 signal point

613 rising signal edge

615 signal point

617 plateau phase

619 signal point

621 falling signal edge

623 signal point

625 plateau phase

627 signal point

612 signal point

614 rising signal edge

616 signal point

618 plateau phase

620 signal point

622 falling signal edge

624 signal point

626 plateau phase

628 signal point A90 spindle axis

Li first actuator axis l_2 second actuator axis M drive motor

PA1 Start point of a signal pulse section SP61 PE1 End point of a signal pulse section SP61 PA2 Start point of a signal pulse section SP62 PE2 End point of a signal pulse section SP62 R1 Direction of rotation of spindle 90

R2 direction of rotation of the spindle 90

511 voltage signal

512 voltage signal SP61 signal pulse segment SP62 signal pulse segment SP71 signal pulse segment SP72 signal pulse segment

T11 Time of a relative minimum of the voltage signal S11 and a relative maximum of the voltage signal S12 T12 Time of a reference value or zero crossing of the voltage signals S11 and S12

T13 Time of a relative maximum of the voltage signal S11 and a relative minimum of the voltage signal S12 T14 Time of a reference value or zero crossing of the voltage signals S11 and S12

T15 time of a relative minimum of the voltage signal S11 and a relative maximum of the voltage signal S12 T16 time of a reference value or zero crossing of the voltage signals S11 and S12

521 voltage signal

522 voltage signal T21 Time of a relative minimum of the voltage signal S21 and a relative maximum of the voltage signal S22

T22 Time of a reference value or zero crossing of the voltage signal S21 and S22

T23 Time of a relative maximum of the voltage signal S21 and a relative minimum of the voltage signal S22

T24 Time of a reference value or zero crossing of the voltage signal S21 and S22

T25 Time of a relative minimum of the voltage signal S21 and a relative maximum of the voltage signal S22

T26 Time of a reference value or zero crossing of the voltage signal S21 and S22

531 voltage signal

532 voltage signal

T31 Time of a relative minimum of the voltage signal S31 and a relative maximum of the voltage signal S32

T32 Time of a reference value or zero crossing of the voltage signal S31 and S32

T33 Time of a relative maximum of the voltage signal S31 and a relative minimum of the voltage signal S32

T34 Time of a reference value or zero crossing of the voltage signal S31 and S32

T35 Time of a relative minimum of the voltage signal S31 and a relative maximum of the voltage signal S32

T36 Time of a reference value or zero crossing of the voltage signal S31 and S32

V1 first actuator device V2 second actuator device

Claims

Expectations

1. Drive device (1, 101, 201) for driving a spindle (90) with a spindle axis (A90) by actuating the drive device (1), the drive device (2) having: a spindle space (39) for accommodating a section of the spindle (90), wherein the spindle space (39) extends in a spindle space longitudinal axis, a first actuator device (10, 210) with a first end (11), with a second end (12) and with a first actuator (13), the extension of which can be reversibly changed when it is actuated along a first actuator axis Li, the first end (11) and the second end (12) being oriented opposite to one another in relation to the first actuator axis Li and the first actuator axis Li transverse to the spindle axis A90 being one Spindle (90) runs, a second actuator device (20, 220) with a first end (21), with a second end (22) and with a second actuator (23), the expansion of which when activated along a second actuator axis L ₂ reversi bel is changeable, wherein the first end (21) and the second end (22) are oriented opposite to each other in relation to the second actuator axis L ₂ and wherein the first actuator axis Li and the second actuator axis L ₂ run along each other, with either the first Ends (11, 21) or the second ends (21, 22) are actuating ends and the respective other ends of the actuator devices (10, 210, 20, 220) are reference ends, a frame device (30, 130, 230), wherein either the frame device (30, 130, 230) or an actuating device (40, 140, 240) of the drive device (1) is fixed to both actuating ends of the actuator devices (10, 20, 210, 220) and at least one actuating component (131 , 132, 133, 255, 265) which runs in a self-supporting manner over its entire extent between the actuating ends or from the actuating ends of the actuator devices (10, 210, 20, 220) and has a contact surface section (152, 254, 264). t, which in each case extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space (39) in one section and is provided for contact with a respective spindle surface contact point (91, 92) of the spindle (90) to rotate the spindle (90) upon actuation of the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices ( 10, 210, 20, 220) to rotate, wherein the compliance of the actuating member (131, 132, 133, 255, 265) is adjusted such that if a portion of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device causes a movement component of the at least one contact surface section (152, 254, 264) along the actuator axes (Li , L ₂ ).

2. Drive device (1, 101, 201) for driving a spindle (90) with a spindle axis A90, wherein the drive device (2) for receiving the spindle (90) has a spindle space (39) which extends in a spindle space longitudinal axis, comprises, the drive device (2) comprising: a first actuator device (10, 210) with a first end (11), with a second end (12) and with a first actuator (13), the expansion of which when activated along a first actuator axis Li is reversibly variable, the first end (11) and the second end (12) being oriented opposite to one another with respect to the first actuator axis Li and the first actuator axis Li running transversely to the spindle axis A90 of a spindle (90), a second actuator device (20, 220) with a first end (21), with a second end (22) and with a second actuator (23), the expansion of which can be reversibly changed when actuated along a second actuator axis L ₂ , the first end (21 ) and the second end (22) are oriented opposite to each other with respect to the first actuator axis Li and wherein the first actuator axis Li and the second actuator axis L ₂ run along each other, an actuating device (40, 140, 240), a frame device (30, 130 , 230), wherein the arrangement of the frame device (30, 130, 230) and the actuating device (40, 140, 240) has at least one contact surface section (51, 52, 151, 152, 254, 264), which is at least partially along the extend in the direction of the first actuator axis Li or the second actuator axis L ₂ and, viewed in the direction of the longitudinal axis of the spindle space, form surface areas which are located differently from one another and which are provided for contact with two different contact points (91, 92) of the spindle (90) in order to rotate the spindle ( 90) upon actuation of the first and the second actuator device (10, 20) in rotation, the first and the second actuator device (10, 20, 210, 220) each having the first end (11, 21) on the frame device ( 30, 130, 230) and each having a second end (12, 22) in contact with the actuating device (40, 140, 240) and wherein the frame device (30, 130, 230) is designed as a structurally continuous component that completely surrounds the spindle space (39), the first actuator device (10) and the second actuator device (20) in the circumferential direction defined by the longitudinal axis of the spindle space.

3. Drive device (1, 101, 201) according to claim 2, wherein the arrangement of the frame device (30, 130, 230) and the actuating device (40, 140, 240) comprises at least one actuating component (131, 132, 133, 255, 265) with a contact surface section (51, 52, 151, 152, 254, 264), wherein the actuating component (131, 132, 133, 255, 265) is located on the actuating ends of the actuator devices (10, 210, 20 , 220) and runs self-supporting from them over their entire extent between the respective actuating ends or from the respective actuating ends of the actuator devices (10, 210, 20, 220), the flexibility of the actuating component (131, 132, 133, 255, 265) is set such that if a portion of the spindle (90) is located in the spindle space, the actuating member (131, 132, 133, 255, 265) is resiliently biased against the spindle and the expansion or contraction is at least an actuator device causes a movement component of the at least one contact surface section along the actuator axes (12, _L2 ).

4. Drive device (1, 101, 201) according to one of the preceding claims, wherein the actuator devices (10, 20, 210, 220) each have a piezoelectric actuator.

5. Drive device (1, 101, 201) according to one of the preceding claims, wherein the at least two contact surface sections (152, 254, 264) are concavely curved as seen from the spindle space (39) and the curvature along the longitudinal axis with respect to the spindle space defined circumferential direction and the contact surface sections (152, 254, 264) are designed such that they lie flat against a circumferential section of a section of a spindle (90) located in the longitudinal axis of the spindle space.

6. Drive device (1, 101, 201) according to one of the preceding claims, wherein the arrangement of the frame device (30, 130, 230) and the actuating device (40, 140, 240) has at least two contact surface sections (51, 52, 151 , 152, 254, 264) which each extend at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ and, viewed in the direction of the longitudinal axis of the spindle space, form surface areas which are located differently from one another and which are intended for contact with two different contact points ( 91, 92) of the spindle (90) are provided in order to rotate the spindle (90) when the first and the second actuator device (10, 20) are actuated, the first and the second actuator device (10, 20, 210, 220) each with the first end (11, 21) on the frame device (30, 130, 230) and each with a second end (12, 22) on the actuating device (40, 140, 240) or an actuating piece (141) applied and wherein the frame device (30, 130, 230) is designed as a structurally continuous component that the spindle space (39), the first actuator device (10) and the second actuator device (20) in the by the Spindle space longitudinal axis defined circumferential direction completely surrounds.

7. Drive device (1, 101, 201) according to one of the preceding claims, wherein the at least one contact surface section (152, 254, 264) is a surface section of either an outer layer of the actuating component (131, 132, 133, 255, 265) , which is made of a ceramic material, or an insert piece that is inserted into the operating component (131, 132, 133, 255, 265) on an outside of the operating component facing the spindle space, or a surface section of a section of the operating component (131, 132, 133, 255, 265) having the abutting surface portion (152, 254, 264) and made of a ceramic material or comprising a ceramic material.

8. Drive device (1, 101, 201) according to one of the preceding claims, wherein the ceramic material has one or more of the following material components or consists of these: aluminum oxide ceramics, ZTA (zirconia toughened alumina), ATZ (alumina toughened zirconia).

9. Drive motor (M, 100, 200) with a drive device (1) according to one of the preceding claims and a spindle (90) which is partially located in the spindle space (39) of the frame device (30) and whose spindle axis A90 is in the spindle space - Longitudinal axis and transverse to the first actuator axis Li or transverse to the second actuator axis L ₂ , each of the at least one contact surface section (152, 254, 264) contacting a respective spindle surface contact point (91, 92) of the spindle (90), wherein the resilience of the actuating component (131, 132, 133, 255, 265) is set such that due to the contact between each of the abutment surface sections (152, 254, 264) and a respective spindle surface contact point (91, 92), the expansion or Contraction of at least one actuator device a movement component of the at least one contact surface section caused along the actuator axes ( , L ₂ ).

10. Drive motor (M, 100, 200) according to one of the preceding claims, wherein an actuation surface section of the spindle which has the at least one spindle surface contact point (91, 92) of the spindle (90) in the axial movement range of the spindle when it is actuated , a surface section of either an outer layer of the spindle (90), which is made of a ceramic material, or an insert piece that is inserted into the spindle (90) on an outside of the spindle (90) facing the spindle space, or a surface section of a section of the spindle ( 90) which comprises the operating surface portion of the spindle and is made of a ceramic material or comprises a ceramic material.

11. Drive motor (M) according to one of the preceding claims, wherein the ceramic material has one or more of the following material components or consists of these: aluminum oxide ceramics, ZTA (zirconia toughened alumina), ATZ (alumina toughened zirconia).

12. Drive device (101) according to one of claims 1 to 8, wherein the first ends (11, 21) actuation ends and the respective other ends of the actuator devices (10, 210, 20, 220) reference ends of the actuator devices (10,

210, 20, 220), wherein the frame device (30) has: two side sections (131, 132) which are fixed to the operating ends of the first and second actuator devices (10, 20), and a connecting section (134) which connects the two side sections (131, 132), the two side sections (131, 132) and the connecting section (134) being realized as an actuating component (131, 132, 133) which is cantilevered over its entire extent between the actuating ends runs and a plant has a surface section (152) which extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space (39) in one section and for contact with a respective spindle surface contact point (91, 92) of the Spindle (90) are provided in order to rotate the spindle (90) when the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices are actuated, the flexibility of the actuating component (131, 132, 133) is set such that, if a section of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device causes a movement component of the contact surface section (152) along the actuator axes (Li , L ₂ ).

13. Drive device (101) according to claim 12, wherein the first ends (11, 21) of the actuator devices (10, 210, 20, 220) are reference ends which are opposite to one another upon actuation of the drive device (1) in one are fixed at a constant distance from one another, the drive device (101) having an intermediate piece (141), the second end (12) of the first actuator device (10) on a first intermediate piece surface (141a) and the second end (22) of the second actuator device (20) rests against a second intermediate piece surface (141b), the first actuating piece surface (141a) and the second actuating piece surface (141b) being opposite to one another at least in sections and transverse to the first actuator axis Li and the second actuator axis L ₂ are oriented.

14. The drive device (101) according to claim 13, wherein the intermediate piece (141) has a first contact surface section (151) facing the spindle space (139) and extending at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ extends, the spindle space (139) limited in a section and to Contact with a respective spindle surface contact point (91) of the spindle (90) are provided in order to move the spindle (90) when the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices (10, 210 , 20, 220) to rotate together with the abutment surface portion (152) of the connecting portion (134).

15. Drive motor (100) with a drive device (101) according to any one of the preceding claims 12 to 14 and a spindle (90) with a spindle axis A90, wherein each of the at least one contact surface section (151, 152) has a respective spindle surface contact point ( 91, 92) of the spindle (90) contacted.

16. Drive device (201) according to any one of claims 1 to 8, wherein the frame device (230) comprises: a first actuator support part (251) on which the first actuator device (210) with its first end (11) as a reference end rests, a second actuator support part (261) on which the second actuator device (220) rests with its first end (21) as a reference end, the drive device (201) having: a first actuator functional part (255) with a first actuating section (258) on which the first actuator device (210) is fixed with its second end (12) as the actuating end, a second actuator functional part (265) with a second actuating section (268) on which the second actuator device ( 220) is non-rotatably fixed with its second end (22) as the actuating end, with the first functional actuator part (255) being implemented as the first actuating component and the second functional actuator part (265) being implemented as the second actuating component, with the actuating component each having its entire extent is cantilevered from the actuation ends of the actuator devices (210, 220) and has an abutment surface portion (254, 264).

17. Drive device (201) according to claim 16, wherein the contact surface sections (254, 264) are each concavely curved from the spindle space (239).

18. Drive device (201) according to claim 10 or 11, wherein the first actuator functional part (255) has the first actuation section (258) and a first contact section (257), which is connected to the first actuation section (258), and that second actuator functional part (265) has the second actuation section (268) and a second contact section (267) which is connected to the second actuation section (268), the first and second actuation sections (258, 268) extending along one another .

19. Drive device (201) according to claim 18, wherein the first and second operating sections (258, 268) each have an outer end section (285, 286) which is opposite to the first abutment section (257) or the second abutment section (267) is located, wherein the outer end section (285) of the first operating section (258) and the outer end section (386) of the second operating section (268) are connected to one another via a coupling section (280), so that the first actuator functional part ( 255), the second actuator functional part (265) and the coupling section (280) are implemented as a one-piece actuation component which runs in a self-supporting manner over its entire extent between the actuation ends.

20. Drive motor (200, 300) with a drive device (201, 301) according to any one of claims 16 to 19 and a spindle (90) with a spindle axis A90, which is accommodated in the spindle space (39), each of the at least one system - Surface section (151, 152) contacts a respective spindle surface contact point (91, 92) of the spindle (90).

21. Method for driving a spindle of a drive motor with a spindle space for accommodating the spindle, with two actuator devices and with an actuating component structure, wherein the actuator devices can actuate the actuating component structure in order to drive the spindle according to the stick-slip principle, wherein the actuating devices are each controlled with one of two control signals, each of which has a sequence of at least one signal pulse section (SP61, SP62 or SP71, SP72), each signal pulse section having:

(a) one stick control section (613, 614, 713, 714) in each case, the section with the greatest slope having a slope that falls below a predetermined maximum stick slope value, the stick control sections of the two signal pulse sections taking place simultaneously and in phase opposition,

22. Method for driving a spindle (90) with a spindle axis A90, with a drive device (2), wherein the drive device has: two actuator devices (10, 20, 210, 220), wherein either a frame device (30, 130, 230) or one Actuating device (40, 140, 240) of the drive device (1) is fixed to both actuating ends of the actuator devices (10, 20, 210, 220), and is in particular fixed in a rotationally test manner, and in each case at least one actuating component (131,

132, 133, 255, 265) which runs in a cantilevered manner over its entire extent between the actuating ends or from the actuating ends of the actuator devices (10, 210, 20, 220) and has a contact surface section (152,

254, 264), which in each case extends at least in sections along the direction of the first actuator axis Li or the second actuator axis L ₂ , delimits the spindle space (39) in one section and for contact with a respective spindle surface contact point (91, 92) of the Spindle (90) is provided in order to rotate the spindle (90) when the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices (10, 210, 20, 220) are actuated, wherein the resilience of the actuating component (131, 132,

133, 255, 265) is set such that, if a section of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device causes a movement component of the at least one contact surface section along the actuator axes (L1, L2), wherein the drive device (2) controls the first actuator (13) and the second actuator (23) periodically with a control signal, the gradients of a rising edge and a falling edge of the control signal each having a half-period of the same control period with different absolute values.

23. The method according to claim 22, wherein the drive device (2) controls the first actuator (13) and the second actuator (23) periodically and thereby in phase opposition with a control signal.

24. The method according to claim 22 or 23, wherein the drive device (2) that edge of the rising edge and the falling edge of a half-period of the control signals for the first actuator (13) and the second actuator (23) that has a larger slope in terms of amount, take place at different times.