WO2024079200A1 - Actionneur pour générer en particulier des mouvements d'entraînement oscillants - Google Patents

Actionneur pour générer en particulier des mouvements d'entraînement oscillants Download PDF

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Publication number
WO2024079200A1
WO2024079200A1 PCT/EP2023/078221 EP2023078221W WO2024079200A1 WO 2024079200 A1 WO2024079200 A1 WO 2024079200A1 EP 2023078221 W EP2023078221 W EP 2023078221W WO 2024079200 A1 WO2024079200 A1 WO 2024079200A1
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WO
WIPO (PCT)
Prior art keywords
arrangement
guide
drive
permanent magnet
yoke
Prior art date
Application number
PCT/EP2023/078221
Other languages
German (de)
English (en)
Inventor
Thomas Bragagna
Original Assignee
Tripenso Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tripenso Ag filed Critical Tripenso Ag
Publication of WO2024079200A1 publication Critical patent/WO2024079200A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/16—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/09—Structural association with bearings with magnetic bearings

Definitions

  • the present invention relates to an actuator for generating in particular oscillating drive movements according to the preamble of claim 1, a method for assembling an actuator according to the preamble of claim 30, a method for assembling an actuator according to the preamble of claim 31, a medical applicator system for introducing mechanical vibrations into a body part according to the preamble of claim 32, a use of an actuator for generating vibrations in the context of a vibration treatment according to claim 33 and a use of an actuator for generating pressure waves in the context of a radial, unfocused and/or dispersive pressure wave treatment according to claim 34.
  • actuators convert an electrical signal into mechanical movements, particularly oscillating movements.
  • Such actuators are used in a variety of ways.
  • actuators are used in medical applicator systems for vibration treatment.
  • actuators are also used as an actuator to specifically initiate actuating movements for the precise positioning of an actuating element.
  • the term "actuator" is to be understood broadly and includes any drive-related component that converts an electrical signal into mechanical movements.
  • the known prior art (EP 2 433 350 B1), from which the invention is based, relates to an actuator which is designed to generate oscillating drive movements with a slide arrangement for conducting the drive movements.
  • the actuator has a support arrangement and a guide arrangement.
  • the drive movements of the slide arrangement are guided linearly along a drive direction via the guide arrangement relative to the support arrangement, wherein the actuator forms a magnetic drive circuit for generating the drive movements, which runs over the support arrangement and the slide.
  • the known actuator has a simple structure. However, it has been shown that the carriage arrangement can jam in an uncontrolled manner relative to the support arrangement, which can hinder or completely block the discharge of the drive movements. This occurs in particular with particularly efficient actuators, in which there is only a very small air gap, which must also be designed with particular precision in order to keep the magnetic resistance generated by the air gap as small as possible. Even small deviations of the air gap from the target value cause increasingly asymmetrical forces in the magnetic circuit, which in turn generate frictional forces in the bearing points and can lead to the carriage arrangement becoming tilted and/or jammed relative to the support arrangement. For this reason, particularly precisely designed bearings are used to support the carriage arrangement, which on the one hand lead to high production costs and on the other hand increase the moving mass of the actuator.
  • the invention is based on the problem of designing and developing the known actuator in such a way that a uniform drive movement is ensured at all times in a cost-effective manner.
  • the fundamental idea is to provide at least two offset magnetic gaps between the carriage arrangement and the support arrangement, which are aligned transversely to the drive direction.
  • Another fundamental idea is to mount the carriage arrangement so that it is floating relative to the support arrangement, transversely to the gap alignment of the magnetic gap. In this way, jamming and/or snagging of the carriage arrangement can be prevented, since the carriage arrangement has play relative to the support arrangement in this direction due to the floating guide transversely to the gap alignment.
  • the carriage arrangement can then carry out compensating movements transversely to the gap alignment, which ensures that the carriage arrangement is guided evenly in the drive direction at all times. It has been shown that with an appropriate floating bearing of the carriage arrangement, on the one hand, the position of the carriage arrangement in the direction of the gap alignment can be held sufficiently precisely. On the other hand, appropriate bearing can be implemented particularly cost-effectively.
  • the magnet drive circuit has at least two offset magnet gaps between the support arrangement and the carriage arrangement with identical gap alignment transverse to the drive direction and that at least a part of the guide arrangement is designed to provide the guide of the carriage arrangement in a floating manner in a plane transverse to the gap alignment.
  • the carriage arrangement is guided in a floating manner transversely to the drive direction, whereby a particularly good smooth running of the actuator is achieved.
  • Claims 3 to 7 relate to preferred structural designs of the guide arrangement for realizing the floating guidance of the carriage arrangement relative to the support unit.
  • Claim 6 is particularly preferred, according to which the carriage arrangement is guided on both sides with respect to a center line along the drive direction via one of two partial guide units, whereby symmetrical guidance is achieved.
  • the guide counter element can be inserted in an assembly movement into a guide counter element holder assigned to the slide arrangement, which enables a particularly simple assembly of the guide counter element, which can in particular also be carried out automatically.
  • the assembly movement takes place transversely to the geometric center axis of the guide counter element or parallel to the geometric center axis of the guide counter element.
  • Claim 9 relates to a particularly preferred structural design of the guide counter element holder.
  • the magnetic drive circuit for accelerating the carriage arrangement has a coil arrangement and a drive permanent magnet arrangement interacting with the coil arrangement.
  • the drive permanent magnet arrangement has at least one drive permanent magnet which interacts with the coil arrangement in order to accelerate the carriage arrangement (claim 11).
  • the drive permanent magnet is assigned a drive permanent magnet holder of the slide arrangement.
  • the drive permanent magnet is in an assembly movement can be inserted into the permanent drive magnet holder assigned to the slide arrangement, which enables particularly easy assembly of the permanent drive magnet, which can also be automated.
  • the assembly movement takes place transversely to the north-south axis of the permanent drive magnet or parallel to the north-south axis of the permanent drive magnet.
  • a yoke arrangement is provided according to claim 13, which extends across the magnet gaps to the drive permanent magnet arrangement transversely to the drive direction.
  • Claims 14 to 22 define particularly preferred embodiments of the yoke arrangement.
  • a particularly loss-free interaction between the magnetic field induced by the coil arrangement and the drive permanent magnet arrangement is achieved according to the preferred embodiment according to claim 23 in that the yoke arrangement and the drive permanent magnet arrangement form the magnetic gaps in at least one position of the carriage arrangement.
  • a brake permanent magnet arrangement is provided.
  • the optional brake permanent magnet arrangement interacts magnetically with the drive permanent magnet arrangement to generate a braking effect when there is sufficient proximity between the brake permanent magnet arrangement and the drive permanent magnet arrangement.
  • Claims 25 to 27 relate to particularly preferred embodiments of the brake permanent magnet arrangement.
  • the actuator has two brake permanent magnet arrangements which are spaced apart from one another in the drive direction and which are arranged in the drive direction essentially in front of and behind the drive permanent magnet arrangement, whereby a uniform braking effect can be achieved in both directions of movement.
  • the support arrangement has a guide element holder for the guide element. The guide element is inserted into the associated guide element holder in an assembly movement during assembly of the actuator. The guide counter element and/or the slide arrangement can optionally be inserted together with the guide element. In this way, a particularly simple assembly of the guide element is made possible, which can in particular also be carried out automatically.
  • the guide arrangement has at least one guide element, in particular a guide rod, and at least one guide counter element in guide engagement therewith, in particular a guide sleeve, and that the guide counter element, optionally together with the guide element, is inserted into a guide counter element receptacle of the slide arrangement in a first assembly movement with a first assembly direction and that the slide arrangement is inserted into the support arrangement in a second assembly movement with a second assembly direction which is transverse to the first assembly direction.
  • the magnet drive circuit has a drive permanent magnet arrangement with at least one drive permanent magnet and that the at least one drive permanent magnet is inserted into a drive permanent magnet receptacle of the carriage arrangement in an assembly movement with a magnet assembly direction, preferably that the magnet assembly direction is aligned transversely to the gap alignment and/or transversely to the drive direction.
  • a medical applicator system for introducing mechanical vibrations into a body part with an applicator for the vibration-transmitting contact with the body part is claimed.
  • the applicator system has a proposed actuator that is coupled to the applicator in terms of drive technology to generate the mechanical vibrations.
  • Fig. 1 shows a proposed medical applicator system with a proposed actuator in a schematic representation
  • Fig. 2 the actuator according to Fig. 1 in an exploded view
  • Fig. 3 shows the magnetic drive circuit as an essential component of the actuator according to Fig. 1 in a side view with a cross section of the slide of the slide arrangement a) in a first end position of the slide arrangement, b) in an intermediate position and c) in a second end position of the slide arrangement,
  • Fig. 4 the coil arrangement, the carriage arrangement and the guide arrangement of the actuator according to Fig. 1 a) in a frontal view in the drive direction with one housing half and a detailed view of the guide arrangement and b) in a further perspective view and a further detailed view of the guide arrangement,
  • Fig. 5 shows the coil arrangement, the carriage arrangement and the guide arrangement according to a further embodiment of a proposed medical applicator system with a proposed actuator in a perspective view and a sectional view
  • Fig. 6 the coil arrangement, the carriage arrangement and the guide arrangement according to yet another embodiment of a proposed medical applicator system with a proposed actuator in a perspective view and
  • Fig. 7 shows a schematic representation of the coil arrangement and the carriage arrangement a) of the actuator according to the embodiment in Fig. 1, b) of the actuator according to the embodiment in Fig. 5, c) of the actuator according to the embodiment in Fig. 6, d) of the actuator according to a further embodiment and e) of the actuator according to yet a further embodiment.
  • the actuator 1 shown in the figures is designed to generate oscillating drive movements. With the help of the actuator 1, not only oscillating drive movements but also non-oscillating drive movements, such as linear actuating movements for adjusting an actuating element, can be generated.
  • the actuator 1 has a slide arrangement 2 via which the drive movements are output.
  • the actuator 1 has a support arrangement 3 and a guide arrangement 4. The drive movements of the slide arrangement 2 are guided linearly along a drive direction X via the guide arrangement 4, so that a relative movement is possible between the slide arrangement 2 and the support arrangement 3.
  • the actuator 1 is here and preferably driven electromagnetically.
  • the actuator 1 forms a closed magnetic drive circuit 5, via which the drive movements are generated.
  • the magnetic drive circuit 5 runs over the support arrangement 3 and the carriage 6 of the carriage arrangement 2, as is shown most clearly in Fig. 2 and Fig. 3.
  • the magnetic drive circuit 5 has at least two offset magnetic gaps 7 between the support arrangement 3 and the carriage arrangement 2 with identical gap orientation A transverse to the drive direction X and that at least a part of the guide arrangement 4 is designed to provide the guide of the carriage arrangement 2 in a floating manner in a plane transverse to the gap orientation A.
  • offset is to be understood here to mean that the two magnetic gaps 7 are not formed by a single magnetic gap, but are formed independently, i.e. separately, from one another and spaced apart from one another, in particular in gap orientation A.
  • the gap orientation A is the thickness direction of the gap, i.e. the extension direction between the support arrangement 3 and the carriage arrangement 2 or between the surfaces of the support arrangement 3 and the carriage arrangement 2 that delimit the magnetic gap.
  • a “floating guide of the carriage arrangement in a plane transverse to the gap alignment” is to be understood as meaning that the carriage arrangement 2 transverse to the gap alignment A has a play relative to the support arrangement 3 It has been shown that a floating guide of the slide arrangement 2 in the plane transverse to the gap alignment A enables a particularly even and smooth running of the slide arrangement 2 and at the same time effectively prevents the slide arrangement 2 from tilting and/or jamming. In this way, mechanical or thermal changes in length can also be accommodated without the guide of the slide arrangement 2 becoming tense and a drive movement of the slide arrangement 2 being blocked or inhibited. At the same time, the floating guide of the slide arrangement 2 can be designed to be particularly cost-effective.
  • the floating guide of the carriage arrangement 2 in a plane transverse to the gap orientation A has a play of 50 to 150 pm and/or of 5% to 100% of the extension of the magnetic gap 7, preferably of 20% to 100%, more preferably of 40% to 100%.
  • the extension of the magnetic gaps 7 in gap orientation A is equal to or less than 400 pm, preferably equal to or less than 300 pm, more preferably equal to or less than 250 pm. It has been shown that a particularly efficient actuator 1 can be obtained with a corresponding extension of the magnetic gaps 7. Due to the at least two offset magnetic gaps 7 between the support arrangement 3 and the carriage arrangement 2, a particularly uniform magnetic force can be realized between the support arrangement 3 and the carriage arrangement 2, as will be explained below.
  • the guide arrangement 4 is designed to provide the guide of the carriage arrangement 2 in a floating manner transversely to the drive direction X.
  • a “floating guide of the carriage arrangement transversely to the drive direction” is to be understood as meaning that the carriage arrangement 2 has a play transversely to the drive direction X relative to the support arrangement 3.
  • the floating guide of the carriage arrangement 2 is thus provided in a particularly advantageous manner directly by the guide arrangement 4 itself, whereby a particularly simple construction of the floating guide and the actuator 1 can be achieved.
  • the carriage arrangement 2 is guided in a floating manner transversely to the drive direction X, whereby a particularly advantageous smooth running is achieved when the drive movements are carried out by the carriage arrangement 2.
  • a further simplified structure of the floating guide can be achieved if the guide arrangement 4 has at least one guide element 8, in particular a guide rod, and at least one guide counter element 9, in particular a guide sleeve, which is in guide engagement therewith.
  • the floating guide can compensate for any out-of-roundness, i.e. a certain eccentricity, of the guide element 8 and/or the guide counter element 9.
  • an out-of-roundness of a guide counter element 9 designed as a guide sleeve can be compensated for by the floating guide, thereby ensuring smooth and undisturbed running of the actuator 1.
  • the guide element 8 is designed as a guide rod and the guide counter element 9 in guide engagement with the guide rod is designed as a guide sleeve.
  • the slide arrangement 2 is guided linearly in the drive direction X by the guide element 8 and the guide counter element 9, as shown in Fig. 2 and Fig. 4.
  • a particularly cost-effective floating guide of the slide arrangement 2 can be provided with a particularly simple structure. For example, if the guide rod designed as a guide If the guide element 8 has an unintentional curvature, this can be compensated for by the floating guide of the slide arrangement 2, thereby ensuring uniform operation of the actuator 1 and preventing tilting and/or jamming of the slide arrangement 2.
  • the guide element 8 prefferably be designed, for example, as a guide groove and the guide counter element 9 as a guide pin or vice versa.
  • Other designs of the guide element 8 and/or the guide counter element 9 are also possible.
  • the guide element 8 or the guide counter element 9 can be designed as a coating.
  • the floating guide of the slide arrangement 2 can be designed to be structurally simple and yet particularly reliable if the guide arrangement 4 has a first partial guide unit 10 and a second partial guide unit 11, each of which provides a linear guide of the slide arrangement 2 relative to the support arrangement 3 along the drive direction X (Fig. 2), with only one of the first partial guide unit 10 and the second partial guide unit 11 providing the floating guide of the slide arrangement 2.
  • the guide arrangement 4 has a first partial guide unit 10 and a second partial guide unit 11, each of which provides a linear guide of the slide arrangement 2 relative to the support arrangement 3 along the drive direction X (Fig. 2), with only one of the first partial guide unit 10 and the second partial guide unit 11 providing the floating guide of the slide arrangement 2.
  • the first partial guide unit 10 and the second partial guide unit 11 each have exactly one guide element 8 and each have exactly one guide counter element 9 in guiding engagement therewith.
  • the two partial guide units 10, 11 are here and preferably aligned parallel to each other in the drive direction X.
  • the floating guide of the carriage arrangement 2 is able to compensate for an unwanted angular offset between the two partial guide units 10, 11 and in this way prevent tilting and/or jamming of the carriage arrangement 2.
  • first partial guide unit 10 and the second partial guide unit 11 each have at least one guide element 8, in particular a guide rod, and at least one guide counter element 9 in guiding engagement therewith, in particular a guide sleeve. It is therefore preferably provided here that the first partial guide unit 10 and the second partial guide unit 11 have a substantially identical structure. In this way, assembly can be simplified and the number of different components of the actuator 1 can be reduced overall, whereby further cost savings can be achieved.
  • a particularly uniform guidance of the slide arrangement 2 can be achieved if the first partial guide unit 10 and the second partial guide unit 11 are arranged on opposite sides of the slide arrangement 2 with respect to a center line B that runs along the drive direction X, as shown in Fig. 2 and Fig. 4.
  • a symmetrical guidance of the slide arrangement 2 with respect to the center line B is thus created, whereby a uniform load on the first partial guide unit 10 and the second partial guide unit 11 can be achieved.
  • the wear on the slide arrangement 2 and the guide arrangement 4 can be minimized and a particularly uniform discharge of the drive movements with particularly good smooth running can be achieved.
  • the at least one guide element 8 is or are assigned to the support arrangement 3 and that the at least one guide counter element 9 is or are assigned to the carriage arrangement 2.
  • the guide arrangement 4 is thus advantageously designed in terms of drive technology between the support arrangement 3 and the carriage arrangement 2, whereby a particularly compact structure is realized.
  • the first partial guide unit 10 and the second partial guide unit 11 each have two guide counter elements 9, which are arranged one behind the other along the drive direction X, in particular spaced apart from one another.
  • the support arrangement 3 has two guide elements 8, which in the figures and in this respect are preferably each designed as a guide rod. are.
  • Two guide counter elements 9, which are designed as guide sleeves in the figures, are in guiding engagement with each guide element 8.
  • the guide counter elements 9 are assigned to the slide arrangement 2.
  • the slide arrangement 2 is thus in guiding engagement with the two guide elements 8 via the total of four guide counter elements 9, so that the slide arrangement 2 is guided linearly in four bearing areas along the guide elements 8 in the drive direction X.
  • the guide arrangement 4 thus allows precise guidance of the slide arrangement 2, with the floating guide transverse to the gap alignment A achieving a particularly high level of reliability and smooth running.
  • the floating guide can compensate for misalignments between two guide counter elements 9 that are assigned to the same guide element 8, thereby preventing the carriage arrangement 2 from tilting and/or jamming and at the same time ensuring safe and smooth operation of the actuator 1.
  • the floating guide can also compensate for distance deviations between the two guide elements 8.
  • the guide counter element 9 is assigned a guide counter element receptacle 12 in the slide arrangement 2 and that during the assembly of the actuator 1 the guide counter element 9 is inserted into the assigned guide counter element receptacle 12 in an assembly movement.
  • the assembly of the guide counter element 9 can be implemented with particularly simple movements if the assembly essentially goes back to an assembly of the guide counter element 9. Such a movement can easily be implemented automatically.
  • the guide counter element 9 is already in guiding engagement with the assigned guide element 8 during the assembly movement, which further simplifies the assembly.
  • the guide counter element holder 12 is designed in cross section transverse to the drive direction X essentially U-shaped with two U-legs 13. In this way, the two U-legs 13 serve as a guide for the guide counter element 9 during assembly, whereby a Self-centering arrangement between the guide counter element holder
  • the assembly can then be carried out in a particularly simple manner.
  • this positional deviation can be compensated by the floating guide of the slide arrangement 2, thereby ensuring the safe and uniform operation of the actuator. Tilting and/or jamming of the slide arrangement 2 can thus be prevented.
  • the guide counter element 9 is held axially fixed in the guide counter element holder 12 in its final assembly position.
  • the slide arrangement 2, and in particular the slide 6, is at least partially made of plastic, in particular a thermoplastic.
  • the slide arrangement 2 can then be made particularly light, whereby the moving mass can be kept low.
  • the slide 6 is made essentially completely of plastic. It is then possible for the slide 6 to form at least one guide counter element 9 designed as a sliding surface. The use of a separate guide counter element 9 designed as a guide sleeve can then be dispensed with.
  • the forces required to generate the drive movements of the slide arrangement 2 in the drive direction X act on the slide 6 of the slide arrangement 2, as will be explained in more detail below.
  • the guide counter bearings 9 follow the course of the respective associated guide bearing 8. If the corresponding guide bearing 8 is not aligned exactly parallel to the drive direction X and has, for example, a curvature and/or an angular offset to the drive direction X, such a deviation from the target value can be compensated by the floating guide.
  • the floating guide of the slide arrangement 2 is made possible by the fact that the drive forces for generating the drive movements act exclusively in the drive direction X and no forces act on the slide arrangement 2 in a direction transverse to the drive direction X and transverse to the gap alignment A when the actuator 1 is used as intended.
  • the magnetic drive circuit 5 has a coil arrangement 14 and a drive permanent magnet arrangement 15, which interact with one another to accelerate the carriage arrangement 2.
  • the drive permanent magnet arrangement 15 is assigned to the carriage arrangement 2.
  • an attractive and/or repulsive magnetic force can be provided to initiate the drive movements between the drive permanent magnet arrangement 15 and the coil arrangement 14, whereby the carriage arrangement 2 can be moved relative to the support arrangement 3 in the drive direction X.
  • the drive permanent magnet arrangement 15 can be assigned to the support arrangement 3 and the coil arrangement 14 to be assigned to the carriage arrangement 2.
  • a particularly simple structure of the actuator 1 can be realized if the drive permanent magnet arrangement 15 has at least one drive permanent magnet 16.
  • the magnetic field of the drive permanent magnet 16 exits the drive permanent magnet 16 transversely to the drive direction X.
  • the closed magnet drive circuit 5 then makes it possible to generate a magnetic field via the coil arrangement 14 that simultaneously produces an attractive or repulsive effect on both poles of the drive permanent magnet arrangement 15 (Fig. 3a) and Fig. 3c)), whereby a particularly efficient actuator 1 can be created, as will be explained below.
  • a particularly simple assembly of the actuator 1 can be achieved if, during the assembly of the actuator 1, the at least one drive Permanent magnet 16 is inserted in an assembly movement into a drive permanent magnet holder of the slide arrangement 2.
  • the assembly movement takes place transversely to the drive direction X and/or transversely to the gap alignment A.
  • the assembly of the drive permanent magnet 16 in the slide arrangement 2 can be implemented with particularly simple movements.
  • Such a movement can also be easily implemented automatically.
  • the at least one drive permanent magnet 16 is preferably fixed in the drive direction X and/or along the gap alignment A on the slide arrangement 2.
  • the magnetic drive circuit 5 has a yoke arrangement 17 which extends transversely to the drive direction X via the magnetic gaps 7 to the drive permanent magnet arrangement 15 and which is magnetically coupled to the coil arrangement 14.
  • the inductively generated magnetic field of the coil arrangement 14 can be directed to the drive permanent magnet arrangement 15 with particularly low energy losses, which enables a particularly precisely adjustable power transmission to the drive permanent magnet arrangement 15 using the magnetic field generated by the coil arrangement 14.
  • the yoke arrangement 17 extends, as shown by way of example in Fig. 3, via the magnetic gaps 7 to the drive permanent magnet arrangement 15, whereby the magnetic field generated by the coil arrangement 14 interacts with the drive permanent magnet arrangement 15 in a particularly loss-free manner.
  • the carriage arrangement 2 can then be moved in a particularly energy-saving manner.
  • the yoke arrangement 17 is formed either from a single yoke 18 or from at least two, in particular exactly two, partial yokes 18, 19.
  • the terms yoke and partial yoke refer to the same component, whereby in the present context the term “yoke” is used when the yoke arrangement 17 is formed from only one yoke 18, and whereby the term “partial yoke” is used when the yoke arrangement 17 is formed from several, here for example two, yokes 18, 19.
  • An exemplary embodiment with several yokes 18, 19 (the so-called partial yokes) is shown in detail in Figures 1 to 4 and schematically in Fig. 7a).
  • Exemplary embodiments with only one yoke 18 are shown in detail in Figures 5 and 6 and schematically in Figures 7b) to 7e). However, the respective functional principle of these embodiments is also fundamentally applicable to variants (not shown here) that have several partial yokes, preferably of identical design and geometric alignment within the actuator 1. Accordingly, all statements regarding a yoke arrangement 17 with only one yoke 18 apply equally to a yoke arrangement 17 with several partial yokes 18, 19.
  • a partial yoke 18, 19 is arranged on each side of the slide arrangement 2 with respect to the gap orientation A.
  • the gap orientation A on both sides of the slide arrangement 2, at least or exactly two magnetic gaps 7 are formed between the respective partial yoke 18, 19 and the slide arrangement 2.
  • one of the two partial yokes 18, 19 shown is omitted, in which only one yoke 18 is arranged on only one side of the slide arrangement 2 with respect to the gap orientation A, it is then preferably the case that, with respect to the gap orientation A, at least or exactly two magnetic gaps 7 are formed between the yoke 18 and the slide arrangement 2 on only one side of the slide arrangement 2.
  • the respective yoke 18 or partial yoke 18, 19 can be designed in different ways.
  • the respective yoke 18 or partial yoke 18, 19 is designed as a Beam 29 extending in the beam extension direction EB is designed.
  • a beam is referred to here as a component that essentially runs straight.
  • the beam extension direction EB runs here and preferably parallel to the drive direction X and in particular transverse to the gap orientation A.
  • the beam 29 has, as shown schematically in Fig. 7a), a material thickening 30 at one or both ends, which protrudes here and preferably towards the slide arrangement 2 or the magnetic gap 7, i.e. parallel to the gap alignment A. This forms in particular a pole shoe.
  • the surface of the material thickening 30 facing the slide arrangement 2 delimits the magnetic gap 7 towards the respective partial yoke 18, 19.
  • the respective yoke 18 or partial yoke 18, 19 laterally surrounds the carriage arrangement 2, so that a section of the yoke 18 or partial yoke 18, 19 is arranged on one side with respect to the gap orientation A and another section of the yoke 18 or partial yoke 18, 19 is arranged on the other side of the carriage arrangement 2 with respect to the gap orientation A.
  • the respective yoke 18 or partial yoke 18, 19 has two yoke arms 31 extending essentially parallel in an arm extension direction EA, which are connected to one another via a connecting section 32 of the yoke 18 or partial yoke 18, 19 extending transversely thereto in a connecting section extension direction Ev.
  • the respective yoke 18 or partial yoke 18, 19 therefore has here and preferably essentially a U-shape.
  • the yoke arms 31, as shown schematically in Figures 6, 7b) to 7e), can have a material thickening 30 at their end facing away from the connecting section 32, which here and preferably serves to Slide arrangement 2 or the magnetic gap 7, i.e. parallel to the gap alignment A. This forms in particular a pole shoe.
  • the surface of the material thickening 30 facing the slide arrangement 2 here delimits the magnetic gap 7 towards the respective yoke arm 31.
  • the arm extension direction EA runs parallel or transversely to the drive direction X and in particular transversely to the gap orientation A and/or that the connecting section extension direction Ev runs transversely to the drive direction X and in particular parallel to the gap orientation A.
  • a variant, as shown in a detailed view in Figures 5, 7b) and e), in which the respective yoke 18 laterally surrounds the slide arrangement 2, can be designed in such a way that the dimensions and also the weight of the actuator 1 are particularly small.
  • the actuator 1 is then so small that it can be gripped ergonomically comfortably by the user.
  • the vibrations are no longer introduced directly into the user's hand, but are practically completely decoupled in a kind of shearing movement between the vibrating device and the fingers. In this way, the device is easier to hold and reduces the strain on the hand with which the device is held, which can be a decisive advantage, especially for therapists who use the device very frequently and for long periods of time.
  • the respective yoke 18 or partial yoke 18, 19 laterally surrounds the carriage arrangement 2 it can be provided that at least or exactly one coil 20, 21 of the coil arrangement 14 extends along a yoke arm 31, in particular around the yoke arm 31 ( Figures 6, 7c) and d)).
  • the longitudinal extension of the yoke arm 31 runs in particular parallel to the geometric coil axis G of the respective coil 20, 21.
  • At least or exactly one coil 20, 21 of the coil arrangement 14 is located along the connecting section 32 of the yoke 18 or partial yoke 18, 19, in particular around the Connecting section 32 of the yoke 18 or partial yoke 18, 19 ( Figures 5, 7b) and e)).
  • the longitudinal extension of the connecting section 32 runs in particular parallel to the geometric coil axis G of the respective coil 20, 21.
  • the courses of the geometric coil axis G relative to the drive direction X and to the gap orientation A also differ here.
  • Fig. 7a it is preferably the case that the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 runs parallel to the drive direction X and/or transversely to the gap orientation A.
  • Fig. 7b it is preferably the case that the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 runs transversely to the drive direction X and/or parallel to the gap orientation A.
  • Fig. 7a it is preferably the case that the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 runs parallel to the drive direction X and/or parallel to the gap orientation A.
  • the yoke arrangement 17 has a first partial yoke 18 and a second partial yoke 19, as is shown in particular in Fig. 3.
  • the first partial yoke 18 and the second partial yoke 19 reach the drive permanent magnet arrangement 15 in opposite directions, each via two magnetic gaps 7.
  • a magnetic north pole and a magnetic south pole generated by the coil arrangement 14 can be guided simultaneously via the corresponding partial yoke 18, 19 to the drive permanent magnet arrangement 15 and interact with it, thereby improving the efficiency of the actuator 1.
  • the first partial yoke 18 and the second partial yoke 19 can each reach the drive permanent magnet arrangement 15 via only one magnetic gap 7.
  • first partial yoke 18 and the second partial yoke 19 reach the drive permanent magnet arrangement 15 in opposite directions only in the area of one of their material thickenings 30 or pole shoes, and in the area of the other of their material thickenings 30 or pole shoes between the first partial yoke 18 and the second partial yoke 19 there is only a free air gap (the first partial yoke 18 and the second partial yoke 19 are spaced apart from one another here) or a joint (the first partial yoke 18 and the second partial yoke 19 are in contact with one another here).
  • the floating guide of the slide arrangement 2 ensures a particularly quiet, reliable and uniform operation of the actuator 1.
  • a deviation of the extension of the magnetic gap 7 in gap orientation A of up to 20% can be tolerated.
  • a deviation of 20% means that the extension of the magnetic gap 7 to the first partial yoke 18 can be reduced by up to 20%. Reducing the extension of the magnetic gap 7 to the first partial yoke 18 by up to 20% leads to a corresponding increase in the extension of the magnetic gap 7 to the second partial yoke 19 and vice versa.
  • first partial yoke 18 and the second partial yoke 19 are identically as equal parts, whereby the number of different components of the actuator 1 can be reduced.
  • first partial yoke 18 and the second partial yoke 19 geometrically differently. It is then particularly advantageous if the first partial yoke 18 and the second partial yoke 19 act magnetically identically on the drive permanent magnet arrangement 15 during operation of the actuator 1.
  • the term “act magnetically identically” is to be understood here to mean that the magnetic force acting from the first partial yoke 18 on the drive permanent magnet arrangement 15 has the same amount as the magnetic force acting from the second partial yoke 19 on the drive permanent magnet arrangement 15.
  • the coil arrangement 14 has a first coil 20, which is assigned to the first partial yoke 18, and a second coil 21, which is assigned to the second partial yoke 19. It is possible to connect the first coil 20 and the second coil 21 in series, whereby the current directions and current strengths of the first coil 20 and the second coil 21 are coordinated with one another.
  • the first coil 20 and the second coil 21 are connected in parallel to one another, whereby a particularly low total inductance is achieved. In this way, a particularly high acceleration of the carriage 6 can be achieved.
  • the first coil 20 is assigned to the first partial yoke 18 and no coil is assigned to the second partial yoke 19.
  • no coil is assigned to the first partial yoke 18 and the second coil 21 is assigned to the second partial yoke 19.
  • the yoke arrangement 17 and the drive permanent magnet arrangement 15 form the magnetic gap 7.
  • the yoke arrangement 17 thus conducts the magnetic field induced by the coil arrangement 14 via the magnetic gap 7 to the drive permanent magnet arrangement 15, whereby the magnetic field can interact with the drive permanent magnet arrangement 15 with particularly little loss.
  • the yoke arrangement 17 and the drive permanent magnet arrangement 15 form a total of four magnetic gaps 7, with one magnetic gap 7 of the first partial yoke 18 and one magnetic gap 7 of the second partial yoke 19 being arranged on opposite sides of the carriage 6 and forming a magnetic gap pair.
  • At least one drive permanent magnet 16 is preferably assigned to each magnetic gap pair. As shown in Fig. 3, it is particularly advantageous if two drive permanent magnets 16 are assigned to each magnetic gap pair.
  • the term "assigned" is to be understood here to mean that the yoke arrangement 17 interacts essentially exclusively with the two drive permanent magnets 16 in the area of the magnetic gap pair.
  • the magnetic drive circuit 5 it is also possible for the magnetic drive circuit 5 to have more than four offset magnetic gaps 7 between the support arrangement 3 and the carriage arrangement 2 with identical gap orientation A transverse to the drive direction X, for example six or more magnetic gaps 7. In this way, different positions, for example with six magnetic gaps 7 three magnetic gap pairs can be formed and thus, for example, three positions of the carriage arrangement 2 can be controlled in a targeted manner.
  • the two drive permanent magnets 16 assigned to a magnetic gap pair are spaced apart from one another in the drive direction X and the poles of one drive permanent magnet 16 and the other drive permanent magnet 16 are aligned opposite to one another.
  • the distance between the two drive permanent magnets 16 in the drive direction X corresponds to at least a quarter, preferably at least a third, more preferably at least half, of the extension of the drive permanent magnets 16 in the gap alignment A of the magnetic gap 7. It is particularly advantageous if the distance between the two drive permanent magnets 16 in the drive direction X corresponds to at least three times, preferably at least four times, more preferably at least five times, the extent of a magnetic gap 7 in gap orientation A.
  • the extent of the magnetic gap 7 in the drive direction X here and preferably corresponds to at least the extent of a drive permanent magnet 16 in the drive direction X plus the distance between the two drive permanent magnets 16. In this way, a particularly robust structure of the actuator 1 can be achieved, which can be operated particularly efficiently in terms of energy.
  • a repulsive force acts simultaneously between the two poles of the drive permanent magnet 16 on the left in Fig. 3a) and the magnetic field induced by the coil arrangement 14.
  • an attractive magnetic force acts between the two poles of the drive permanent magnet 16 shown as the second from the left in Fig. 3a) and the magnetic field induced by the coil arrangement 14.
  • an opposite current supply to the coil arrangement 14 leads to a reversal of the polarity of the induced magnetic field. In this way, an attractive force acts between the drive permanent magnet 16 on the left in Fig. 3b) and the magnetic field induced by the coil arrangement 14.
  • a repulsive magnetic force acts between the two poles of the drive permanent magnet 16, which is arranged second from the left in Fig. 3b), and the magnetic field induced by the coil arrangement 14, so that the carriage 6 experiences a drive movement directed to the right in Fig. 3b) via both drive permanent magnets 16.
  • the coil arrangement 14 can be supplied with a linear, alternating voltage, i.e. a direct voltage that is reversed in polarity. Alternatively, it is also possible to control the coil arrangement 14 using a sinusoidal voltage, which makes it particularly easy to control.
  • the sinusoidal voltage can also be generated digitally using pulse width modulation. It is also possible to supply the coil arrangement 14 with a square pulse with a positive voltage, which is followed after an optional pause by an opposite square pulse with a negative voltage. For a rapid current increase, it is conceivable to Coil arrangement 14 is subjected to a pulse with an excessive voltage until the current has reached a predetermined target value. The current can then be kept constant for a predetermined period of time, for example by means of pulse width modulation. All of the aforementioned applications of coil arrangement 14 are to be understood as examples only and can be combined and/or alternated over time if required.
  • the proposed actuator 1 is therefore particularly suitable for a wide range of applications.
  • a particularly reliable braking of the carriage arrangement 2 can be achieved if the magnetic drive circuit 5 has a brake permanent magnet arrangement 22 which interacts magnetically with the drive permanent magnet arrangement 15 to generate a braking effect on the carriage arrangement 2.
  • the brake permanent magnet arrangement 22 and the drive permanent magnet arrangement 15 approach each other, an interaction of like poles occurs, whereby a magnetic force directed against the movement of the carriage arrangement 2 is generated on the carriage arrangement 2.
  • the use of mechanical springs, which are arranged between the slide arrangement 2 and the support arrangement 3 for driving purposes, can be dispensed with.
  • the accelerated mass of the actuator 1 can be reduced in this way, whereby a lower energy requirement of the actuator 1 is achieved.
  • a higher acceleration of the slide arrangement 2 can be achieved.
  • a more uniform movement of the slide arrangement 2 is made possible, whereby the adjustment path of the actuator 1 can also be designed to be more variable.
  • the brake permanent magnet arrangement 22 is assigned to the support arrangement 3.
  • the drive permanent magnet arrangement 15 can be moved relative to the brake permanent magnet arrangement 22 in such a way that the same poles of the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 interact in such a way that a repulsive magnetic force acts on the drive permanent magnet arrangement 15, which is opposite to the movement of the carriage arrangement 2, whereby a braking effect is achieved.
  • a force directed to the right and in Fig. 3c) a force directed to the left acts from the brake permanent magnet arrangement. 22 on the drive permanent magnet arrangement 15. In this way, the carriage arrangement 2 is initially braked.
  • the repulsive magnetic force between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 acts to accelerate the carriage arrangement 2 in the opposite direction.
  • the brake permanent magnet arrangement 22 not only serves to brake, but also to subsequently accelerate the carriage arrangement 2 in the opposite direction.
  • the permanent brake magnet arrangement 22 has at least one permanent brake magnet 23, as shown by way of example in Fig. 3.
  • a particularly reliable braking effect can be achieved which is independent of an applied voltage supply, whereby a particularly high level of safety of the actuator 1 is achieved.
  • the magnetic field of the brake permanent magnet 23 emerges from the brake permanent magnet 23 transversely to the drive direction X.
  • the magnetic field of the brake permanent magnet 23 is thus also aligned transversely to the drive direction X, like the magnetic field of the drive permanent magnet 16.
  • identical poles of the drive permanent magnet 16 and of the at least one brake permanent magnet 23 can be arranged relative to one another in such a way that they interact with one another and produce a braking effect.
  • the arrangement of the brake permanent magnet arrangement 22 and the drive permanent magnet arrangement 15 is designed such that the approach of the carriage arrangement 2 to one of its end positions causes an increasing braking effect, which is due to the interaction of the brake permanent magnet arrangement 22 with the drive permanent magnet arrangement 15. If the carriage 6 is moved from the position shown in Fig. 3b) towards the position shown in Fig. 3c), the distance between the brake permanent magnet arrangement 22 on the right in Fig. 3 and the drive permanent magnet arrangement 15 on the right in Fig. 3 is reduced. The braking effect is increased at least in sections in the direction of the end position of the carriage arrangement 2, since the field lines of the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 are deflected more strongly with increasing approach. Thus, the braking effect in the end position shown in Fig. 3c) is greater than in the intermediate position of the carriage arrangement 2 shown in Fig. 3b). In this way, an energetically and kinematically advantageous braking of the carriage 6 can be realized.
  • the carriage arrangement 2 can be moved at least in sections in the drive direction X without a braking effect acting between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22.
  • At least one drive permanent magnet 16 is located over at least one of the magnet gaps 7 in the magnet drive circuit 5, as shown in Fig. 3a) and Fig. 3c).
  • the slide arrangement 2 can be held in the end positions via the magnet drive circuit 5, whereby the actuator 1 can also be held in a defined stroke position in order to hold an actuating element in a defined, predetermined position.
  • one, in particular exactly one, permanent brake magnet arrangement 22 is provided and arranged in the drive direction X between two pairs of magnetic gaps.
  • the permanent brake magnet arrangement 22 can be used to move the carriage arrangement 2 in both drive directions X, whereby a particularly compact design of the actuator 1 can be achieved.
  • the brake permanent magnet arrangement 22 has at least two brake permanent magnets 23, which are spaced apart from one another transversely to the drive direction X in such a way that at least one drive permanent magnet 16 assigned to the drive permanent magnet arrangement 15 can be inserted at least partially between the two brake permanent magnets 23.
  • at least one magnetic north pole and at least one magnetic south pole of the drive permanent magnet arrangement 15 can simultaneously interact with a magnetic north pole of a brake permanent magnet 23 and with a magnetic south pole of the other brake permanent magnet 23, whereby a particularly high braking force can be generated.
  • the actuator 1 has two brake permanent magnet arrangements 22, that the two brake permanent magnet arrangements 22 are spaced apart from one another in the drive direction X and are arranged essentially in front of and behind the drive permanent magnet arrangements 15 in the drive direction X. In this way, a braking effect on the carriage arrangement 2 can be realized in both directions of the drive movements.
  • the actuator 1 can have a position sensor, such as a Hall sensor, which interacts with the drive permanent magnet arrangement 5.
  • the assembly of the actuator 1 can be carried out in a particularly simple manner, as already described above.
  • the assembly can be further simplified if the guide element 8 is assigned a guide element holder 24 in the support arrangement 3 and, as part of the assembly of the actuator 1, the guide element 8 is inserted into the assigned guide element holder 24 in an assembly movement, possibly together with the guide counter element 9 and/or the slide arrangement 2.
  • the assembly of the guide element 8 in the support arrangement 3 can be implemented with particularly simple movements if the assembly essentially goes back to an assembly of the guide element 8. Such a movement can also be easily implemented in an automated manner.
  • the actuator 1 has an actuator housing 25, which provides the guide element receptacle 24, so that the guide element 8 can be connected directly to the actuator housing 25. It is particularly advantageous if the actuator housing 25 has two housing halves 26. Here and preferably, the two housing halves 26 are designed as identical parts, whereby the number of different components of the actuator 1 is reduced and cost savings can be achieved.
  • the guide arrangement 4 has at least one guide element 8, in particular a guide rod, and at least one guide counter element 9, in particular a guide sleeve, which is in guide engagement therewith, and that the guide counter element 9, optionally together with the guide element 8, is inserted into a guide counter element receptacle 12 of the slide arrangement 2 in a first assembly movement with a first assembly direction Y and that the slide arrangement 2 is inserted into the support arrangement 3 in a second assembly movement with a second assembly direction Z, which is transverse to the first assembly direction Y.
  • the second assembly movement takes place transversely to the first assembly movement, whereby the guide counter element 9 is held captively following the second assembly movement.
  • the guide counter element 9 can in particular only be removed when the carriage arrangement 2 is dismantled from the support arrangement 3.
  • the magnet drive circuit 5 has a drive permanent magnet arrangement 15 with at least one drive permanent magnet 16 and that the at least one drive permanent magnet 16 is inserted in an assembly movement with a magnet assembly direction M into a drive permanent magnet holder of the slide arrangement 2 (Fig. 2).
  • the magnet assembly direction M is aligned transversely to the gap alignment A and/or transversely to the drive direction X.
  • a medical applicator system 27 (Fig. 1) for introducing mechanical Vibrations into a body part with an applicator 28 for the vibration-transmitting contact with the body part.
  • the applicator system 27 has a proposed actuator 1, which is coupled to the applicator 28 in terms of drive technology for generating the mechanical vibrations.
  • a proposed applicator 1 for generating vibrations in the context of a vibration treatment in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and/or organs, is proposed. It is also possible to use the proposed actuator in the context of a vibration treatment of skin and/or fatty tissue. In this respect, the present list is not to be understood as exhaustive.
  • a particularly uniform vibration of the actuator 1 can be set between 10 Hz and 300 Hz, preferably between 30 Hz and 300 Hz, more preferably between 50 Hz and 300 Hz, more preferably between 70 Hz and 300 Hz. It is also possible for the vibration of the actuator 1 to be between 50 Hz and 150 Hz. Alternatively or additionally, an amplitude of 0.05 mm to 15 mm, preferably from 0.2 mm to 10 mm, more preferably from 0.3 mm to 5 mm, can be generated here.
  • individual pulses with a pulse duration of 0.08 ms to 10 ms, preferably from 0.08 ms to 7.5 ms, more preferably from 0.1 ms to 5 ms, can be generated. Furthermore, it is preferably provided that a pressure of 0.05 MPa to 2 MPa, preferably from 0.075 MPa to 1.5 MPa, more preferably from 0.1 MPa to 1 MPa, can be generated.
  • the coil arrangement 14 can be subjected to a direct voltage such that the drive permanent magnet arrangement 15 is moved to the brake permanent magnet arrangement 22 in such a way that an opposing force acts between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22, as shown in Fig. 3a), whereby a preload of the carriage arrangement 2 is realized. If the coil arrangement 14 is subsequently subjected to an opposing strong current pulse, the carriage arrangement 2 is accelerated so strongly due to the preload between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 and due to the force acting between the drive permanent magnet arrangement 15 and the coil arrangement 14 that a pressure wave can be generated as part of a radial, unfocused and/or dispersive pressure wave treatment.
  • a special applicator 28 for example a water-filled applicator 28, can be used. List of reference symbols

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Abstract

Cette invention concerne un actionneur conçu pour générer en particulier des mouvements d'entraînement oscillants, comprenant un ensemble chariot (2) pour générer les mouvements d'entraînement, l'actionneur (1) comportant un ensemble support (3) et un système de guidage (4), les mouvements d'entraînement de l'ensemble chariot (2) étant guidés linéairement par rapport à l'ensemble support (3) le long d'une direction d'entraînement (X) via le système de guidage (4), l'actionneur (1) formant un circuit d'entraînement magnétique (5) fermé pour générer les mouvements d'entraînement, qui s'étend sur l'ensemble support (3) et le chariot (6). Selon l'invention, le circuit d'entraînement magnétique (5) comprend au moins deux entrefers magnétiques (7) décalés, entre l'ensemble support (3) et l'ensemble chariot (2), avec une orientation d'entrefer (A) identique transversalement à la direction d'entraînement (X) et au moins une partie du système de guidage (4) est conçue pour assurer le guidage de l'ensemble chariot (2) de manière flottante dans un plan transversal à l'orientation d'entrefer (A).
PCT/EP2023/078221 2022-10-12 2023-10-11 Actionneur pour générer en particulier des mouvements d'entraînement oscillants WO2024079200A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022126607.9A DE102022126607A1 (de) 2022-10-12 2022-10-12 Aktuator zur Erzeugung insbesondere oszillierender Antriebsbewegungen
DE102022126607.9 2022-10-12

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WO2024079200A1 true WO2024079200A1 (fr) 2024-04-18

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PCT/EP2023/078221 WO2024079200A1 (fr) 2022-10-12 2023-10-11 Actionneur pour générer en particulier des mouvements d'entraînement oscillants

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DE (1) DE102022126607A1 (fr)
WO (1) WO2024079200A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107778A (ja) * 1993-10-05 1995-04-21 Yoshiaki Sejime リニア振動アクチユエータ
US20100289346A1 (en) * 2009-05-18 2010-11-18 Brian Marc Pepin Linear-resonant vibration module
US20180376247A1 (en) * 2017-06-23 2018-12-27 Tommy BERGS Electromagnetic transducer with non-axial air gap

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107778A (ja) * 1993-10-05 1995-04-21 Yoshiaki Sejime リニア振動アクチユエータ
US20100289346A1 (en) * 2009-05-18 2010-11-18 Brian Marc Pepin Linear-resonant vibration module
EP2433350B1 (fr) 2009-05-18 2020-01-15 Resonant Systems, Inc. Module de vibration résonant linéaire
US20180376247A1 (en) * 2017-06-23 2018-12-27 Tommy BERGS Electromagnetic transducer with non-axial air gap

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