WO2020173996A1

WO2020173996A1 - Actuator device and method for operating an actuator device

Info

Publication number: WO2020173996A1
Application number: PCT/EP2020/055010
Authority: WO
Inventors: Jörg BÜRSSNER
Original assignee: Eto Magnetic Gmbh
Priority date: 2019-02-26
Filing date: 2020-02-26
Publication date: 2020-09-03
Also published as: DE102019104882A1

Abstract

The invention relates to an actuator device, more particularly an electromagnetic actuator device, comprising at least one armature element (10a-d) and at least one magnetic retaining unit (12a-d) which is provided at least for fixing the armature element (10a-d) in a stable end position (16a-d) in at least a first operating state (14a-d). According to the invention, the actuator device has at least one mechanical acceleration unit (18a-d) which is provided at least for accelerating the armature element (10a-d) out of the stable end position (16a-d) in at least a second operating state (24a-d) in order to actuate the armature element (10a-d), the armature element (10a-d) being accelerated in the second operating state (24a-d), in particular as a result of the actuation of the armature element (10a-d) by deactivating a retaining force of the magnetic retaining unit (12a-d), in such a way that the armature element (10a-d) travels a stroke distance (20a-d) of more than 10 mm in a time period of at most 25 ms, preferably a stroke distance (20a-d) of at least 20 mm in a time period of at most 20 ms, and the mechanical acceleration unit (18a-d) being provided for making a significant, in particular major, contribution to the total acceleration of the armature element (10a-d) in the second operating state (24a-d).

Description

Actuator device and method for operating a

Actuator device

PRIOR ART The invention relates to an actuator device according to the preamble of claim 1 and a method for operating an actuator device according to the preamble of claim 20.

An actuator device with at least one armature element and with at least one magnetic holding unit, which is provided at least to fix the armature element in a stable end position in at least one first operating state, has already been proposed.

The object of the invention is, in particular, to provide a device of the generic type with advantageous switching properties. The object is achieved according to the invention by the features of patent claims 1 and 20, while advantageous embodiments and developments of the invention can be found in the subclaims.

Advantages of the invention

The invention is based on an actuator device, in particular one

electromagnetic actuator device, with at least one armature element and with at least one magnetic holding unit, which is provided at least to fix the armature element in at least one first operating state in a stable end position. It is proposed that the actuator device has at least one mechanical acceleration unit which is provided at least to accelerate the anchor element out of the stable end position in at least one second operating state for actuation of the anchor element, the anchor element in the second operating state, in particular as a result of the

Actuation of the armature element by deactivating a holding force of the magnetic holding unit is accelerated in such a way that the armature element has a stroke of more than 10 mm in a period of at most 25 ms,

preferably covers a stroke of at least 20 mm in a period of at most 20 ms, and wherein the mechanical acceleration unit is provided to make a substantial, in particular predominant, contribution to an overall acceleration of the anchor element in the second operating state. In this way, an actuator device with advantageous switching properties can in particular be made possible. A particularly fast switching, in particular in conjunction with a particularly large stroke, can advantageously be achieved. A particularly large stroke can advantageously be made possible, in particular in connection with a particularly rapid overcoming of this stroke. In spite of the large stroke, fast switching can be advantageous, especially in comparison to a reluctance actuator or a reluctance magnet or im

Compared to a voice coil actuator (“moving coil” and “moving magnet”), comparatively low electrical powers are made possible. Furthermore, in particular in contrast to electromotive solutions, complexity can advantageously be kept low. In addition, particularly in contrast to electromotive solutions, a high level of dynamics of the actuator device can advantageously be achieved.

In this context, an "actuator device" should be understood to mean in particular at least a part, in particular a subassembly, of an actuator. The actuator device is advantageous at least for use in a valve, in particular a seat valve and / or slide valve, and / or a positioning and / or transport system, preferably a pick-and-place Place system, in particular for positioning and / or for transporting objects, for example by means of an actuator device

movable pneumatic suction device for suction of

Objects, provided. In particular, it is electromagnetic

Actuator device provided to electromagnetically control, initiate or influence at least one actuator function, for example a movement. Furthermore, an “anchor element” should be understood to mean a component which, when the actuator device is in operation, is provided to exert a movement which determines the function of the actuator, for example a

Positioning and / or transport movement of the pick-and-place system. The anchor element can preferably be influenced by means of a magnetic signal, in particular a magnetic field. In particular, that is

Armature element provided to execute a movement, in particular a pivoting movement and / or preferably a linear movement, in response to a magnetic signal. In particular, the anchor element consists at least partially of a magnetically active, in particular (ferromagnetic and / or magnetizable) material, advantageously of iron.

The anchor element is preferably designed in one piece. Besides, that is

Anchor element preferably movable in at least two different, advantageously at least temporarily stable, end positions. In particular, the anchor element is designed to be rotationally symmetrical. Alternatively, however, the anchor element can also be polyhedral. In particular, the anchor element, preferably the movement of the anchor element, is in a range of movement

Actuator device out. The range of motion is particular as a

Flea space within the actuator device, for example as a type of pole tube, formed. The actuator device preferably has at least one

Guide element to guide the movement trajectory of the anchor element. In addition, “in one piece” is to be understood to mean, in particular, at least materially connected and / or formed with one another Welding process, a soldering process and / or another process can be produced. Advantageously, in one piece, however, should be understood as being formed from one piece and / or in one piece. “Provided” is to be understood in particular as specifically programmed, designed and / or equipped. The fact that an object is provided for a specific function should be understood in particular to mean that the object fulfills and / or executes this specific function in at least one application and / or operating state.

The magnetic holding unit comprises, in particular, a magnet system which is provided to generate a holding force that holds the anchor element in the stable end position. The magnetic holding unit comprises in particular at least one electrical coil, preferably an electromagnet and / or at least one permanent magnet. The first operating state is designed in particular as a state in which the anchor element is immobile, preferably remains in the stable end position. An “end position” is to be understood in particular as a position of the anchor element which the anchor element assumes at one end of a movement, in particular during normal operation. The anchor element in the actuator device preferably has two stable ones

End positions which are in particular arranged at a distance from one another.

A distance between the two end positions corresponds in particular at least substantially to a maximum stroke of the armature element in the actuator device.

In the stable end position, the anchor element is arranged, in particular, in the vicinity of the magnet system. In the stable end position, the anchor element advantageously touches part of a magnet system and / or a damping unit directly adjacent to the magnet system.

The mechanical acceleration unit comprises in particular one

mechanical spring, preferably a mechanical compression spring. As an alternative or in addition, the mechanical acceleration unit can also be a tension spring, a compressed air valve or a type of recoil element, such as a

Include firing pin or a hammer. The second operating state is designed in particular as a state in which the anchor element is moved, is preferably moved at an accelerated rate. In particular, in the second operating state, the armature element covers the entire stroke of the actuator device in a period of 25 ms, preferably 20 ms. The entire hub of the

Actuator device corresponds in particular to the distance between the two stable end positions of the anchor element. In particular, the entire stroke of the anchor element in the actuator device is at least 10 mm, preferably at least 15 mm and preferably at least 20 mm. A “substantial contribution to an overall acceleration” is intended to mean, in particular, a contribution to the generated by the mechanical acceleration unit

Total acceleration of the anchor element of at least 30%, preferably at least 51%, advantageously at least 66%, preferably at least 80% and particularly preferably at least 90%. It is conceivable that the anchor element is accelerated exclusively by the mechanical acceleration unit. Alternatively or additionally it is conceivable that part of the

Overall acceleration is generated by a magnetic field which, in particular in an initial phase of the movement, transmits an additional pulse to the pulse of the mechanical acceleration unit to the armature element.

It is also proposed that the actuator device have a maximum extension in any direction perpendicular to a provided direction of movement of the anchor element of at most 30 mm, preferably at most 25 mm and preferably at most 20 mm. This can be beneficial

Switching properties can be achieved. In particular, an actuator device that is as small as possible can thereby be made possible. In addition, particularly high dynamics can thereby advantageously be achieved, in particular by the

Anchor element has a low weight due to its small radial extent. In addition, a pick-and-place system can thereby be made possible in particular by means of a combination of a plurality of actuator devices, which can advantageously position a large number of objects, in particular at the same time, in the smallest possible space. It is also proposed that the magnetic holding unit is provided to generate a magnetic holding force which the

Anchor element fixed in the stable end position in the first operating state and which acts against an acceleration force which is applied to the anchor element and generated by the mechanical acceleration unit, in particular a pulling and / or pressing force. This allows advantageous switching properties to be achieved. In particular, a secure stabilization of the anchor element in the stable end position can advantageously be made possible. In addition, by using a magnetic holding force, wear can advantageously be kept low, in particular in comparison with mechanical mountings. In addition, the holding force can advantageously be switched and / or manipulated in a simple manner, in particular through at least partially automated control and / or influencing of magnetic fields of the magnetic holding unit. In particular, the magnetic holding unit is provided to form a magnetic circuit which runs largely within the magnetic holding unit and within the armature element to hold the armature element. The mechanical

Acceleration unit is provided in particular to repel the armature element from the magnetic holding unit and thus in particular to push it out of the stable end position.

In addition, it is proposed that the mechanical acceleration unit has at least one first spring, which is provided to exert a pressing force on the anchor element at least in the first operating state. This allows advantageous switching properties to be achieved. In particular, a simple and / or instantaneous

Acceleration of the anchor element can be achieved as soon as a spring force of the spring exceeds the magnetic holding force. The first spring is designed in particular as a compression spring, preferably a spiral compression spring. Alternatively, the first spring can also be designed as a wave spring, as a leg spring, as a plate spring, as an evolute spring or as a gas pressure spring. In the first operating state is the pressing force of the first spring

in particular smaller than the holding force of the magnetic holding unit.

In the first operating state in particular, the pressing force of the first spring is at its maximum. In particular in the second operating state, the pressing force of the first spring is in particular greater than the holding force of the magnetic holding unit.

Furthermore, it is proposed that the mechanical acceleration unit has at least one second spring, which is provided to exert a pressing force on the armature element that is opposite to the pressing force of the first spring. This allows advantageous switching properties to be achieved. In particular, a controllable

Magnetomechanical oscillation system can be achieved, whereby a back and forth movement of the armature element between two stable end positions can be made possible. In particular, in the first operating state in which the pressing force of the first spring is maximum, the pressing force of the second spring is minimal. The pressing force of the second spring counteracts in particular the acceleration by the first spring. The pressing force of the first spring counteracts in particular the acceleration by the second spring. The first spring and the second spring are arranged in particular on opposite sides of the anchor element. It is conceivable that the mechanical acceleration unit has at least one further spring or a plurality of further springs which are arranged parallel to the first or to the second spring. The springs of the mechanical acceleration unit are each supported in particular directly or indirectly on the magnetic holding unit and / or a further magnetic holding unit. In particular, the anchor element is intended to be moved back and forth between the two stable end positions. In particular, the armature element is provided to be moved back and forth between the two magnetic holding units, particularly when the actuator device is in operation. If the actuator device has a further magnetic holding unit which is formed separately from the magnetic holding unit and which is provided to fix the armature element in at least one third operating state in a second stable end position, advantageous

Switching properties can be achieved. In particular, a controllable magnetomechanical oscillation system can thereby be achieved, which advantageously enables the armature element to be moved back and forth between two stable end positions each assigned to the magnetic holding units. In the third operating state in particular, the pressing force of the second spring is smaller than the holding force of the further magnetic holding unit. The third operating state is designed in particular as a state in which the anchor element is immobile, preferably remains in the second stable end position.

Furthermore, it is proposed that the further magnetic holding unit be spaced apart from the magnetic holding unit in a direction running parallel to an intended direction of movement of the armature element. As a result, a controllable magnetomechanical oscillation system can advantageously be achieved, which advantageously enables the armature element to be moved back and forth between two stable end positions each assigned to the magnetic holding units.

It is further proposed that the distance between the magnetic holding unit and the further magnetic holding unit at least in

Substantially corresponds to a maximum stroke of the anchor element. As a result, a controllable magnetomechanical oscillation system can advantageously be achieved, which advantageously enables the armature element to be moved back and forth between two stable end positions each assigned to the magnetic holding units. In addition, an actuator device with the largest possible stroke can advantageously be achieved. In particular, the distance between the magnetic holding units is at least more than 10 mm, preferably at least more than 15 mm and preferably at least more than 20 mm. The fact that a distance “essentially corresponds” to a maximum stroke should be understood in particular to mean that a difference between the distance and the maximum stroke is less than 30% of the distance,

is preferably less than 15% of the distance and is preferably less than 5% of the distance.

It is also proposed that the actuator device has a damping unit, which is provided to at least substantially dampen an impact pulse of the armature element on the magnetic holding unit and / or the further magnetic holding unit at the end of a movement process of the armature element. This allows advantageous switching properties to be achieved.

In particular, a particularly high reliability of the actuator device can be achieved, in particular by a rebound probability of the

Anchor element can be advantageously kept low by the magnetic holding unit. In addition, a long service life can advantageously be achieved, in particular in that wear can be kept low. Furthermore, a smoother actuator movement can advantageously be achieved, as a result of which

For example, in the case of a pick-and-place system, a risk of a picked-up object falling at the end of an actuator movement can advantageously be reduced. The damping unit in particular comprises at least one elastic impact element, for example an elastic layer (elastomer or the like) or an impact spring. The impact element is arranged in particular on a surface of the magnetic holding unit and / or the further magnetic holding unit facing the armature element. Alternatively or additionally, the impact element or a further impact element can be placed on a surface of the at least one magnetic holding unit facing

Anchor element, preferably be arranged on both the magnetic holding units facing surfaces of the anchor element. Alternatively or additionally, the armature element can be damped by means of an advantageous switching of magnetic fields, for example the magnetic holding units. The damping unit is provided in particular to have a Recoil of the anchor element upon impact with the magnetic

To reduce holding units by at least 30%, preferably by at least 50% and preferably by at least 80%.

It is further proposed that the actuator device has a control and / or regulating unit which is provided at least to influence a holding force of the magnetic holding unit at least briefly, in particular to reduce it in such a way that the fixing of the anchor element is at least partially canceled. This allows advantageous switching properties to be achieved. In particular, an at least partially automated switching of the actuator device can advantageously be achieved. A “control and / or regulating unit” should be understood to mean, in particular, a unit with at least one control electronics. “Control electronics” should be understood to mean, in particular, a unit with a processor unit and with a memory unit and with an operating program stored in the memory unit.

In particular, the influencing of the holding force can be brought about by reducing a magnetic field generating the holding force or by superimposing a magnetic field generating the holding force. The fact that a holding force is “briefly influenced” should be understood in particular to mean that an influencing of the holding force lasts for a period of time which is less than the time that the anchor element needs to cover the entire stroke

put back. The duration of the brief influencing is preferably less than 20 ms, advantageously less than 15 ms, preferably less than 10 ms and particularly preferably less than 5 ms. The fact that the holding force is influenced in such a way that the fixation of the anchor element is at least partially canceled is to be understood in particular to mean that the holding force is influenced in such a way that the holding force is smaller than the pressing force, in particular the spring force, of the respective stronger pressing component , especially the spring, of the mechanical acceleration unit. In particular, when the fixation of the anchor element is at least partially removed, the holding force is reduced in such a way that it is at least 10%, preferably at least 20% and preferably is at least 30% less than the pressing force of the mechanical

Acceleration unit.

In addition, it is proposed that the magnetic holding unit comprises at least one magnetic coil and / or at least one reluctance magnet for generating the holding force, the magnetic field of which can be controlled, in particular by means of the control and / or regulating unit. This allows advantageous switching properties to be achieved. In particular, this advantageously enables the magnetic field generating the holding force to be influenced directly. A reluctance magnet is to be understood in particular as an electromagnet with at least one magnet coil and an iron circle, which has an air gap and in which the magnetic field of the magnet coil is intended to interact with the armature element in such a way that the armature element is pulled by the magnetic field in the direction of the air gap . The reluctance magnet is provided in particular to exert a reluctance force on the armature element which acts in particular in the direction of the magnetic holding unit having the reluctance magnet. Each magnetic holding unit comprises in particular at least one magnetic coil.

It is also proposed that the actuator device at least one

Includes permanent magnet, which is provided at least to generate the holding force fixing the anchor element in the stable end position.

This allows advantageous switching properties to be achieved. In particular, a currentless and / or electrically stress-free fixing of the anchor element in a stable end position can thereby be made possible. As a result, good fail-safe behavior can advantageously be achieved. In addition, an energy-saving actuator device can thereby advantageously be achieved.

If the magnetic holding unit and / or the further magnetic holding unit has at least one permanent magnet, a currentless and / or electrically stress-free fixing of the armature element in a stable end position can advantageously be made possible. This means that a good fail-safe Behavior can be achieved. In addition, an energy-saving actuator device can thereby advantageously be achieved. In particular, the permanent magnet arranged in the magnetic holding unit is provided to attract the armature element magnetically. For this purpose, the anchor element is in particular formed at least partially from a magnetic material, for example iron, or the anchor element itself comprises at least one other

Permanent magnet.

If the anchor element has at least one permanent magnet, a currentless and / or electrically stress-free fixation of the anchor element in a stable end position can advantageously be made possible. As a result, good fail-safe behavior can advantageously be achieved. In addition, an energy-saving actuator device can thereby advantageously be achieved. In particular, the permanent magnet arranged in the armature element is provided to exert an attractive effect on the magnetic holding unit. For this purpose, the magnetic holding unit is in particular formed at least partially from a magnetic material, for example iron, or the magnetic holding unit itself comprises at least one further permanent magnet.

It is further proposed that the actuator device comprises at least one switching coil, which is provided at least to generate a switching magnetic field, in particular a switching magnetic pulse, which the magnetic field of the permanent magnet of the holding unit and / or the permanent magnet of the armature element to at least briefly reduce the holding force of magnetic holding unit superimposed at least locally displacing. This allows advantageous switching properties to be achieved. In particular, this advantageously enables the magnetic field generating the holding force to be influenced directly. The switching coil is particularly designed as a

Formed magnetic coil, which preferably includes the range of motion of the armature element at least partially and / or at least in sections. In particular, the switching coil is surrounded by magnetic field guiding elements, which are preferably at least partially by a housing of the Actuator device and are formed by the anchor element. The switching magnet pulse has in particular a duration of less than 10 ms, advantageously less than 7 ms, preferably less than 4 ms and particularly preferably less than 2 ms. A duration of the brief reduction in the holding force of the magnetic holding unit is in particular less than or equal to the duration of the switching magnet pulse. The local displacement of the magnetic field of the

Permanent magnet is preferably concentrated on part of a volume of a magnetic field guiding element, which at the same time forms part of a magnetic circuit of the permanent magnet and part of a magnetic circuit of the switching coil, provided that this is activated and the magnetic field guiding element preferably forms part of the housing of the actuator device. Alternatively, the element guiding the magnetic field, from which the magnetic field of the permanent magnet is at least partially displaced by the magnetic field of the switching coil, can also be designed differently from the housing,

for example as a separate iron part. The magnetic field of the switching coil has, in particular, a magnetic field strength which is at least high enough to achieve a sufficient reduction in the holding force, so that the

pressing force of the mechanical acceleration unit exceeds the remaining holding force of the permanent magnet. Preferably that reduces

Switching magnetic field the holding force of the permanent magnet at least for the duration of the switching magnet pulse at least to a large extent, preferably at least almost completely. A “major part” should be understood to mean in particular at least 51%, preferably at least 66%, preferably at least 80% and particularly preferably at least 95%. In particular, the switching coil is assigned to the magnetic holding unit. In particular, the switching coil is arranged in a vicinity of the magnetic holding unit, wherein the

The vicinity of the magnetic holding unit is formed in particular by points which are at a distance from the magnetic holding unit that is at most 50%, preferably at most 40%, of a maximum extension of the actuator device in the direction of a movement axis of the armature element. Preferably, the switching coil is completely in a first half of the

Arranged actuator device.

In particular, the actuator device has a further switching coil, which is preferably at least substantially identical to the switching coil

is trained. In particular, the further switching coil is the further

assigned magnetic holding unit. In particular, the further switching coil is arranged in a close range of the further magnetic holding unit, the close range of the further magnetic holding unit being in particular formed by points which are at a distance from the further magnetic holding unit of at most 50%, preferably at most 40%, of the

Maximum extension of the actuator device in the direction of the axis of movement of the anchor element. The further switching coil is preferably arranged completely in a second half of the actuator device, in particular different from the first half, and preferably free of overlap with the first half. In particular, the further switching coil is provided at least to generate a further switching magnetic field which at least locally superimposes the magnetic field of the permanent magnet of the further magnetic holding unit and / or of the permanent magnet of the armature element to at least briefly reduce the holding force of the further magnetic holding unit.

It is also proposed that the switching coil is provided to transmit an initial acceleration pulse to the armature element by means of the switching magnetic field, in particular the switching magnetic pulse. This allows advantageous switching properties to be achieved. In particular, a high switching speed can thereby be achieved. A high acceleration of the anchor element can thereby advantageously be achieved. The entire stroke of the actuator device can thereby advantageously be completed in a particularly short time. In addition, a necessary to cancel the holding force can advantageously

Magnetic field strength of the switching magnetic field can be kept low, thereby advantageously reducing a switching time, in particular one for setting up the

Switching magnetic field necessary time can be kept low. In particular the armature element experiences when the switching magnetic field is activated

Reluctance force that pulls the anchor element out of the stable end position.

It is further proposed that at least a part of the armature element is arranged in a coil interior of the switching coil, at least in the first operating state. This allows advantageous switching properties to be achieved. In particular, an effective transmission of the initial

Acceleration pulse can be achieved. In addition, a

Overall space of the actuator device can be kept as small as possible.

In particular, at least part of the armature element is arranged in the interior of the switching coil as long as the armature element is in the stable end position. In particular, at least part of the anchor element is in one

Coil interior of the further switching coil arranged as long as the

Anchor element is in the second stable end position. The coil interior of the switching coil is in particular as a cavity in an interior of

Coil windings of the switching coil formed around which the coil windings are wound.

It is further proposed that the armature element has at least one groove which, in the first operating state, forms a reluctance gap of a magnetic circuit of the switching coil. This allows advantageous switching properties to be achieved. In particular, when the switching coil is activated, a reluctance force generating the initial acceleration pulse can be generated. In addition, effective transmission of the initial

Acceleration pulse can be achieved. A “reluctance gap” is to be understood in particular as a gap, preferably an air gap or reluctance air gap, of a magnetic circuit which is in particular free of materials that conduct magnetic fields and which in particular forms a magnetic resistance. In particular, the reluctance gap produces at a

Activation of the magnetic field of the switching coil creates a reluctance force, which closes the reluctance gap through the magnetic circuit of the switching magnetic field strives and thus in particular causes a displacement and / or acceleration of the anchor element.

It is also proposed that the anchor element in a moved state along a large part of the stroke that can be covered by the anchor element, in particular along the maximum stroke, in particular apart from

Near areas of stable end positions, is at least essentially free from the influence of external magnetic fields. This can be beneficial

Switching properties can be achieved. In particular, a high switching speed and / or high dynamics of the actuator device can thereby be achieved. A “close range of stable end positions” should in particular include

Stay area of the anchor element are understood in which the

Anchor element is deflected relative to the position in the stable end position, in particular in a stroke direction, at most by a distance which is less than 25%, preferably less than 15% and preferably less than 7% of the stroke, in particular the maximum stroke, of the actuator device . The phrase “essentially free” should be understood to mean in particular free of magnetic fields which have a magnetic field strength of more than 5%, preferably more than 3% and preferably more than 1% of the magnetic field of the magnetic holding units that generates the holding force. In particular, natural magnetic fields, such as the earth's magnetic field, should be present in this

Context can be understood as not influencing the movement.

In addition, a method for operating an actuator device, in particular an electromagnetic actuator device, with at least one armature element, and with at least one magnetic holding unit, by means of which the armature element is in a stable end position in at least one fixing step

Actuator device is fixed, proposed, in which the anchor element is accelerated out of the stable end position to actuate the anchor element in at least one actuator step, the anchor element in the

Actuator step is accelerated in such a way that the armature element has a stroke of more than 10 mm, preferably in a period of at most 25 ms A stroke of at least 20 mm is covered for a period of at most 20 ms.

As a result, an actuator device can in particular have advantageous

Switching properties are made possible. A particularly fast switching, in particular in conjunction with a particularly large stroke, can advantageously be achieved. A particularly large stroke can advantageously be made possible, in particular in connection with a particularly rapid overcoming of this stroke. In spite of the large stroke, fast switching can be advantageous, especially in comparison to a reluctance actuator or a reluctance magnet or im

It is also proposed that the anchor element be accelerated in the actuator step with a maximum acceleration of at least 100 m / s ² , preferably at least 150 m / s ² , preferably at least 200 m / s ² and particularly preferably at least 250 m / s ² . In this way, an actuator device with advantageous switching properties can in particular be made possible. In particular, a high switching speed and / or high dynamics of the

Actuator device can be achieved. In particular, the mechanical

Acceleration unit, a spring or a spring package with a spring stiffness which is provided or designed to achieve the maximum acceleration, in particular in combination with the initial acceleration pulse triggered by the switching coil.

If the armature element is largely moved by spring forces in the actuator step, advantageous switching properties can be made possible.

In particular, large strokes can advantageously be made possible. In particular, short switching times can advantageously be achieved. In particular, power consumption by the actuator device can be kept low. If the anchor element is fixed in the stable end position at least in one fixing step in a currentless and / or electrically stress-free manner, advantageous switching properties can be made possible. In particular, good fail-safe behavior can advantageously be achieved. In addition, an energy-saving actuator device can thereby advantageously be achieved.

If a movement of the armature element is permitted and / or initiated by a trigger pulse that influences a magnetic field of the magnetic holding unit and / or a magnetic field of the armature element, which is shorter than 4 ms, preferably shorter than 2 ms, advantageous switching properties can be enabled. In particular, short switching times can advantageously be achieved.

It is also proposed that the trigger pulse is provided to superimpose a magnetic field of a permanent magnet of the magnetic holding unit and / or a magnetic field of a permanent magnet of the armature element at least locally in a displacing manner. This enables advantageous switching properties to be made possible. In particular, short switching times can advantageously be achieved. In addition, an energy-saving actuator device can advantageously be achieved in this way, in particular since a brief activation of an electrically generated magnetic field is sufficient for operating the actuator device.

If the armature element is additionally initially accelerated at the beginning of the actuator step by the trigger pulse, advantageous switching properties can be made possible. In particular, short switching times can advantageously be achieved. In particular, high initial acceleration values can advantageously be achieved. In particular, a switching magnetic field required to activate an actuator movement can advantageously be kept low, whereby this can advantageously be built up particularly quickly.

It is also proposed that in at least one further

Fixing step a moved anchor element in a vicinity of one of the magnetic holding units in a direction of movement of the anchor element oppositely arranged further magnetic holding unit is captured by a magnetic field of the further magnetic holding units and is held in a second stable end position. As a result, a controllable magnetomechanical oscillation system can advantageously be created. The actuator device according to the invention and the method according to the invention are not intended to be restricted to the application and embodiment described above. In particular, the actuator device according to the invention and the method according to the invention can be used to fulfill one of these

have a number of individual elements, components and units that differs from a number mentioned herein.

drawings

Further advantages emerge from the following description of the drawings. Four exemplary embodiments of the invention are shown in the drawings. The

The drawings, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into useful further combinations.

Show it:

Fig. 1 is a schematic sectional view of an actuator device with a

Anchor element and two magnetic holding units in a first operating state,

2 shows a schematic sectional view of the actuator device in a second operating state,

3 shows a schematic sectional view of the actuator device in a third operating state,

4 shows a schematic force diagram of the actuator device,

5 shows a flow chart of a method for operating the

Actuator device, Figure 6 is a schematic sectional view of an alternative

Actuator device with an alternative anchor element,

7 shows a flow chart of a method for operating the alternative

Actuator device,

8 is a schematic sectional view of a further alternative

Actuator device with an alternative magnetic holding unit, FIG. 9 a schematic sectional view of an additional further alternative actuator device with a further alternative magnetic holding unit,

FIG. 10 shows the same schematic sectional view of the additional further alternative actuator device as FIG. 9 with schematically illustrated magnetic field lines of a permanent magnet,

11 shows the same schematic sectional view of the additional further alternative actuator device as FIG. 9 with schematically illustrated magnetic field lines of a switching coil, and FIG. 12 shows a flow chart of a method for operating the alternative

Actuator device.

Description of the exemplary embodiments

1 shows a sectional view of an actuator device. The actuator device is designed as an electromagnetic actuator device. The actuator device comprises an anchor element 10a. The anchor element 10a is at least partially formed from a magnetic material. The anchor element 10a is at least partially made of iron. The anchor element 10a is in one piece. The

Anchor element 10a is provided along a provided

Movement direction 28a to be moved back and forth within the actuator device. The anchor element 10a is provided to a Flub 20a of the

Generate actuator device. In a moved state, the anchor element 10a is at least essentially free of any external influence along a large part of the wing 20a that can be covered by the anchor element 10a Magnetic fields. The actuator device has a maximum extension 26a of 20 mm in any direction perpendicular to the intended direction of movement 28a of the armature element 10a.

The anchor element 10a is provided to generate a movement of a gripping arm of a pick-and-place system (not shown). The anchor element 10a is disk-shaped. Two flat sides of the disk-shaped anchor element 10a are arranged perpendicular to the intended direction of movement 28a of the anchor element 10a. The anchor element 10a is guided along its direction of movement 28a by means of a guide unit 72a of the actuator device. The guide unit 72a comprises at least one guide rail 74a. The guide rail 74a is provided for linear guidance of the anchor element 10a within the actuator device. Alternative guide units, for example a pole tube or the like, are conceivable. A maximum

Extension 76a of armature element 10a in any direction perpendicular to the intended direction of movement 28a of armature element 10a corresponds to the maximum extension 26a of the actuator device.

The actuator device has a magnetic holding unit 12a. The

Magnetic holding unit 12a is provided at least to fix the anchor element 10a in at least one first operating state 14a in a stable end position 16a. The magnetic holding unit 12a is provided in the first operating state 14a to fix the anchor element 10a in the stable end position 16a by means of a magnetic holding force. The magnetic holding unit 12a is provided to generate the magnetic holding force which fixes the anchor element 10a in the first operating state 14a in the stable end position 16a and which acts against an acceleration force applied to the anchor element 10a and generated by a mechanical acceleration unit 18a.

The actuator device has a further magnetic holding unit 22a. The further magnetic holding unit 22a is provided at least to hold the anchor element 10a in at least one third operating state 34a in a to fix the second stable end position 36a (cf. also FIG. 3). The other

The magnetic holding unit 22a is provided to fix the anchor element 10a in the second stable end position 36a by means of a magnetic holding force in the third operating state 34a. The further magnetic holding unit 22a is provided to generate the magnetic holding force which the

Anchor element 10a is fixed in the second stable end position 36a in the third operating state 34a and which acts against an acceleration force applied to the anchor element 10a and generated by the mechanical acceleration unit 18a.

The further magnetic holding unit 22a is embodied separately from the magnetic holding unit 12a. The further magnetic holding unit 22a is spaced apart from the magnetic holding unit 12a in a direction running parallel to the intended direction of movement 28a of the armature element 10a. The magnetic holding unit 12a and the further magnetic holding unit 22a are designed essentially identical to one another. The magnetic holding unit 12a and the further magnetic holding unit 22a are arranged mirror-symmetrically to one another. A distance between the magnetic holding unit 12a and the further magnetic holding unit 22a corresponds at least to

Essentially the maximum stroke 20a of the anchor element 10a.

The actuator device has a control and / or regulating unit 38a. The

Control and / or regulating unit 38a is provided to influence, control and / or regulate a movement of armature element 10a. The

Magnetic holding unit 12a and / or the further magnetic holding unit 22a comprise a magnetic coil 42a. The control and / or regulating unit 38a is provided to control and / or regulate the flow of current through the magnetic coil 42a. The control and / or regulating unit 38a is provided to apply the holding force of the magnetic by means of the current flow through the magnetic coil 42a

To influence holding units 12a, 22a, to control and / or regulate. The control and / or regulating unit 38a is provided to briefly influence the holding force of the magnetic holding units 12a, 22a in such a way that the Fixing of the anchor element 10a in one of the stable end positions 16a, 36a is at least partially canceled. The magnetic holding unit 12a and / or the further magnetic holding unit 22a form a reluctance magnet 44a. The reluctance magnet 44 is provided to generate the magnetic holding force. The reluctance magnet 44a has an air gap 82a (see FIG. 2). The reluctance magnet 44a strives to close the air gap 82a by attracting the armature element 10a. The reluctance magnet 44a exercises

especially if the anchor element 10a is in a close range of the

Reluctance magnet 44a is located, a reluctance force on the armature element 10a (see. Also Fig. 4). The magnetic field and / or the reluctance force of the

Reluctance magnet 44a is controllable.

The actuator device has a mechanical acceleration unit 18a. The mechanical acceleration unit 18a is provided at least to actuate the in at least one second operating state 24a

Anchor element 10a to accelerate the anchor element 10a out of the stable end position 16a or out of the second stable end position 36a (see also FIG. 2). The control and / or regulating unit 38a is provided to put the armature element 10a into the second operating state 24a and / or the armature element 10a into a moving state by deactivating a holding force of the magnetic holding unit 12a and / or the holding force of the further magnetic holding unit 22a State.

The mechanical acceleration unit 18a is provided to the

To accelerate anchor element 10a in such a way that the anchor element 10a covers a stroke 20a of at least 20 mm in a period of at most 20 ms. The mechanical acceleration unit 18a is provided to make a significant contribution to an overall acceleration of the anchor element 10a during the second operating state 24a or during the movement of the anchor element 10a. The mechanical acceleration unit 18a has a first spring 30a. The first spring 30a is provided to exert a pressing force on the anchor element 10a in the first operating state 14a. The first spring 30a is provided to exert a pressing force on the anchor element 10a in the second operating state 24a. The first spring 30a is as one

Formed spiral compression spring. The first spring 30a is supported on the magnetic holding unit 12a. The magnetic holding unit 12a has a

Recess 78a, which is provided to secure the first spring 30a against slipping. The recess 78a is provided to at least partially receive the first spring 30a in the second operating state 24a and in the third operating state 34a. The recess 78a is provided to accommodate the first spring 30a almost completely in a compressed state in the first operating state 14a. The recess 78a is centrally located in a magnetic core 80a of the magnetic holding unit 12a, in particular the

Reluctance magnet 44a, arranged. The first spring 30a is against that

Anchor element 10a supported. The anchor element 10a has a receptacle 86a, which is provided to secure the first spring 30a against slipping.

The mechanical acceleration unit 18a has a second spring 40a.

The second spring 40a is provided to exert a pressing force on the anchor element 10a in the third operating state 34a. The second spring 40a is provided to one of the pressing force of the first spring 30a

exert opposing pressing force on the anchor element 10a. The first spring 30a is designed as a spiral compression spring. The second spring 40a is supported on the further magnetic holding unit 22a. The other

The magnetic holding unit 22a has a further recess 84a, which is provided to secure the second spring 40a against slipping. The further recess 84a is provided to at least partially accommodate the second spring 40a in the first operating state 14a and in the second operating state 24a. The further recess 84a is provided in the third Operating state 34a to accommodate the second spring 40a almost completely in a compressed state. The further recess 84a is arranged centrally in a magnetic core 80a of the further magnetic holding unit 22a, in particular of the reluctance magnet 44a. The second spring 40a is against that

Anchor element 10a supported. The first spring 30a and the second spring 40a are supported on opposite sides of the anchor element 10a pointing away from one another. The anchor element 10a has a further receptacle 88a which is provided to secure the second spring 40a against slipping.

The magnetic holding unit 12a and / or the further magnetic holding unit 22a have a damping unit 32a. The damping unit 32a is provided to at least substantially dampen an impact pulse of the anchor element 10a on the magnetic holding unit 12a and / or the further magnetic holding unit 22a at the end of a movement process of the anchor element 10a. The damping unit 32a is provided to prevent the armature element 10a from ricocheting off the magnetic holding units 12a, 22a. The damping unit 32a comprises an impact element 68a. The impact element 68a is on a surface facing the anchor element 10a

magnetic holding unit 12a and / or the further magnetic holding unit 22a arranged. The damping unit 32a comprises a further impact element 70a. The further impact element 70a is on a surface of the anchor element 10a facing the magnetic holding unit 12a and / or on a surface of the armature element 10a facing the further magnetic holding unit 22a

Anchoring element 10a arranged. The impact elements 68a, 70a are formed from an elastomer.

FIG. 4 shows a force diagram 104a for operation of the actuator device. A path that the anchor element 10a covers between the stable end positions 16a, 36a is plotted on an abscissa 90a. A force is plotted on a left ordinate 92a. An acceleration 102a is plotted on a right ordinate 94a. Solid lines show magnetic forces 96a, 98a of FIG magnetic holding units 12a, 22a. An upper continuous line shows an unreduced magnetic force 96a of the magnetic holding units 12a, 22a. A lower continuous line shows a reduced magnetic force 98a of the magnetic holding units 12a, 22a with a corresponding switching of the magnetic field of the magnet coils 42a. A dash-dot line shows a combined spring force 100a of the mechanical acceleration unit 18a. A dashed line shows an acceleration 102a of the anchor element 10a. From diagram 104a it becomes clear that the unreduced magnetic force 96a exceeds the spring force 100a combined exclusively in the vicinity of the stable end positions 16a, 36a and thus fixes the anchor element 10a in the stable end positions 16a, 36a. The magnetic forces 96a, 98a also drop rapidly along the path covered by the armature element 10a to a value close to zero, and accordingly do not influence the movement of the armature element 10a over a large part of the path. The combined spring force 100a is greatest in the stable end positions 16a, 36a, where one spring 30a, 40a is maximally relaxed and the other spring 30a, 40a is maximally tensioned, and falls to a center 106a of the stroke path. Exactly in the middle 106a of the stroke path, the combined spring force 100a is equal to zero. If the

Actuator device, however, the acceleration 102a in the middle 106a of the stroke path is so great that the armature element 10a swings beyond this middle position 106a (the speed of the anchor element 10a is maximum in the middle 106a of the stroke path) and the respective opposing spring 30a, 40a is pretensioned up to reaching the area in which a magnetic field of the opposing magnetic holding unit 22a captures the armature element 10a. The acceleration 102a is reduced in the area of influence of the reduced magnetic field at the beginning of the movement of the armature element 10a and is then essentially constant until the central position 106a is reached. Depending on the type and configuration of the mechanical

Acceleration unit 18a can also accelerate 102a

have a different course, which is, for example, not essentially constant, but variable. From diagram 104a it can be seen that before an initial start-up of the actuator device to ensure proper operation of the actuator device, the anchor element 10a must be brought into one of the stable end positions 16a, 36a.

5 shows a flow chart of a method for operating a

Actuator device. In at least one method step 108a, the

Anchoring element 10a brought into one of the positions of the stable end position 16a by an external force. In at least one fixing step 62a, the

Anchor element 10a fixed by the magnetic holding unit 12a in the stable end position 16a of the actuator device. In at least one actuator step 64a, the anchor element 10a is accelerated out of the stable end position 16a to actuate the anchor element 10a. This is done in actuator step 64a

The magnetic field of the magnetic holding unit 12a is manipulated in such a way that the pressing force of the mechanical acceleration unit 18a exceeds the magnetic force of the magnetic holding unit 12a. In the actuator step 64a, the armature element 10a is the mechanical

Acceleration unit 18a moved in the direction of the further magnetic holding unit 22a. The anchor element 10a is so in the actuator step 64a

accelerates that the anchor element 10a covers a flub 20a of at least 20 mm in a period of at most 20 ms. The anchor element 10a is accelerated in the actuator step 64a with a maximum acceleration of at least 250 m / s ² . The anchor element 10a becomes one in the actuator step 64a

Most moved by spring forces. The armature element 10a is accelerated during the actuator step 64a in such a way that the armature element 10a swings beyond the middle position of the entire stroke, which is in the middle 106a between the two separately arranged stable end positions 16a,

36a of the actuator device is located. In at least one further fixing step 66a, the armature element 10a moved in the actuator step 64a is in a vicinity of the further magnetic holding unit 22a arranged opposite the magnetic holding unit 12a in the direction of movement 28a of the armature element 10a by a magnetic field of the further magnetic holding unit 22a captured. In the further fixing step 66a, following the capture of the anchor element 10a, the anchor element 10a is held in the second stable end position 36a. An analogous process takes place for a return movement of the armature element 10a into the stable end position 16a, in which first the magnetic field of the further magnetic holding unit 22a is lowered and the accelerated moving armature element 10a is then captured by the magnetic field of the magnetic holding unit 12a.

In the figures 6 to 12 three further exemplary embodiments of the invention are shown. The following descriptions and the drawings are essentially limited to the differences between the exemplary embodiments, whereby with regard to identically designated components, in particular with regard to components with the same reference symbols, in principle also to the drawings and / or the description of the other exemplary embodiments, in particular FIGS to 5, can be referenced. To distinguish the exemplary embodiments, the letter a is placed after the reference numerals of the exemplary embodiment in FIGS. 1 to 5. In the exemplary embodiments of FIGS. 6 to 12, the letter a is replaced by the letters b to d.

Fig. 6 shows part of a sectional view of an alternative actuator device. The dash-dot line represents an axis of symmetry. The actuator device has an anchor element 10b. The actuator device has a magnetic holding unit 12b. The actuator device has a permanent magnet 46b. Of the

Permanent magnet 46b is provided to generate the holding force that fixes armature element 10b in a stable end position 16b. The anchor element 10b has the permanent magnet 46b. The actuator device has a switching coil 50b. The switching coil 50b is provided to generate a switching magnetic field, in particular a switching magnetic pulse, which superimposes the magnetic field of the permanent magnet 46b at least locally to reduce the holding force of the magnetic holding unit 12b, at least for a short time. The switching coil 50b is provided by means of the

Switching magnetic field, in particular the switching magnetic pulse To allow the anchor element 10b to accelerate out of the stable end position 16b.

7 shows a flow chart of a method for operating the alternative actuator device. In at least one fixing step 62b, the anchor element 10b is fixed in the stable end position 16b without current. In the fixing step 62b, the anchor element 10b is magnetically attracted to the magnetic holding unit 12b by the permanent magnet 46b. In the fixing step 62b, the anchor element 10b forms together with the permanent magnet 46b

Magnetic field guiding components 1 12b, 1 14b, 1 16b of the magnetic holding unit 12b from a magnetic circuit. In at least one further method step 118b, a movement of the armature element 10b is permitted and / or initiated by a trigger pulse which influences the magnetic field of the permanent magnet 46b of the armature element 10b and is shorter than 4 ms. The trigger pulse is provided to superimpose a magnetic field of the permanent magnet 46b of the armature element 10b at least locally in a displacing manner (alternatively, the magnetic field of the permanent magnet 46c of the magnetic holding unit 12c is influenced, cf. the embodiment of FIG. 8). In at least one further method step 120b, the armature element 10b is accelerated out of the stable end position 16b by a mechanical acceleration unit 18b as soon as a pressing force of the mechanical acceleration unit 18b exceeds the magnetic holding force of the permanent magnet 46b, which is reduced by the trigger pulse.

Fig. 8 shows part of a sectional view of a further alternative

Actuator device. The dash-dot line represents an axis of symmetry. The

Actuator device has an anchor element 10c. The actuator device has a magnetic holding unit 12c. The actuator device has a

Permanent magnet 46c. The permanent magnet 46c is provided to generate the holding force that fixes the armature element 10c in the stable end position 16c. The magnetic holding unit 12c has the permanent magnet 46c. The actuator device has a switching coil 50c. The switching coil 50c is provided to generate a switching magnetic field, in particular a switching magnetic pulse, to generate, which superimposes the magnetic field of the permanent magnet 46c to at least a brief reduction in the holding force of the magnetic holding unit 12c at least locally in a displacing manner. The switching coil 50c is provided by means of the switching magnetic field, in particular the

Switching magnet pulse to allow the armature element 10c to accelerate out of the stable end position 16c.

9 shows a schematic sectional view of an additional further alternative actuator device with further alternative magnetic ones

Holding units 12d, 22d. The dash-dot line represents an axis of symmetry. The actuator device has an anchor element 10d. The actuator device has permanent magnets 46d, 48d. The permanent magnets 46d, 48d are provided to generate the holding forces that fix the anchor element 10d in stable end positions 16d, 36d. The magnetic holding unit 12d has the

Permanent magnet 46d. The further magnetic holding unit 22d has the further permanent magnet 48d. The actuator device has a switching coil 50d. The actuator device has a further switching coil 52d. The

Switching coils 50d, 52d are provided to generate a switching magnetic field, in particular a switching magnetic pulse, which superimposes the magnetic field of the respective permanent magnet 46d, 48d at least locally to reduce the holding force of the magnetic holding unit 12d, at least for a short time. The switching coils 50d, 52d are provided by means of the

Switching magnetic field, in particular the switching magnetic pulse

To allow the anchor element 10d to accelerate out of the respective stable end position 16d, 36d. The switching coils 50d, 52d are also provided to transmit an initial acceleration pulse to the armature element 10d by means of the switching magnetic field, in particular the switching magnetic pulse.

The actuator device has a range of motion 110d. The anchor element 10d can be moved in a movement direction 28d within the movement range 110d. The switching coils 50d, 52d encompass the range of motion 110d.

The range of motion 110d runs partially within a coil interior 54d the switching coils 50d, 52d. The switching coils 50d, 52d are arranged at a distance from one another in the direction of movement 28d of the armature element 10d. In a first operating state 14d of the actuator device, in which the armature element 10d is fixed in the stable end position 16b, at least part of the armature element 10d is arranged in the coil interior 54d of the switching coil 50d. At least part of the armature element 10d is arranged in the coil interior 54d of the further switching coil 52d in a third operating state 34d of the actuator device in which the armature element 10d is fixed in the second stable end position 36d. The actuator device has a control and / or regulating unit 38d. The magnetic fields of the switching coils 50d, 52d can be influenced, controlled and / or regulated by means of the control and / or regulating unit 38d.

The anchor element 10d has a groove 56d. In the first operating state 14d, the groove 56d forms a reluctance gap 58d of a magnetic circuit

Switching coil 50d off. The anchor element 10d has a further groove 122d. The further groove 122d forms a further one in the third operating state 34d

Reluctance gap 124d of a further magnetic circuit of the further switching coil 52d.

FIG. 10 shows the same schematic sectional view of the additional further alternative actuator device as FIG. 9 with switching coils 50d, 52d switched to currentless and the anchor element 10d fixed in the stable end position 16d.

Magnetic field lines 128d of the magnetic field of the permanent magnet 46d are shown schematically. The magnetic circuit fixing the armature element 10d runs through two magnetic field-conducting components 1 12d, 1 14d above and below the permanent magnet 46d and through part of the armature element 10d, through part of a housing 130d of the actuator device and through another, the housing 130d and the armature element 10d magnetic

connecting magnetic field guiding component 1 16d. The housing 130d has a maximum extension 26d in any direction perpendicular to an intended direction of movement 28d of the anchor element 10d of 20 mm. FIG. 1 1 again shows the same schematic sectional view of the additional further alternative actuator device as FIG. 9 without the permanent magnet 46d and with the switching coil 50d activated. Magnetic field lines 132d of the magnetic field of the switching coil 50d are shown schematically. The magnetic field of the

The permanent magnet 46d locally displacing the armature element 10d and / or providing the armature element 10d with an initial acceleration pulse runs through part of the armature element 10d, through the reluctance gap 58d formed by the groove 56d, through a part of the housing 130d and through two other parts, the housing 130d and the armature element 10d magnetically connecting magnetic field conducting components 1 16d, 134d. The magnetic circuits of the switching coil 50d and the permanent magnet 46d both run through the common magnetic field-guiding component 1 16d. With the appropriate polarity of the switching coil 50d, the magnetic circuit of the switching coil 50d thus at least partially displaces the magnetic circuit of the permanent magnet 46d from the common

Magnetic field conducting component 1 16d. This also weakens the part of the magnetic field of the permanent magnet 46d that runs through the armature element 10d, so that the magnetic holding force triggered by the permanent magnet is reduced and the armature element 10d can be accelerated out of the stable end position 16d by a mechanical acceleration unit 18d .

FIG. 12 shows a flow chart of a method for operating the additional further alternative actuator device. In at least one method step 60d, the magnetic field of the permanent magnet 46d, which fixes the armature element 10d in the stable end position 16d, is reduced by a trigger pulse of the switching coil 50d in such a way that the pressing force of the mechanical

Acceleration unit 18d exceeds the magnetic holding force of the permanent magnet 46d. In at least one further method step 126d, in particular at the beginning of an actuator step 64d, the armature element 10d is additionally initially accelerated by the trigger pulse. In the further method step 126d, the armature element 10d is activated by the magnetic field of the switching coil 50d generated reluctance force is moved in a direction facing away from the magnetic holding unit 12d.

Claims

Expectations

1 . Actuator device, in particular electromagnetic actuator device, with at least one armature element (10a-d) and with at least one magnetic holding unit (12a-d), which is provided at least to hold the armature element (10a-d) in at least one first operating state (14a-d) to be fixed in a stable end position (16a-d), characterized by at least one mechanical acceleration unit (18a-d), which is provided at least to actuate the anchor element (10a-d) in at least one second operating state (24a-d) the anchor element (10a-d) from the stable end position (16a-d)

accelerate out, the anchor element (10a-d) being accelerated in the second operating state (24a-d), in particular as a result of the actuation of the anchor element (10a-d) by deactivating a holding force of the magnetic holding unit (12a-d), that the anchor element (10a-d) covers a stroke (20a-d) of more than 10 mm in a period of at most 25 ms, preferably a stroke (20a-d) of at least 20 mm in a period of at most 20 ms, and wherein the mechanical acceleration unit (18a-d) is provided to make a substantial, in particular predominant, contribution to an overall acceleration of the anchor element (10a-d) in the second operating state (24a-d).

2. Actuator device according to claim 1, characterized by a maximum extension (26a-d) in any direction perpendicular to an intended direction of movement (28a-d) of the anchor element (10a-d) of at most 30 mm.

3. Actuator device according to claim 1 or 2, characterized in that the magnetic holding unit (12a-d) is provided to generate a magnetic holding force which the armature element (10a-d) in the first operating state (14a-d) in the stable end position (16a-d) and which acts against an acceleration force applied to the anchor element (10a-d) and generated by the mechanical acceleration unit (18a-d).

4. Actuator device according to one of the preceding claims, characterized in that the mechanical acceleration unit (18a-d) has at least one first spring (30a-d) which is provided to apply a pressing force at least in the first operating state (14a-d) to act on the anchor element (10a-d).

5. Actuator device according to claim 4, characterized in that the mechanical acceleration unit (18a-d) has at least one second spring (40a-d) which is provided to one of the pressing

Force of the first spring (30a-d) to exert an opposing pressing force on the anchor element (10a-d).

6. Actuator device according to one of the preceding claims,

characterized by a further magnetic holding unit (22a-d) which is designed separately from the magnetic holding unit (12a-d) and which is provided to hold the anchor element (10a-d) in at least one third operating state (34a-d) in a to fix the second stable end position (36a-d).

7. Actuator device according to claim 6, characterized in that the further magnetic holding unit (22a-d) in a direction of the magnetic holding unit (12a-d) running parallel to an intended direction of movement (28a-d) of the armature element (10a-d) is spaced.

8. Actuator device according to claim 7, characterized in that the distance between the magnetic holding unit (12a-d) and the further magnetic holding unit (22a-d) is at least substantially a maximum stroke (20a-d) of the armature element (10a-d) corresponds.

9. Actuator device according to one of claims 6 to 8, characterized by a damping unit (32a-d) which is provided to apply an impact pulse of the armature element (10a-d) to the magnetic

To dampen the holding unit (12a-d) and / or the further magnetic holding unit (22a-d) at least substantially at the end of a movement process of the anchor element (10a-d).

10. Actuator device according to one of the preceding claims,

characterized by a control and / or regulating unit (38a-d) which is provided at least to influence a holding force of the magnetic holding unit (12a-d, 22a-d) at least briefly in such a way that the fixing of the anchor element (10a-d ) is at least partially repealed.

11. Actuator device according to one of the preceding claims, characterized in that the magnetic holding unit (12a, 22a) has at least one magnetic coil (42a) and / or at least one

Reluctance magnet (44a) for generating the holding force, the magnetic field of which is controllable.

12. Actuator device according to one of the preceding claims,

characterized by at least one permanent magnet (46b-d, 48b-d), which is provided at least to generate the holding force which fixes the anchor element (1 Ob-d) in the stable end position (16b-d).

13. Actuator device according to one of the preceding claims, characterized in that the magnetic holding unit (12c, 22c; 12d, 22d) has at least one permanent magnet (46c; 46d).

14. Actuator device according to one of the preceding claims, characterized in that the anchor element (10b) has at least one

Has permanent magnet (46b).

15. Actuator device according to one of claims 12 to 14, characterized by at least one switching coil (50b-d, 52b-d), which is provided at least to a switching magnetic field, in particular one

Switching magnetic pulse to generate which the magnetic field of the

Permanent magnets (46b-d, 48b-d) superimposed at least locally in a displacing manner to reduce the holding force of the magnetic holding unit (12b-d, 22b-d) at least for a short time.

16. Actuator device according to claim 15, characterized in that the switching coil (50d, 52d) is provided by means of the

Switching magnetic field, in particular the switching magnetic pulse, to transmit an initial acceleration pulse to the armature element (10d).

17. Actuator device according to claim 15 or 16, characterized in that at least part of the armature element (10d) at least in the first operating state (14d) in a coil interior (54d) of the

Switching coil (50d, 52d) is arranged.

18. Actuator device according to one of claims 15 to 17, characterized

characterized in that the anchor element (10d) has at least one groove (56d), which in the first operating state (14d) has a

Reluctance gap (58d) of a magnetic circuit of the switching coil (50d, 52d) forms.

19. Actuator device according to one of the preceding claims, characterized in that the armature element (10a-d) in a moved state along a large part of the stroke (20a-d) that can be covered by the armature element (10a-d) is at least substantially free of one Influence from external magnetic fields.

20. A method for operating an actuator device, in particular one

electromagnetic actuator device, in particular according to one of the preceding claims, with at least one armature element (10a-d) and with at least one magnetic holding unit (12a-d), by means of which in at least one fixing step (62) the armature element (10a-d) in a stable End position (16a-d) of the actuator device is fixed, characterized in that in at least one actuator step (64) the anchor element (10a-d) is accelerated out of the stable end position (16a-d) to actuate the anchor element (10a-d) , where the

Armature element (10a-d) is accelerated in the actuator step (64) such that the armature element (10a-d) has a stroke (20a-d) of more than 10 mm in a period of at most 25 ms, preferably in a period of at most 20 ms a stroke (20a-d) of at least 20 mm.

21. The method according to claim 20, characterized in that the

Anchor element (10a-d) in the actuator step (64a-d) with a

Maximum acceleration of at least 100 m / s ^{2 is} accelerated.

22. The method according to claim 20 or 21, characterized in that the anchor element (10a-d) is moved in the actuator step (64a-d) to a large extent by spring forces (100a-d).

23. The method according to any one of claims 20 to 22, characterized

characterized in that the anchor element (1 Ob-d) at least in one

Fixing step (62b-d) is fixed in the stable end position (16b-d) without current.

24. The method according to any one of claims 20 to 23, characterized

characterized in that a movement of the anchor element (10a-d) through a, a magnetic field of the magnetic holding unit (12a-d) and / or a

Magnetic field of the armature element (10a-d) influencing trigger pulse is permitted and / or initiated, which is shorter than 4 ms.

25. The method according to claim 24, characterized in that the

Trigger pulse is provided, a magnetic field of a

Permanent magnet (46b; 46d) of the magnetic holding unit (12c; 12d) and / or a magnetic field of a permanent magnet (46b) of the

To superimpose anchor element (10b) at least locally displacing

26. The method according to claim 24 or 25, characterized in that the anchor element (10d) at the beginning of the

Actuator step (64d) is also initially accelerated.

27. The method according to any one of claims 20 to 26, characterized in that in at least one further fixing step (66a-d) a moving anchor element (10a-d) in a vicinity of one of the magnetic holding units (12a-d) in a direction of movement (28a -d) of the anchor element (10a-d) arranged opposite another magnetic holding unit (22a-d) is captured by a magnetic field of the further magnetic holding unit (22a-d) and is held in a second stable end position (36a-d).