WO2022069115A1

WO2022069115A1 - Drive device

Info

Publication number: WO2022069115A1
Application number: PCT/EP2021/073500
Authority: WO
Inventors: Mathias Rosenkranz
Original assignee: Physik Instrumente (Pi) Gmbh & Co. Kg
Priority date: 2020-09-29
Filing date: 2021-08-25
Publication date: 2022-04-07
Also published as: DE102020125467A1

Abstract

The invention relates to a drive device (1), comprising: an actuator device (10) with an actuator (20), the extent of which in a first direction L_X is reversibly variable, the actuator device (10) forming a first end face (11) and a second end face (12) orientated, in respect of the direction L_X, opposite the first end face (11) of the actuator device (10); a frame device (100); a rotor (35), which can be moved in relation to the frame device (100); a friction element (30), which is arranged in the region of the second end face (112) of the actuator device (10), the friction element (30) having a friction surface (31) for driving the rotor (35); wherein the first bearing portion (101) forms a first bearing device (60), with which the actuator device (10) is mounted rotatably at least about one axis, which runs in a second direction L_Z orthogonal to the first direction L_X, and wherein the second bearing portion (102) has a second bearing device (70), which pushes the actuator device (10) both in the first direction L_X against the first bearing portion (101) and in a third direction L_Y, which runs orthogonally to the first direction L_X and orthogonally to the second direction L_Z, against the rotor (35). )

Description

drive device

The invention relates to a drive device.

From the 1995 Japanese publication "Linear direct drive mechanism using shock motion" by authors K. Furutani, N. Mohri, T. Higuchi, in J.Jpn. society Prec. Closely. 61 (4), pages 527 to 531, a linear direct drive mechanism is known.

US Pat. No. 8,912,707 B2 describes an actuator with elastic components.

Other actuators are known from US Pat. No. 7,671,512 B2 and CN 201-200399 (P2010-200399A).

One object of the invention is to provide an inertia motor 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 which has: an actuator device with an actuator whose expansion in a first

is reversibly changeable in direction L _x , the actuator device forming a first end face and a second end face oriented opposite to the first end face of the actuator device in relation to direction L _x , a frame device, a runner that can be moved relative to the frame device, a friction element, which in the area or is arranged on the second end face of the actuator device, with the friction element having a friction surface for driving the rotor, a first bearing device with which the actuator device is mounted on the frame device so that it can rotate at least about an axis that is along a second direction L _z , the orthogonal to the first direction L _x , and a second, bearing device that presses or biases the second face of the actuator device against the frame device both along the first direction L _x and along a third direction L _Y orthogonal to the first direction L _x and orthogonal to the second direction L _z presses or biases against the slider.

In the embodiments of the drive device according to the invention, it can be provided that the rotatable mounting of the first end face of the actuator device on the frame device is implemented by rotatably mounting the first end face of the actuator device on the first bearing section.

Due to the actuator preload, both geometry tolerances of the actuator and wear of the friction element can be compensated.

Due to the low-friction swivel joint, the actuator device or the actuator preload has a low hysteresis.

In each embodiment of the drive device according to the invention, it can be provided that the second bearing device has a clamping part made of a resilient material or is formed from such a material. The clamping part can have a first spring section, which is supported on the frame device and presses or prestresses the actuator device along the first direction L _x , and a second spring section, which is supported on the frame device and presses the actuator device against the runner along the third direction L _Y or biased. The first spring section of the clamping part can also be designed as a first spring device according to one of the implementations described herein and the second spring section of the clamping part can also be designed as a second spring device according to one of the implementations described herein.

In each embodiment of the drive device according to the invention, it can be provided that the second bearing device has: a first spring device, which is supported directly or indirectly on the frame device and presses or prestresses the actuator device along the first direction L _x , and a second spring device, which the frame device directly or indirectly and presses or biases the actuator device along the third direction L _Y against the runner.

In each embodiment of the drive device according to the invention it can be provided that the first spring device provides a spring travel along the first Direction L _x runs, and the second spring device provides a spring travel that runs along the third direction L _Y.

In each embodiment of the actuator according to the invention, it can be provided that the first spring device is formed or consists of one or more of the following components:

(A1) A leaf spring or leaf spring arrangement extending transversely to the first

Lever section extending in the direction L _x or a curved section with a curvature extending in the longitudinal direction of the leaf spring, so that the leaf spring or leaf spring arrangement provides a spring travel along the first direction L _x ;

(A2) a coil spring, wherein the coil spring axis is along the first direction L _x and the coil spring provides travel along the first direction L _x ;

(A3) a block spring providing spring travel along the first direction L _x ;

(A4) a wave spring, wherein the wave spring axis is along the first direction L _x and the wave spring provides spring travel along the first direction L _x ;

(A5) an evolute spring, wherein the evolute spring axis runs along the first direction L _x and the evolute spring provides spring travel along the first direction L _x ;

(A6) a Belleville spring, wherein the Belleville spring axis is along the first direction L _x and the Belleville spring provides spring travel along the first direction L _x ;

(A7) an air spring, wherein the air spring axis is along the first direction L _x and the air spring provides spring travel along the first direction L _x ;

(A8) a gas spring, wherein the gas spring axis runs along the first direction L _x and the gas spring provides a spring deflection along the first direction L _x .

The respective first spring device is indirectly or directly connected with a first spring device end to the actuator device and in particular the second end face of the actuator device or fixed to it and with a second spring device end, which is located opposite to the first spring device end the frame device and specifically with the first bearing section or with the second Bearing section or connected to the connecting section indirectly or directly or each fixed to it.

In each embodiment of the actuator according to the invention, it can be provided that the second spring device is formed or consists of one or more of the following components:

(B1) a leaf spring or leaf spring arrangement which has a lever section extending transversely to the third direction L _Y or a curved section with a curvature extending in the longitudinal direction of the leaf spring, through which the leaf spring or leaf spring arrangement has a spring deflection along the third direction L _Y provides;

(B2) a coil spring, wherein the coil spring axis is along the third direction L _Y and the coil spring provides travel along the third direction L _Y ;

(B3) a block spring providing spring deflection along the third direction L _Y ;

(B4) a wave spring, wherein the wave spring axis is along the first direction L _x and the wave spring provides spring travel along the third direction L _Y ;

(B5) an evolute spring, wherein the evolute spring axis runs along the first direction L _x and the evolute spring provides spring travel along the third direction L _Y ;

(B6) a Belleville spring, wherein the Belleville spring axis is along the third direction L _Y and the Belleville spring provides spring travel along the third direction L _Y ;

(B7) an air spring, wherein the gas spring axis runs along the third direction L _Y and the air spring provides spring travel along the third direction L _Y ;

(B8) a gas pressure spring, wherein the gas pressure spring axis runs along the third direction L _Y and the gas pressure spring provides a spring deflection along the third direction L _Y .

The respective second spring device is indirectly or directly connected to the actuator device and in particular the second end face of the actuator device with a first spring device end or fixed thereto and with a second spring device end, which is located opposite to the first spring device end the frame device and specifically with the first bearing section or with the second Bearing section or directly or indirectly connected to the connecting section or fixed to it.

The mobility or deformability of the respective spring device between a relatively loaded and relatively unloaded position is defined here as the spring deflection.

In each embodiment of the actuator according to the invention with a leaf spring arrangement, this is formed from at least two leaf springs, which are positioned one on top of the other perpendicularly to the longitudinal direction of the spring.

In each embodiment of the actuator according to the invention with a leaf spring, this can be used with a thickness or width decreasing from a middle section or the middle towards the ends, as viewed along its longitudinal direction. In particular, the middle section can be formed in the area of the curved section. The decreasing thickness or width may be implemented as a parabolic or rectilinear decrease in thickness or width.

In each embodiment of the actuator according to the invention with a block spring, this has a block-like shape and is made of elastically reversible material and in particular rubber or elastic plastic or an elastic elastomer or a mixture of at least two of these three aforementioned materials.

In each embodiment of the actuator according to the invention with an air spring, this can be formed from two actuating parts that can be moved relative to one another, between which a compressible gas volume is enclosed.

In each embodiment of the actuator according to the invention with a gas pressure spring, this can be formed from two control parts that can be moved relative to one another, between which a closed gas-filled pressure chamber with an internal gas pressure that sets a prestress between the control parts in a range of movement of the same relative to one another.

In embodiments of the actuator according to the invention, it can be provided that the second bearing device has a tensioning device made of a resilient material, the tensioning device being designed as a one-part or multi-part tensioning part and having: a first spring device, which is designed as a first leaf spring section, which

Actuator device against the second bearing portion along the first direction L _x to the first Bearing section presses or prestresses, and in particular has a lever section or prestressing section or force transmission section extending transversely to the first direction L _x , in which the local longitudinal direction of the leaf spring section runs along a plane that is perpendicular to the first direction L _x runs, a second spring device, which is designed as a second leaf spring section, which presses the actuator device along the third direction L _Y against the frame device in the direction of the runner, and in particular a lever section or prestressing section extending transversely to the third direction L _Y or Has power transmission section, in which the local longitudinal direction of the leaf spring section runs along a plane that is perpendicular to the third direction L _Y.

It can be provided in particular that the clamping device is designed in one piece or is made from one piece.

In each embodiment of the actuator according to the invention, it can be provided that the first spring section and the second spring section are each formed in one piece as separate components or are each made from one piece.

In each embodiment of the actuator according to the invention, in which the second bearing device has a clamping part made of a resilient material, it can be provided that the first spring section has the shape of a wave section extending along the first direction L _x or along the first

Direction L _x is designed wavy or along the first direction L _x at least partially curved.

In each embodiment of the actuator according to the invention, in which the second bearing device has a clamping part made of a resilient material, it can be provided that the first spring section is M-shaped or N-shaped or W-shaped or V-shaped or S-shaped or ring-shaped or is designed as a ring section. If the shape of the first spring section is defined using a letter, the writing direction of the letter runs in or against the first direction L _x .

In each embodiment of the actuator according to the invention, in which the second bearing device has a clamping part made of a resilient material, it can be provided that the second spring section is M-shaped or N-shaped or W-shaped or V-shaped or S-shaped or ring-shaped or is designed as a ring section. At one with help If the shape of the second spring section is defined by a letter, the writing direction of the letter runs in or counter to the third direction L _Y . Alternatively or additionally, it can be provided that the second spring section is designed as a spring that is fixed to the frame device with a first spring end section or is arranged or in contact and engages with a second spring end portion on the actuator device or its second end face or is fixed or rests on it.

In each embodiment of the actuator according to the invention, in which the second bearing device has a clamping part made of a resilient material, it can be provided that the second spring section has two end sections that are connected to a curved section, the first end section on the frame device and the second end section is attached to the actuator device or its second end face, wherein the curved section has radii of curvature at least in certain areas, the directions of which run along the first direction L _x . In this embodiment it can be provided that the first end section of the second spring section is fixed to the first bearing section or the second bearing section or a first connecting section which connects the first bearing section and the second bearing section to one another. It can be provided in particular that the first end section of the second spring section and the second end section of the second spring section run along one another and in each case along the first direction L _x .

In each embodiment of the actuator according to the invention, it can be provided that the actuator device has a first connection piece, which forms the first end face and is located between the actuator and the first bearing section and together with this forms the first bearing device. With or without the first connecting piece, the first bearing device can be designed in such a way that the first bearing device has a bearing receptacle and a bearing formation that abut one another to form a rotary or pivot joint that the bearing receptacle is viewed in cross section in the second direction L _z having a recess with receiving surface portions that are in relation to the first

Direction L _x oblique and the smallest angle to the first direction L _x are directed from this to each other in opposite directions that the bearing formation realized as a first straight plane or as a convexly curved formation surface portion and a second as a straight plane realized or as a convexly curved formation surface section, which bear against one of the receiving surface sections and move along with respect to the first bearing section when the actuator device rotates.

In each embodiment of the drive device according to the invention, it can be provided that the first bearing device is formed by a bearing mount and a bearing shape according to one of the two following alternatives (a) or (b):

(a) the bearing receptacle is formed on the first bearing section and the bearing formation is formed on the first end face of the actuator device,

(b) the bearing receptacle is formed on the first end face of the actuator device and the bearing formation is formed on the first bearing section.

In each embodiment of the drive device according to the invention, it can be provided that the bearing seat is designed as a V-shaped depression or as a section of a V-shaped depression in the first end face of the actuator device or in the first bearing section.

In each embodiment of the drive device according to the invention, it can be provided that the actuator device has a second connection piece, to which the first spring section or the second spring section or both the first spring section and the second spring section are attached. In these embodiments of the actuator according to the invention, it can be provided that the second connection piece has an actuator connection area that rests on the actuator and a carrier area that extends transversely thereto along the first direction L _x away from the actuator, with the second bearing device being mounted on the carrier area.

In each embodiment of the drive device according to the invention, it can be provided that the first connection piece and the second connection piece have insulating sections, one insulating section in each case bearing against end faces of the actuator which are oppositely oriented in relation to the first direction L _x . In these embodiments of the actuator according to the invention, it can be provided that the insulation sections are each formed as a ceramic plate or as a ceramic layer.

In each embodiment of the drive device according to the invention, it can be provided that the runner is movably mounted relative to the frame device and in doing so bears against the friction element or is in frictional contact with it. For this purpose, the drive device according to the invention can have: a guide track, which is formed on an outside of the drive device and in particular the frame device that results or is oriented in the third direction L _Y , the runner in the guide track being movably mounted relative to the frame device.

In each embodiment of the drive device according to the invention, it can be provided that it has: a motor housing, in which the frame device is mounted, a guideway, which is formed on an outside of the motor housing resulting or oriented in the third direction L _Y , with the rotor in the Guide track is movably mounted relative to the drive device.

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 locally or in sections at an angle of maximum 45 degrees and in particular maximum 30 degrees from the respective reference direction or The reference axis to which the respective direction information is based deviates.

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. The term “distance” in particular between two surfaces is understood here to mean the shortest distance in particular.

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 central 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.

By a "curved course" of a line or edge or surface is meant that the

Viewed along a reference direction across the entire transverse to the surface

Reference direction running width has no corner, ie has differentiable course. Curving a component, in particular a leaf spring, along one direction, eg along a longitudinal direction, means herein that the component curves along this direction. The curvature is visible in a viewing direction transverse to this direction and along the width direction of the component and in particular of the leaf spring.

“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 has such a position in relation to it that the sum of the deviation amounts between both surface sections is minimal. With regard to a length of the extension 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 referenced surface section in which the sum of the deviation amounts between the two surface sections is minimal.

As used herein, the term "leaf spring" or "leaf spring portion" means a spring that extends in a linear length. In the embodiments of the drive device according to the invention with a leaf spring, this is installed in the drive device with at least one curved section or curved section at least in the braced and in particular straight braced or arched state and thereby connects two components, with the respective leaf spring being able to form a curvature along its longitudinal direction , to provide a potential of momentum between the two components. The width direction runs vertically to the longitudinal direction of the leaf spring or the leaf spring section, the course of the curved section being visible when looking in the width direction. The thickness direction of the leaf spring or the leaf spring portion is vertical to the longitudinal direction and vertical to the width direction

The forms of a first leaf spring section described herein result from the course of a center plane that runs along the longitudinal extent of the leaf spring section. The cross section or the side view can have a constant along its center line width, a substantially constant width, or a varying width.

The term "integral" in relation to a part or component is understood herein to mean 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.

Embodiments of the invention are described below with reference to the accompanying figures. The description of features or components of embodiments according to the invention is to be understood here 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 shows a perspective view of an embodiment of the drive device according to the invention, which has an actuator, a first and a second bearing device and a frame device, the second bearing device being formed from an arrangement of two leaf springs,

FIG. 2 shows a further perspective representation of the embodiment of the drive device according to the invention shown in FIG. 1, this being shown from a side which is opposite to the side from which the representation of FIG.

3 shows a side view of the embodiment of the drive device according to the invention shown in FIG. 1, the side view being shown from the same side from which the view in FIG. 1 is obtained,

4 shows a further perspective representation of the embodiment of the drive device according to the invention shown in FIG. 1, this being shown without the frame device and the drive device being shown from the same side from which the representation of FIG. 2 results,

FIG. 5 shows a further perspective illustration of the embodiment of the drive device according to the invention shown in FIG. 1, the frame device being shown only partially and wherein the drive device is shown from the same side from which the representation of Figure 1 results,

FIG. 6 shows a side view of a further embodiment of the drive device according to the invention, this being shown without the frame device and the second bearing device being formed from an arrangement of two leaf springs,

FIG. 7 shows a further perspective illustration of the embodiment of the drive device according to the invention shown in FIG. 6, with a simplified variant of the frame device being drawn in with a broken line,

FIG. 8 shows a further perspective illustration of the embodiment of the drive device according to the invention shown in FIG. 6, the frame device not being shown,

FIG. 9 shows a side view of a further embodiment of the drive device according to the invention, this being shown without the frame device, the second bearing device being formed from an arrangement of two coil springs,

FIG. 10 shows a further side view of the embodiment of the drive device according to the invention shown in FIG. 9,

FIGS. 11 to 13 perspective representations of the embodiment of the drive device according to the invention shown in FIG.

The drive device 1 according to the invention has an actuator device 10 with an actuator 20, the length of which can be reversibly changed in a first direction L _x of the actuator device 10 or of the actuator 20, and a frame device 100 in which the actuator device 10 is mounted. The actuator 20 can be designed as an electromechanical element.

Alternatively or additionally, the actuator 20 can be formed or consist of an electromechanical material. “Electromechanical material” is understood here to mean a material in which at least one dimension, for example the length of a corresponding actuator 20, changes when an electrical voltage is applied to the actuator 20. This includes in particular materials with piezoelectric or electrostrictive properties. In a state in which the actuator 20 is installed in the drive device 1 according to the invention, the length of the actuator 20 formed from an electromechanical material preferably changes in or along the first direction L _x of the actuator device 10 or of the actuator 20. The first direction L _x together with a third direction L _Y and a second direction L _z defines an orthogonal coordinate system, which in the aforementioned order is understood in particular as a right-handed coordinate system, but can also be a left-handed coordinate system. These three axes of the coordinate system are entered in the figures.

The actuator device 10 extends in the first direction L _x between a first end face 11 and a second end face 12. The actuator device 10 forms a first end face 11, which is oriented in a direction that runs along the first direction L _x , and a second end face 12 oriented opposite to first end face 11 in relation to first direction L _x . The actuator 20 has a first actuator end surface FE1 located on its first end face 11 and a second actuator end surface FE2 located on its second end face 12 .

In a special embodiment of the drive device 1, the actuator device 10 consists essentially or exclusively of the actuator 20. In this embodiment, the first actuator end surface FE1 forms the first end face 11 and the second actuator end surface FE2 forms the second end face 12. The actuator end faces FE1 and FE2 are oriented opposite to one another and extend transversely to the longitudinal direction L _x and are arranged one behind the other in the longitudinal direction L _x .

The frame device 100 has a first bearing section 101, which is located on the first end face 11, and a second bearing section 102, which is located on the second end face 12, the first bearing section 101 and the second bearing section 102 forming an interior space in are located at a distance from each other extending in the first direction L _x or are opposite to each other with respect to the first direction L _x .

According to the invention, the actuator 20 is held in the frame device 100 and is preferably structurally integrated therein. In each embodiment of the actuator according to the invention, it can be provided that the frame device 100 is designed such that the actuator 1 is resiliently clamped in the frame device 100 in the first direction L _x of the actuator 20 . In these embodiments, the actuator is under an additional compressive stress exerted by the frame device 100 and is thereby returned more quickly from an expanded state to a contracted state or to a basic state. The actuator 20 is mounted between the first bearing section 101 and the second bearing section 102 . The first bearing portion 101 has a first bearing portion inner surface 101a and 101a the second bearing section 102 has a second bearing section inner surface 102a, the first and second bearing section inner surfaces 101a, 102a being located facing one another. The first and the second bearing section inner surface 101a, 102a can extend at least in sections along a plane which is oriented transversely or orthogonally to the first direction L _x or in the first direction L _x .

The frame device 100 provides an interior space 55 in which the actuator 20 is located. The mutually facing bearing section inner surfaces 101a, 102a of the bearing sections 101 and 102 delimit the interior space 55. The bearing sections 101 , 102 can be structurally connected to one another by means of a first connection section 103 or by means of a second connection section 104 or by means of both a first and a second connection section 103 , 104 to form the frame device 100 . The interior space 55 is partially delimited by the bearing sections 101, 102 and optionally by at least one connecting section, in particular an inner surface 103a of the connecting section 103. The two connecting sections 103, 104 that may be present extend at least in sections along the first direction L _x , with the actuator device 10 being located between them. The connecting sections 103, 104 can be located at a distance from one another in the direction of the third direction L _Y (FIG. 1) or in the second direction L _z . The first bearing section 101 and the second bearing section 102 can each be designed as components and, for example, elongate and, alternatively or additionally, plate-shaped components that extend along one another.

The embodiments of the drive device 1 according to the invention can have a first connecting piece 40 which is arranged on the first actuator end surface FE1 and which bears against the first actuator end surface FE1 with a connecting piece contact surface 40b. In this embodiment, the first end face 11 forms an outer side of the actuator device 10, which is located at a distance from the first actuator end surface FE1 in the first direction L _x by the length of the first connecting piece 40, which is located at least in a region along the first direction L _x is oriented and the first bearing portion 101 is located facing. As an alternative to the first connection piece 40 or in addition, the embodiments of the drive device 1 according to the invention can have a second connection piece 50 which is arranged on the second actuator end surface FE2 and which bears against the second actuator end surface FE2 with a connection piece contact surface 50a. In this embodiment, the second end face 12 forms an outer side of the actuator device 10, which is located at a distance from the second actuator end surface FE2 by the length of the second connecting piece 50, which is oriented at least in a region along the first direction L _x and the second Bearing section 102 is located facing.

The second connection piece 50 can be realized in one piece or in one piece or in several parts or in several pieces.

In the embodiment shown in FIG. 1, the drive device 1 has both the first connection piece 40 and the second connection piece 50 .

The actuator 20 can be designed such that it deforms or undergoes dimensional changes when a corresponding electrical control signal is applied, with the actuator 20 expanding or contracting reversibly at least in the first direction L _x when corresponding electrical control signals are applied. Provision can also be made for this expansion and contraction to take place in a defined dynamic or chronological sequence. The actuator 20 can be designed in such a way that during these deformations it also deforms transversely to the first direction L _x or hardly deforms or not at all transversely to the first direction L _x . The actuator 20 can be implemented as an electromechanical and preferably as a piezoelectric element. The actuator 20 can be formed from a multilayer structure with an arrangement of activation electrodes extending transversely to the first direction L _x and arranged one behind the other in the first direction L _x and a layer of electromechanical material arranged between two adjacent activation electrodes or as one such be realized. The activation electrodes can be formed from a group of first activation electrodes and a group of second activation electrodes, with a first and a second activation electrode being arranged one behind the other in the first direction L _x . The actuator 20 can also be formed as a bulk, ie as a block, from an electromechanical material and without having a multilayer structure. The actuator 20 can also have two actuation electrodes E1, E2, which extend transversely to the longitudinal direction and are spaced apart from one another, and at least one of which can be arranged on one of the actuator end faces FE1, FE2 or within the bulk. The actuator 20 can also be formed from a combination of at least one bulk and at least one multilayer structure or can be implemented as such. The at least one bulk and the at least one multilayer structure can be arranged one behind the other in the first direction L _x . The actuator 20 can furthermore also have a reference electrode, which is arranged, for example, on an outer surface 20a of the actuator 20 as an outer electrode or as an inner electrode and is arranged electrically separate from a group of first actuation electrodes and electrically connected to a group of second actuation electrodes. In all embodiments of the invention, the actuator 20 can also be realized in a different way compared to the realizations of the same described herein, with the length of the actuator 20 and thus of the actuator device 10 being reversibly changed in the first direction L _x with corresponding electrical control signals.

The drive device 1 according to the invention has a friction element 30 which is arranged on the second end face 12 of the actuator device 10 and is moved directly or indirectly by the actuator 20 . In particular, the friction element 30 of the drive device 1 according to the invention is attached to the second end face 12 of the actuator device 10 or to an intermediate piece located between the second end face 12 and the friction element 30 . As a result, due to the actuation of the actuator 20, deformation movements of the second actuator end face FE2 and thereby actuation movements of the friction element 30 are brought about.

The drive device 1 according to the invention is designed in such a way that, together with a rotor 35, it forms a motor in which the rotor 35 has the function of an actuating part and the rotor 35 due to the movements of the friction element 30 - caused by the deformation movements or changes in deformation of the actuator 20 - Executes adjustment movements. For this purpose, the drive device 1 can have a guide track in which the runner 35 is mounted so that it can move with respect to the frame device 100 .

For the drive device 1, a base side S1 and an adjustment side S2 are defined in relation to the first direction L _x , which are opposite to one another in relation to the first direction L _x , with the adjustment side S2 being located on that side of the drive device 1 on which the slider 35 is located, and the base side S1 is located beyond the driving device 1 as viewed from the setting side S2.

The friction element 30 has a friction surface 31 for driving a slider 35 with the purpose that it moves along the first direction L _x due to actuation movements of the actuator 20 . For this purpose, the friction surface 31 or at least one point or a section thereof can be oriented in a direction running along the third direction L _Y . As a result, during movements of friction element 30 actuated by actuator 20, friction surface 31 or the at least one point or at least a portion thereof is at least temporarily in frictional contact with a surface of rotor 35 that faces friction surface 31. For this purpose, the friction surface 31 is oriented, at least in places or in sections, in a direction that runs along a third direction L _Y . Alternatively or additionally, the friction surface 31 runs along the plane that is spanned by the longitudinal direction L _x and the second direction L _z . The friction element 30 can be formed or consist of a hard and abrasion-resistant material. The material can be formed or consist in particular of a ceramic material, a metal or a plastic or a combination of these materials. The material is provided in such a way that it can be used to achieve effective and low-wear frictional contact with the respective element to be driven.

In order to mount the actuator 20 in the actuator device 10 , the drive device 1 has a first mounting device 60 and a second mounting device 70 . With the first bearing device 60, the actuator device 10 is rotatably mounted on the first end face 11 of the actuator device 10 at least about an axis which generally runs in a direction along the second direction L _z and in particular runs in the second direction L _z . The second bearing device 70 prestresses the second end face 12 of the actuator device 10 against the second bearing section 102 along the first direction L _x toward the first bearing section 101 and along the third direction L _Y against the frame device 100 in the direction toward the rotor 35 .

In one embodiment of the drive device 1 according to the invention, which does not have a first connection piece 40 on the first actuator end surface FE1, the first bearing device 60 is arranged between the first actuator end surface FE1, which also represents the first end face 11, and the first bearing section 101. to mount the actuator device 10 rotatably or pivotably on the first bearing section 101 . According to the invention, this implementation of the first bearing device 60 can be combined with all the other features otherwise described herein.

FIG. 1 shows an embodiment of the drive device 1 according to the invention with a first connection piece 40 . This is in contact with the first actuator end face LE1 and forms the first end face 11 on its side facing the first bearing section 101 . The first connecting piece 40 is thus located between the actuator 20 and the first bearing section 101 and together with this forms the first bearing device 60 .

In the embodiments of the drive device 1 according to the invention, the first bearing device 60 can be implemented as a rotary or pivot bearing. It can be provided that the rotary or pivot bearing provides a rotary or pivot axis. As an alternative to this, the rotary or pivot bearing can also be implemented as a spherical or ball bearing.

Alternatively, the first storage device 60 with a bearing mount 61 and a Bearing formation 62, which abut each other, be realized. The bearing receptacle 61 and the bearing formation 62 abut to form a pivot or pivot joint 60a that provides the axis running in a direction along or in the second direction L _z .

In this realization of the first bearing device 60, provision can be made for the bearing receptacle 61 to be shaped as a recess, which can in particular also be realized as a bearing depression, i.e. an opening and in particular a through-opening. According to a first variant, this recess can be formed in the inner surface 101a of the first bearing section 101 and according to a second variant in the first end face 11 , which can be formed on the actuator 20 or on the first connection piece 40 .

In the embodiment shown in Figure 1, the bearing seat or recess is formed in the first fitting 40. In an alternative embodiment, the bearing recess is formed on the first end face 11 of the actuator device 10 .

The bearing receptacle or the recess results when viewing an axis of the rotary joint 60a of the first bearing device 60 onto a cross section of the first bearing section 101 or of the actuator 20 or, if applicable, of the first connection piece 40, in which the first direction L _x is located in each case. The cross section can also be a center plane of the actuator 20 and in particular a center plane that is spanned by the first direction L _x and the axis of rotation of the rotary joint 60a, or in particular by a plane that is perpendicular to this center plane.

The bearing receptacle or the bearing recess can be formed, particularly seen in said cross section, by two surfaces facing one another, which taper the recess at least in sections and seen in the viewing direction of the recess, i.e. run towards one another. Alternatively or additionally, the bearing seat or the recess can have seat surface sections 61a, _61b , which run obliquely in relation to the first direction Lx, in particular in the cross section mentioned, i.e. the smallest angle of the longitudinal extension of the surfaces, seen in the cross section mentioned, at least in mentioned section opposite to the first direction L _x are directed from this to each other in opposite directions. Irrespective of this, the orientations of the receiving surface sections 61a, 61b can run in an angular range between 90 degrees and 270 degrees to one another, particularly in the cross section mentioned.

The bearing formation 62, with the respective bearing mount or bearing well cooperates can be implemented in each of the embodiments of the first bearing device 60 in such a way that it has at least one convexly curved formation surface section. If the bearing receptacle 61 is formed in the inner surface 101a of the first bearing section 101 according to the aforementioned first variant, the bearing formation 62 is formed in the first end face 11 of the actuator device 10 . In the event that the bearing receptacle 61 is formed in the first end face 11 of the actuator device 10 according to the aforementioned second variant, the bearing formation 62 is formed in the inner surface 101a of the first bearing section 101 .

In a special embodiment of the first bearing device, the bearing formation 62 can have a first convexly curved formation surface section 62a and a second convexly curved formation surface section 62b, which are connected via an intermediate section, which can be concave or straight and does not have to be convex could be. The two formation surface sections 62a, 62b can also form a uniform convex curved surface. Through the interaction of the bearing receptacle 61 and the bearing formation 62, these form the rotary or swivel joint 60a of the first bearing device 60.

The forming surface sections 62a, 62b are each in contact with one of the receiving surface sections 61a, 61b. This can also be brought about by a pressure force exerted by the second bearing device 70 from the second bearing section 102 in the direction of the first bearing device 60 . When the actuator device 10 rotates or pivots relative to the first bearing section 101, the formation surface sections 62a, 62b contact the depression or the receiving surface sections 61a, 61b at least in sections or in places and move along one another. The swivel joint 60a can be realized in such a way that the at least one contact area between the bearing formation 62 or a formation surface section and the recess or a respective receiving surface section is almost punctiform when viewed in said cross section.

In a further embodiment of the rotary joint 60a, this can also be designed as a ball joint.

The second end face 12 is provided and designed to accommodate or rest on the second bearing device 70 . In embodiments of the drive device 1 in which the first end face 11 is the actuator end face FE2, the second bearing device 70 rests against the actuator end face FE2. In the embodiments of the drive device 1, in which, as shown in FIG. 1, the actuator device 10 has the second connecting piece 50, the second bearing device 70 rests on the second end face 12, which is a side facing the second bearing section 102.

The second bearing device 70 implements two modes of action:

(W1) According to a first mode of operation, the second bearing device 70 presses the actuator device 10 on its second end face 12 in the first direction L _x . It can be provided, in particular, that the second bearing device 70 is supported against the frame device 100 and in particular against the second bearing section 102 or against the connecting section 103 or against the first bearing section 101 and presses or prestresses the actuator device 10 in a direction which, with regard to of the course along the first direction L _x runs. The second bearing device 70 thus generates a compressive force in a direction that runs along or in the first direction L _x in terms of its course, and can run in particular from the second bearing section 102 to the second end face 12 . The second end face 12 can be realized by a region 51 of the second connecting piece 50 adjoining it.

(W2) According to a second mode of action, the second bearing device 70 presses the second end face 12 of the actuator device 10 in a direction along the third direction L _Y , which is orthogonal to the first direction L _x and orthogonal to the second direction L _z , against the Rotor 35. According to the second mode of action, the second bearing device 70 can press or prestress the second end face 12 in particular against the frame device 100 in the direction of the rotor 35. In this way, a spring force acts on the second end face 12 and presses the second end face 12 in the direction of the rotor 35 .

According to the invention, the second bearing device 70 can be realized in different ways in order to fulfill these two modes of action.

In particular, the second bearing device 70 can be designed as a block spring and in particular as an elastic body and in particular as a block-like elastic body. This is arranged between the frame device 100 and, for example, between the second bearing section 102 and the second end face 12 and, in particular, has a first end fixed to or connected to the second bearing section 102, for example arranged adjacent thereto, and with an opposite end to the first End located second end fixed to the second end face 12 or connected thereto, for example arranged adjacent to this. The block spring is in two directions perpendicular to each other directed, elastically so that it presses or prestresses the second end face 12 against the second bearing section 102 along the first direction L _x toward the first bearing section 101 and along the third direction L _Y against the frame device 100 toward the runner 35 or presses or prestresses .

The second storage device 70 can also be implemented as a tensioning device V made of a resilient material. The second bearing device 70 or the tensioning device V can specifically have a first spring device 80 and a second spring device 90 . The first spring device 80 is designed in such a way that it is supported in particular with a first end piece 81 at one point on the frame device 100 and, for example, on the second bearing section 102 or the connecting section 103, and in particular with a second end piece 82 against the actuator device 10 along the first direction LX to the first bearing portion 101 presses or biases. The second spring device 90 is designed in such a way that it is supported in particular with a first end piece 91 at one point on the frame device 100 and in particular with a second end piece 92 presses or prestresses the actuator device 10 along the third direction L _Y in the direction of the rotor 35 . The first spring device 80 and the second spring device 90 are each fixed to the frame device 100 with a first end directly or via a further component located in between and thus indirectly, which can in principle be implemented at any point of the frame device 100, and with a second end, which is located opposite to the respective first end, is fixed to the second end face 12 . With regard to the first ends, the first end of the first spring device 80 can alternatively be attached to a central area of the second spring device 90, in particular if this is fixed with a first end to the frame device 100, or the first end of the second spring device 80 can be attached to a central region of the first spring device 90, in particular if it is fixed to the frame device 100 with a first end. The middle areas are each an area located between the respective first end and the respective second end.

In these embodiments, the tensioning device V can be designed in one piece or made from one piece. In an alternative embodiment of the tensioning device V with the first and the second spring device 80, 90, the first spring device 80 and the second spring device 90 are separate components from one another and are each formed in one piece or are made in one piece. In embodiments of the drive device 1 according to the invention, the first spring device 80 and the second spring device 90 can together form a leaf spring which, in embodiments of the drive device 1, consists of a first leaf spring section, which has a lever section or prestressing section extending transversely to the first direction L _x or can have a force-transmitting section, and is formed from a second leaf spring section, which can have a lever section or prestressing section or force-transmitting section extending transversely to the third direction L _Y . In other embodiments of the drive device 1, the second bearing device 70 can be implemented according to one of the following two alternatives:

(F1) The first spring device 80 is formed from the first leaf spring section and the second spring device 90 is formed from one or more of the alternatives (B2) to (B8) mentioned herein, the first leaf spring section being attached on the one hand to the frame device 100 and on the other hand, can be fixed to the second end face 12 and can have at least one lever section or prestressing section or force transmission section extending transversely to the first direction L _x , in which the local longitudinal direction of the leaf spring section runs transversely to the first direction L _x , ie along the third direction L _Y .or along the second direction L _z ;

(F2) The first spring device 80 is formed from one or more of the alternatives (A2) to (A8) mentioned herein, and the second spring device 90 is formed from the second leaf spring section, the second leaf spring section being attached on the one hand to the frame device 100 and on the other hand, can be fixed to the second end face 12 and can have at least one lever section or prestressing section or force transmission section extending transversely to the third direction L _Y , in which the local longitudinal direction of the leaf spring section runs along the first direction L _x , see above that the preload section provides a spring deflection along the third direction L _Y ;

(F3) the first spring device 80 is formed from the first leaf spring section, which has at least one lever section or prestressing section or force transmission section extending transversely to the first direction L _x , in which the local longitudinal direction of the leaf spring section is transverse to the first direction L _x , i.e. along the third direction L _Y or along the second direction L _z , and the second spring device 90 is formed from the second leaf spring section which has at least one lever section or pretension extending transversely to the third direction L _Y -section or

Has power transmission section, in which the local longitudinal direction of the leaf spring section runs along the first direction L _x .

In the alternative (F3), the first leaf spring section and the second leaf spring section are each fixed to the frame device 100 with a first end or with a first leaf spring end section and each with a second end, which is opposite to the respective first end is located, or fixed to the second end face 12 with a second leaf spring end section, which is located opposite to the first leaf spring end section. Alternatively, with respect to the first ends, the first end of the first leaf spring portion may be fixed to a middle portion of the second leaf spring portion, or the first end of the second leaf spring portion may be fixed to a middle portion of the first leaf spring portion. The middle regions are each a region located between and a non-zero distance from each respective first end and respective second end.

The drive device 1 according to the invention can be implemented by combining, in particular, these variants of the second bearing device 70 with all the other features and configurations otherwise described herein.

Embodiments of the drive device according to the invention with a first leaf spring section and a second leaf spring section are shown in FIGS.

1 to 5 show an embodiment of the drive device 1 according to the invention with a first variant of the second bearing _device 70, which consists of the first spring device 80 in the form of a first leaf spring section 210 with a lever section or Prestressing section or power transmission section and the second spring device 90 is formed in the form of a second leaf spring section 240 with transverse to the first direction L _x extending lever section or prestressing section or power transmission section.

The first leaf spring section 210 is curved in the course of its longitudinal direction, which is directed along the actuator longitudinal direction L _x , at least in sections, for example curved in an arc shape. In the embodiment shown in FIGS. 1 to 5, the first leaf spring section 210 has three curved sections, namely a first curved section 211, a second curved section 212 and a third curved section 213. The first curve portion 211 and the second curve portion 212 are linear and transverse to the first The intermediate section 214 or leg section extending in direction L _x and the second curved section 212 and the third curved section 213 are connected by an intermediate section 215 or leg section extending linearly and transversely to the first direction L _x . In the embodiment of Figures 1 to 5, the first leaf spring section 210, seen in the width direction of the leaf spring section, has the shape of a wave section extending along the first direction L _x with three curved sections and thus two wave crests and a wave trough or with two wave troughs and a wave crest between them.

The curved sections 211, 212, 213 are each designed in such a way that the radii of curvature of these curved sections are located in the plane spanned by the first direction L _x and the third direction L _Y , so that the curvature of the respective curved section extends along the longitudinal direction of the first leaf spring section 210 is formed. According to the invention, however, it is generally not absolutely necessary for the radii of curvature of the curved sections of the first leaf spring section 210 to be located in one plane.

In the embodiment of the invention shown in FIG. 1, the first spring section 80 designed as the first leaf spring section 210 is wave-shaped and, in particular, M-shaped. The first leaf spring section 210 has a first leaf spring end section 221, which bears against or is supported on the frame device 100 and in particular on the second bearing section 102, and a second leaf spring end section 222, which bears on the second end face 12 or on this is supported on. The leaf spring end sections 221 and 222 are formed as sections which extend in a straight line and which abut with one longitudinal side on the second end face 12 or on the inner surface 102a. On the leaf spring end sections 221 and 222, viewed in the width direction of the first leaf spring section 210 or transversely to the actuator longitudinal direction L _x , towards the center of the first spring section 210 there is first one curved section 211 or 213 and then two in turn rectilinearly extending leg sections 214 and 215, respectively, which are connected in the middle by means of an arc section 212. The wavy course is formed in the plane spanned by the first direction L _x and the third direction L _y . This therefore results in the second direction L _z seen.

In a variant, the first leaf spring section 210 can run in a sinusoidal manner, so that the leg sections 214 and 215 run in an arc or S-shape or ring-shaped and in particular a lever _section or Have bias section or power transmission section. The first leaf spring section 210 can also be arranged in the drive device 1 in such a way that the wavy course is in the plane spanned by the first direction L _x and the third direction L _Y or in an orientation between the aforementioned orientation and the orientation shown in FIG , is trained.

The second end piece 82 or the second leaf spring end section 222 can also be located between the second connecting piece 50 and the actuator 20 , that is to say rest directly on the actuator 20 . If the drive device 1 has a second connection piece 50 , the second connection piece 50 can rest directly on the second end face 12 .

It can be seen directly from the illustration in Figure 3 that the curved section 211 and the curved section 213 each have a section in which the local longitudinal direction of the leaf spring section runs along the third direction L _Y so that the respective section has a spring deflection along the first Direction L _x provides. As a result, the first mode of operation W1 of the second bearing device 70 is realized.

In all embodiments of the drive device 1 with the first leaf spring section 210, the radii of curvature of a curved section or several or all curved sections of the first leaf spring section 210 can be in the plane spanned by the first direction L _x and the third direction L _Y , or also be located in another plane, which is rotated about the plane spanned by the first direction L _x and the third direction L _Y , so that the radii of curvature of a curved section are located in the first direction L _x in this plane. The radii of curvature of different curved sections can be located in planes that are oriented differently from one another.

The first leaf spring section 210 can in particular have the form of at least one wave section, the propagation direction or longitudinal direction of which extends along the first direction L _x and has a lever section or prestressing section or force transmission section extending transversely to the first direction L _x . In this case, the first leaf spring section 210 can generally be designed in a wavy manner, at least in sections. The term "partially wavy" can also mean a waveform that extends over a fraction or a multiple of a period of the waveform.

The term “wavy at least in sections” is also used herein to mean an M-shape, understood a W-shape, an N-shape, a V-shape and a multiple of these forms or a combination of these forms. The corners of the letters can also be curved. Conversely, in the case of a wavyness in sections, the at least one local maximum or the at least one local minimum can be realized as angular connecting areas of legs or curved sections, which each connect a local maximum to an adjacent local minimum. The arrangement of the shapes described by a respective letter in the drive device 1 can be provided in such a way that the reading direction of the respective letter runs in the reading direction from the second bearing section 102 to the second end face 12 or vice versa and in each case along the first direction L _x .

Sections of the first spring section 80 or the first leaf spring section 210, and in particular also at least one curved section thereof, are formed or consist of an elastic and thus resilient material such as a metallic or ceramic metal.

In each embodiment of the actuator according to the invention, the second spring device 90 can be implemented as a second leaf spring section 240 and with all the other features otherwise described herein and optionally alternative features. The second leaf spring section 240 is fixed and in particular fastened with a first leaf spring end section 221 at one point on the frame device 100 and presses, in particular with a second leaf spring end section 222, the second end face 12 of the actuator device 10 in a direction that runs along the third direction L _Y and thereby in a direction towards the rotor 35 or towards it, the second leaf spring section 240 being supported on the frame device 100 . For this purpose, the second leaf spring section 240 generally has at least one lever section or prestressing section or force transmission section which extends transversely to the third direction L _Y and in which the local longitudinal direction of the leaf spring section can run along the first direction L _x so that the portion provides spring travel along the third direction L _Y . As a result, the first mode of operation of the second bearing device 70 is realized.

For this purpose, the second leaf spring section 240 can be realized in different ways. In particular, the second leaf spring section 240 can be fixed at any point on the frame device 100 with a first longitudinal spring section 241, in particular in the form of a first leaf spring end section or a first leaf spring middle section, and a second longitudinal spring section 242, in particular in the form of a second leaf spring - end section or second leaf spring middle section, which bears against or is fixed to the second end face 12, so that the second leaf spring section 240 connects the frame device 100 to the second end face 12 and thereby has the pretensioning section in an area in in which the local longitudinal direction of the leaf spring section runs along the first direction L _x , so that the prestressing section provides a spring travel along the along the third direction L _Y .

In the embodiment of Figure 1, the second leaf spring section 240 has a first spring longitudinal section 241, which can be designed as a first leaf spring end section or as a first leaf spring middle section, a second spring longitudinal section 242, which can be designed as a second leaf spring end section or formed as a second leaf spring middle section, and a curved section 243 connecting them. In this embodiment, the first longitudinal spring portion 241 and the second spring longitudinal portion 242 are straight and parallel to each other and each in the first direction L _x . Both the first longitudinal spring section 241 and the second longitudinal spring section 242 thus represent a preload section in which the local longitudinal direction of the leaf spring section runs along the first direction L _x and thus generally along a plane which is perpendicular to the third Direction L _Y runs, so that these sections 241, 242 form a transverse to the third direction L _Y extending lever section or preload section or power transmission section. Furthermore, the radii of curvature of the curved section 243 lie, at least in a section thereof, in the plane spanned by the first direction L _x and the third direction L _Y . In the embodiment of FIG. 1, the first longitudinal spring section 241 is designed as a first leaf spring end section and is fixed to the first bearing section 101 of the frame device 100 . In this case, the first spring longitudinal section 241 can be fitted and fastened in a bearing receptacle 107 of the first bearing section 101 . In the embodiment of FIG. 1, the second spring longitudinal section 242 is designed as a second leaf spring end section and is located on the second end face 12 of the actuator device 10 . The second longitudinal spring section 242 can in particular bear against the second end face 12 and specifically press against it, so that a spring force acts on the second end face 12 and pushes the second end face 12 in the direction of the rotor 35 . The second leaf spring section 240 can be integrated in the drive device 1 in the stressed or prestressed state. Optionally, the first longitudinal portion 241 and the second longitudinal portion 242 can run along each other and each along the first direction L _x . In one variant, only the first spring longitudinal section 241 and in particular the first leaf spring end section or only the second spring longitudinal section 242 and in particular the second leaf spring end section runs along the first direction L _x , while the respective other longitudinal spring section or end section may be absent or may have any other orientation. The curved portion 243 is the curved part of a U-shape, the U-shape bridging a distance between the first longitudinal portion 241 and the second longitudinal portion 242 toward the third direction L _Y . The outer curvature of the U-shape is directed towards the second bearing section 102 . In this case, the curved section 243 has radii of curvature at least in regions, the directions of which run along the first direction L _x . In the illustrated embodiment, the curved section 243 is implemented in such a way that the radii of curvature of these curved sections are located in the plane that is spanned by the first direction L _x and the third direction L _Y . The radii of curvature of this curved section 243 can also run along this plane or transversely to this plane. The outer curvature of the U-shape can also be directed towards the first bearing section 101 .

To achieve the function that the second leaf spring section 240 presses the actuator device 10 along the third direction L _Y against the frame device 100 in the direction of the runner 35, the second spring section 90 can also have the following features individually or in Combination can be designed differently than shown in Figure 1:

The longitudinal spring section 241 embodied as the first spring end section or a central section thereof can be fixed to the second bearing section 102 .

The curved portion 243 may have a simple curvature and may be curved in an arc shape.

The curved portion 243 may have a plurality of simple curves formed in sections and interrupted by, for example, straight sections, particularly an arcuate shape or a curve as a whole.

The second leaf spring section 240 can act in particular with a second leaf spring end section or a leaf spring middle section, if necessary, on the first leaf spring section 210 or, if necessary, on the second connection piece 50 or on the actuator 20 and in particular bear and press

The curved section 243 can be realized in such a way that the radii of curvature these curved sections are located in the plane spanned by the first direction L _x and the second direction L _Y , or that the radii of curvature of this curved section 243 run along this plane.

The second connection piece 50 can be used to accommodate the respective end pieces of the first leaf spring section 210 and the second leaf spring section 240 in their respective realization, i.e. in the embodiment of Figure 1 of the second end piece 82 or the second spring end section 92, in different be trained wisely. In the embodiment of FIG. 1, the second connecting piece 50 is L-shaped as viewed in the direction of the second direction L _z . The L-shaped second connection piece 50 has an actuator connection area 51 that rests on the actuator 20 with the connection piece contact surface 50a and a carrier area 52 that is arranged on the adjustment side S2 and protrudes from it in the first direction L _x towards the second bearing section 102. The actuator connection area 51 extends transversely to the carrier area 52. The surface of the actuator connection area 51 facing the second bearing section 102 forms the second end face 12, namely an optional carrier area front surface 52b facing the second bearing section 102 and the base part outer surface 51b , on which the second end piece 82 presses to bias the actuator 20. The carrier area 52 has a carrier area inner surface 52b facing the second bearing device 70 and a carrier area outer surface 52d facing the adjustment side or the rotor 35, which are oriented opposite to one another. In the illustrated embodiment, the friction element 30 is arranged on the carrier area outer surface 52d and the second longitudinal spring section 242 is arranged on the carrier area inner surface 52b, which pushes the carrier area 52 and thus the actuator device 10 towards the rotor 35 (FIG. 3).

In the embodiment of the drive device 1 according to FIG. In one variant, a region of the first leaf spring section 210, depending on the shape of the first leaf spring section 210, e.g. the first end piece 221 or an arc section or leg section or offset section protruding away from the second longitudinal spring section 242, is between the second connection piece 50 and the second spring longitudinal portion 242 located. The second longitudinal spring section 242 could also be located on the upper side of the actuator device 10 and in particular the second connection piece 50 or the actuator 20 facing the adjustment side S2 and in particular fixed or fastened. In general, the second spring longitudinal section 242 on a surface section of the first leaf spring section 210 or the actuator device 10 and in particular the second Connection piece 50 located or fixed to each of them, which is oriented away from the setting side S2 in order to realize a pressing of the friction element 30 against the rotor 35 .

In the embodiment of drive device 1 according to _FIG second direction L _z away: The second leaf spring section 240 is arranged in the drive device 1 in such a way that the first leaf spring section 210 and the longitudinal sections 241, 242 acting as a spring, as well as the curved section 243 of the second leaf spring section 240 are juxtaposed as viewed in the first direction L _x or the third direction L _Y . The offset section 246 is arranged between the carrier area 52 and the second leaf spring end section 222 as seen in the third direction L _Y . Alternatively or additionally, a section of the second connecting piece 50 could extend in a direction along the second direction L _z to below the longitudinal section 242, so that the second

Connector 50 absorbs the force of the second leaf spring section 240. In general, the second longitudinal spring section 242 and in particular the offset section 246 and the second leaf spring end section 222 are located on the second end face 12 and in particular on the second connecting piece 50 and are in particular fixed and/or in particular fastened.

An embodiment of the drive device 1 according to the invention with a second variant of the second bearing device 70 in various optional configurations is described below with reference to Figures 6 to 8, which consists of the first spring device 80 in the form of a first leaf spring section 310 and the second spring device 90 in Form of a second leaf spring portion 340 is formed. In all the embodiments of the drive device 1 according to the invention described herein, the second bearing device 70 realized by the first leaf spring section 310 and the second leaf spring section 340 as shown in FIGS. 6 to 8 can be used in combination with other features described.

In the embodiment shown in FIGS. 6 to 8, the first leaf spring section 310 has two curved sections, a first curved section 311 and a second curved section 312 . The first curve section 311 and the second curve section 312 are connected by a linearly extending intermediate section 313 or leg section. Thus, the shape of the first leaf spring section 310 in the representation of FIG. 6 is N-shaped overall. This N-shape can be in different Be located orientations between the second end face 12 of the actuator device 10 and the second bearing portion 102. The first leaf spring section 310 has an overall wave shape and has a second end piece 322 which bears against the second bearing section 102 or is supported on it, and a first end piece 321 which bears against the second end face 12 or is supported on it . The end pieces 321 and 322 are formed as sections extending in a straight line, which rest with one longitudinal side on the second end face 12 or on the inner surface 102a.

The orientation of the curvatures of the curved sections 311, 312 of the first leaf spring section 310 according to FIGS. 6 to 8 are rotated by 90 degrees compared to the first leaf spring section 210 shown in FIGS. 1 to 5: the curved sections 311, 312 are each designed in this way that the radii of curvature of these curved sections are located in the plane that is spanned by the first direction L _x and the second direction L _z , so that the curvature of the respective curved section 311, 312 is formed transversely to the direction in which the second Leaf spring section 340 presses the friction element 30 against the runner 35. It can be seen directly from the illustration in Figure 6 that the curved section 311 and the curved section 312 as well as the intermediate section 313 each have a prestressing section in which the local longitudinal direction of the second leaf spring section 340 along the second direction L _z and thus generally along the plane perpendicular to the first direction L _x such that the biasing portion provides spring travel along the first direction L _x .

The second leaf spring section 340 prestresses the second end face 12 of the actuator device 10 in a direction directed along the third direction L _Y against the frame device 100 in the direction of the runner 35 . In the embodiment of the drive device 1 according to Figures 6 to 8, the second leaf spring section 340 has a first longitudinal spring section 341, which runs along the first direction L _x , a second longitudinal spring section 342, which runs along the first direction L _x and along the first spring longitudinal section 341, and a curved section 343 connecting these sections 341, 342. The first spring longitudinal section 341 abuts the first connecting section 103 with a first end section 344 thereof. As an alternative to this, the first end section 344 could also be fixed or fastened to the first bearing section 101 or the second bearing section 102 . In the illustrated embodiment, the curved section 343 is realized in such a way that the radii of curvature of these curved sections are located in the plane that is spanned by the first direction L _x and the third direction L _Y . The radii of curvature of this section of curvature 343 can also run along this plane or transverse to this plane.

The second longitudinal spring section 342 has a second end section 345 which is located on the second end face 12 and in particular on the second connection piece 50 and is in particular fixed and/or in particular fastened. In the embodiment of Figures 6 to 8, the second spring section 340 has an offset section 346 which is formed integrally with the second longitudinal spring section 342 and extends from the second longitudinal spring section 342 transversely to the first direction L _x and in particular along the second direction L _z extends away. Generally, the second longitudinal spring portion 342, and more particularly the offset portion 346 and the first end piece 321, are at the second

Face 12 and located in particular on the second connector 50 and in particular fixed and / or attached in particular.

In the embodiment in FIGS. 6 to 8, as in the embodiment in FIG. Furthermore, as in the embodiment of FIG. 1, the offset section 346 is arranged between the carrier area 52 and the second longitudinal section 342 of the spring, viewed in the third direction L _Y . In Figures 6 and 7, the second leaf spring section 340 is shown in an unclamped and relaxed state, in which the offset section 346 is not in contact with the carrier area 52 and the second spring longitudinal section 342 with the offset section 346 in the third direction L _Y over the friction element 30 and the runner 35 protrudes.

The second leaf spring section 340 can also be realized according to one of the variants that are described here with reference to the embodiment of FIG.

In the figures 9 to 13 another embodiment of the drive device 1 according to the invention with the actuator device 10 and the frame device 100 is shown. In this case, the actuator device 10 is mounted on the frame device 100 by means of the first bearing device 60 so as to be rotatable or pivotable at least about an axis which runs in a direction along the second direction L _z . The actuator device 10 is realized as in the embodiment of FIG. The second bearing device 70 has a first spring device 80 and a second spring device 90 .

The first spring device 80 includes a coil spring 410 that has a coil spring axis that runs along the first direction L _x and that provides spring travel along the first direction L _x . Here, the coil spring 410 has a first End portion 411 and a second end portion 412, wherein the first end portion 411 rests against the second bearing portion 102 and the second end portion 412 on the second end face 12 or is fixed.

The second spring device 90 has a first coil spring 420 and a second coil spring 430 . Both coil springs 420, 430 have a coil spring axis that runs along the third direction L _Y in each case, so that the coil springs 420, 430 each provide a spring travel along the third direction L _Y . The coil springs 420, 430 each have a first end section 421 or 431, which abut or are fixed to the first connecting section 103 and are supported on it. Further, the first coil spring 420 has a second end portion 422 located opposite to the first end portion 421 , and the second coil spring 430 has a second end portion 432 located opposite to the first end portion 431 . The actuator device 10 has the second connecting piece 50 with the carrier area 52 . The carrier area 52 has a first

Connecting portion 103 facing carrier area inner surface 52b on which the second end portions 422, 432 are fixed. In this way, the coil springs 420, 430 bias the second face 12 along the third direction L _Y against the frame assembly 100 toward the runner 35.

The helical springs 420, 430 extend laterally of the helical spring 410 of the first spring _{device 80, seen in the third direction L Y} _.

In all embodiments of the drive device 1 according to the invention, the actuator device 10 can have an insulation layer or both of these insulation layers on one or both sides of the actuator 20 viewed transversely to the first direction L _x . A first insulation layer 49 can be arranged as part of the first connection piece 40 on the first end face 11 . In this case, the first insulation layer 49 can bear against the actuator 20 or be situated within the first connection piece 40 in relation to the first direction L _x . Alternatively or additionally, a second insulation layer 59 can be arranged as part of the second connection piece 50 on the second end face 12 . In this case, the second insulation layer 59 can bear against the actuator 20 or be located inside the second connection piece 50 with respect to the first direction L _x . In particular, the first connection piece 40 and the second connection piece 50 can have insulating sections 49, 59, one in each case of the insulating sections 49, 59 on one of the actuator

In the longitudinal direction L _x oppositely oriented end faces FE1, FE2 of the actuator 20 rests against one another.

In a further embodiment of the drive device 1, conversely to the arrangement of the embodiment shown in Figure 1, the drive device 1 can be implemented in such a way that the first bearing section 101 is located on the second end face 12 and the second bearing section 102 is located on the first end face 11 .

Reference sign

1 drive device

10 actuator device

11 - first face

12 second face

20 actuator 20a outer surface

30 friction element

31 friction surface

35 runners

38 guide track

40 first connector 40b connector abutment surface

49 insulation layer

50 second fitting

51 actuator connection area (area of the actuator device 10 adjoining the second end face 12)

51a base part contact surface 51b base part outer surface

52 Carrier area 52b Carrier area front surface 52c Carrier area inner surface 52d Carrier area outer surface

55 interior

59 insulation layer

60 first bearing device 60a pivot

61 bearing seat 61a seat surface portion 61b seat surface portion

62 bearing formation 62a first formation surface portion 62b second formation surface portion

70 second storage device

80 first spring device

81 first tail

82 second tail

90 second spring device

91 first tail

92 second tail

100 frame device

101 first bearing section 101a inner surface 102 second bearing section 102a inner surface

103 first connecting portion 103a inner surface 104 second connecting portion 107 bearing seat 110 interior 200 drive device 210 first leaf spring section 211 first curved section 212 second curved section 213 third curved section 214 intermediate section 215 intermediate section 221 first leaf spring end section 222 second leaf spring end section 240 second leaf spring section 241 first spring longitudinal section 242 second spring longitudinal section 246 offset section 310 first leaf spring Section 311 first curved section 312 second curved section 313 intermediate section 340 second leaf spring section 341 first longitudinal spring section 342 second longitudinal spring section 343 curved section 344 first end section 345 second end section 410 coil spring 411 first end section 412 second end section 420 coil spring 421 first end section 422 second end section 43 Coil spring 431 first end portion 432 second end portion FE1 first actuator end surface FE2 second actuator end surface

Lx first direction Y third direction L _z second direction

M Motor S1 base side S2 setting side

V clamping part

Claims

38 claims

1. Drive device (1), comprising: an actuator device (10) with an actuator (20) whose extension in a first direction L _x is reversibly variable, wherein the actuator device (10) has a first end face (11) and with respect to the direction L _x opposite to the first end face (11) of the actuator device (10) oriented second end face (12), a frame device (100), a relative to the frame device (100) movable runner (35), a friction element (30), which is arranged in the area of the second end face (12) of the actuator device (10), the friction element (30) having a friction surface (31) for driving the rotor (35), a first bearing device (60) with which the first end face ( 11) the actuator device (10) is rotatably mounted on the frame device (100) at least about an axis that runs along a second direction L _z that is orthogonal to the first direction L _x , and a second mounting device (70) that d The second end face (12) of the actuator device (10) presses against the frame device (100) both along the first direction L _x and along a third direction L _Y , which runs orthogonally to the first direction L _x and orthogonally to the second direction L _z , presses against the rotor (35).

2. Drive device (1) according to claim 1, wherein the second bearing device (70) comprises a first spring device (80) which presses the actuator device (10) against the bearing device (100) along the first direction L _x , and a second spring device (90 ), Which pushes the actuator device (10) along the third direction L _Y against the runner (35).

3. Drive device (1) according to claim 2, wherein the first spring device (80) has a 39

Provides spring travel that runs along the first direction L _x , and the second spring device (90) provides a spring travel that runs along the third direction L _Y.

4. Drive device (1) according to claim 2 or 3, wherein the first spring device (80) is formed or consists of one or more of the following components:

(A3) a block spring providing spring travel along the first direction L _x ;

(A4) a wave spring, wherein the wave spring axis is along the first direction L _x and the wave spring provides spring deflection along the first direction L _x ;

(A5) an evolute spring, wherein the evolute spring axis is along the first direction L _x and the evolute spring provides spring travel along the first direction L _x ;

(A6) a Belleville spring, wherein the Belleville spring axis is along the first direction L _x and the Belleville spring provides deflection along the first direction L _x ;

5. Drive device (1) according to one of claims 2 to 4, wherein the second spring device (90) is formed or consists of one or more of the following components: 40

(B1) a leaf spring or leaf spring arrangement, the longitudinal direction of which runs along the first direction L _x and which has a lever section extending transversely to the third direction L _Y or a curved section with a curvature extending in the longitudinal direction of the leaf spring, through which the leaf spring or leaf spring arrangement provides a spring deflection along the third direction L _Y ;

(B4) a wave spring, wherein the wave spring axis is along the first direction L _x and the wave spring provides spring deflection along the third direction L _Y ;

(A5) an evolute spring, wherein the evolute spring axis is along the first direction L _x and the evolute spring provides spring travel along the third direction L _Y ;

(B6) a Belleville spring, wherein the Belleville spring axis is along the third direction L _Y and the Belleville spring provides deflection along the third direction L _Y ;

6. Drive device (1) according to one of the preceding claims 2 to 5, wherein the first spring device (80) is designed as a leaf spring with a leaf spring section (210) and at least one prestressing section which runs along a plane which is perpendicular to the is aligned in the first direction L _x , and thereby presses the actuator device (10) along the first direction L _x against the first bearing section (101), and the second spring device (90) is designed as a leaf spring with a leaf spring section (240) and at least one prestressing section which runs along a plane which is oriented perpendicularly to the third direction L _Y and thereby presses the actuator device (10) against the runner along the third direction L _Y .

7. Drive device (1) according to claim 6, wherein the first leaf spring portion (210) seen in the width direction thereof, executed according to one of the following forms: with a bending portion, which is formed along the first direction L _x ; as a shaft portion extending along the first direction L _x ; as a leaf spring portion shaped like a wave along the first direction L _x ; as a leaf spring section which is at least partially M-shaped or N-shaped or W-shaped or V-shaped or S-shaped or ring-shaped or as a ring section.

8. Drive device (1) according to one of the preceding claims, wherein the actuator device (10) has a first connection piece (40) which is located between the actuator (20) and the first bearing section (101) and together with this the first bearing device ( 60) trains.

9. Drive device (1) according to claim 8, wherein the first bearing device (60) has a bearing receptacle (61) and a bearing formation (62) which abut one another to form a rotary joint.

10. Drive device according to claim 9, wherein the bearing seat (61) seen in cross-section in the second direction L _z has a recess with receiving surface portions (61a, 61b) that run obliquely with respect to the first direction L _x , wherein the bearing formation (62) has a convexly curved formation Has a surface section (62a) which rests against one of the receiving surface sections (61a, 61b) and moves along with respect to the first bearing section (101) when the actuator device (10) rotates.

11. Drive device (1) according to one of the preceding claims, wherein the actuator device (10) has a second connection piece (50) on which the first spring device (80) or the second spring device (90) acts or both the first spring device (80) and attack the second spring device (90).

12. Drive device (1) according to claim 11, wherein the second connection piece (50) has an actuator connection area (51) lying against the actuator (20) and a carrier area extending transversely thereto along the first direction L _x away from the actuator (20). (52), wherein the second bearing device (70) is mounted on the carrier area (52).