Positioning device and method for assembly thereof

Abstract

The invention relates to a positioning device (1), comprising: - a stator (2); - a driven element (6); - a guide apparatus (7) for bearing the driven element (6) in a guided manner with respect to the stator (2) in a drive direction when the positioning device (1) is operational; - a rotor (4); - a bearing apparatus (3) which bears the rotor (4) so as to be movable relative to the stator (2) in the drive direction; - a drive unit (5) which drives the rotor (4); - a coupling apparatus (8); and - a clamping apparatus (83). When released, the clamping apparatus (83) allows a range of movement between the connecting device (80) and either the rotor (4) or the driven element (6) in order to set up an assembly state of the positioning device (1) and, when clamped, said clamping apparatus rigidly couples together the connecting portion (89) and either the rotor (4) or the driven element (6) in the drive direction and thereby allows a relative rotational movement between the driven element (6) and the rotor (4) about a rotational axis extending in the drive direction.

Description

[0001] Adjusting device and method for its assembly

[0002] The invention relates to an adjusting device and to a method for its assembly.

[0003] The applicant develops and markets linear and rotary actuating devices in which a rotor is set in motion by means of a drive device that comes into frictional contact with the rotor, the rotor in turn being connected to a carriage or platform to which a user can attach the element to be positioned by the actuating device. With such actuating devices, it is advantageous if the frictional contact surface between the rotor and the drive device is as large as possible right from the start, i.e. before running-in effects lead to mutual adaptation of the contact surfaces of the friction partners, and is also constant over time. This enables larger and, in particular, more uniform drive forces to be transmitted to the rotor, ideally enabling simpler and faster control and greater accuracy of the actuating device.

[0004] Optimizing the surfaces of the rotor and drive mechanism intended for mutual contact in this respect requires considerable manufacturing effort. However, even if this achieves ideal frictional contact in the unassembled state, the assembly of the actuator usually results in a position or alignment of the rotor and drive mechanism that deviates from the ideal and is therefore even more unfavorable.

[0005] To avoid or mitigate the situation outlined above, the drive device or the rotor, or the bearing of the rotor, can be designed in such a way that a certain mobility, such as displacement, tilting or pivoting, of the drive device and / or rotor is provided, which allows an optimized mutual alignment of the contact surfaces. A preferred possibility for this is to design the bearing of the rotor, which enables its guided movement in or along the drive direction, in such a way that the rotor can be pivoted about an axis parallel to the drive direction. This can be achieved, for example, by a bearing or guide in which the rotor is connected to a first linear guide rail, and a cooperating second linear guide rail is connected to a stationary part or element of the actuating device.Each of the linear guide rails has a V-groove in which rolling elements in the form of balls are located. The engagement between the balls and the V-grooves allows the desired rotational degree of freedom of the slider, ensuring optimized alignment of the slider with respect to the drive device.

[0006] However, the bearing of the rotor described above to enable its optimized alignment with the drive device brings with it the following disadvantage, among others: since the output element that implements the actuating movement, such as a carriage or a platform, is generally guided along the direction of the actuating movement via a guide device, particularly in the case of high-precision actuating devices, and the rotor is firmly connected to the output element to transmit its movement caused by the drive device to the output element, even a slight tilting of the rotor leads to mechanical tension between the actuating device elements, which can have a negative effect on the operation or performance of the actuating device.The mechanical tensions can, for example, lead to unwanted forces being introduced into the guide device, which is particularly disadvantageous for high-precision guide devices and negatively affects their accuracy and repeatability and can also lead to increased wear.

[0007] The object of the invention is to provide an adjusting device which is implemented as an alternative to the known adjusting device.

[0008] In particular, it is an object of the invention to provide an adjusting device which overcomes the above-mentioned disadvantages of adjusting devices known from the prior art.

[0009] This object is achieved by an actuating device according to claim 1 and by a corresponding method for assembling the actuating device. The subclaims, which refer back to these claims, each describe at least advantageous developments or improvements.

[0010] The actuating device according to the invention comprises a stationary stator, a rotor that is movable relative to the stator and supported by a bearing device, a drive unit that drives the rotor, an output element, for example in the form of a carriage or a platform, a guide device for the guided mounting of the output element relative to the stator in a drive direction, and a coupling device. The coupling device comprises a connecting element or connecting section for the highly rigid connection of the output element to the rotor, particularly in the drive direction, which, in the operational state of the actuating device, allows at least one rotational relative movement between the output element and the rotor, particularly about an axis that runs parallel to the drive direction.

[0011] By connecting the rotor to the output element via the connecting element or the connecting section of the coupling device, which is highly rigid in the clamped state or in the operational state of the actuating device in or along the drive or actuating direction, a direct and backlash-free transmission of the rotor's movement to the output element is achieved. While the rotational degree of freedom permitted by the connecting section relative to the rotor or the output element ensures mutual pivoting or tilting of the rotor and output element, so that the output element can be aligned independently of the rotor's alignment. Thus, the output element can be firmly connected to a guide device arranged on the stator, such as two parallel linear bearings, without the alignment of the output element resulting from the connection affecting the rotor's alignment.In other words, the rotational degree of freedom allows an independent alignment or position of the rotor and output element, so that once an optimized alignment between the rotor and the drive unit has been realized, it is not negatively influenced by the alignment or fastening of the output element.

[0012] According to the invention, in particular, an actuating device is provided which comprises: a stator (2), an output element (6), a guide device (7) which, in the operational state of the actuating device (1), provides a guided mounting of the output element (6) relative to the stator (2) in a drive direction, a rotor (4), a bearing device (3) which mounts the rotor (4) movably relative to the stator (2) along the drive direction, a drive unit (5) driving the rotor (4), a coupling device (8) and a clamping device (83), wherein the coupling device (8) comprises a connecting device (80) which is fastened to the output element (6) or the rotor (4),wherein the clamping device (83) in a release state allows a range of motion between a connecting portion (89) of the connecting device (80) and either the rotor (4) or the output element (6) to establish an assembled state of the actuating device (1) and in a clamping state rigidly couples the connecting portion (89) and either the rotor (4) or the output element (6) in the drive direction and thereby allows a rotational relative movement about a rotation axis running along the drive direction between the output element (6) and the rotor (4).

[0013] In each of the embodiments of the actuating device according to the invention described herein, in addition to or in addition to functionally similar combinations of features, it can be provided alternatively that the connecting device (80) has a base section (88) which is fastened to the output element (6) and a connecting section (89) which is connected to the base section (88), and that the clamping device (83), in a released state, allows a range of motion between the connecting section (89) and the rotor (4) to establish an assembled state of the actuating device (1), and in a clamped state, rigidly couples the connecting section (89) and the rotor (4) in the drive direction and in the process allows a rotational relative movement about a rotation axis running along the drive direction between the output element (6) and the rotor (4).

[0014] In these embodiments of the adjusting device according to the invention, it can be provided that the connecting section (89) projects into a recess (40) of the rotor (4), that the tensioning device (83) is formed in or on the rotor (4), that the tensioning device (83) in the released state allows a range of motion of the connecting section (89) in the recess (40) of the rotor (4), that in the operational state of the adjusting device (1), the tensioning device (83) presses the connecting section (89) against a contact surface (40a) of the recess (40) of the rotor (4) facing the tensioning device (83), and thereby rigidly couples the rotor (4) to the output element (6) in the drive direction, wherein a rotational relative movement about a rotation axis running along the drive direction between the output element (6) and the rotor (4) is permitted.

[0015] In particular, it can be provided that the connecting section (809) has at least one resilient section (82). This resilient section (82) can be formed integrally with the connecting section (89).

[0016] In each of the embodiments of the adjusting device according to the invention described herein, in particular in which the base section (88) is fastened to the output element (6), it can be provided, in addition to or as an alternative to functionally similar combinations of features, that the connecting section (89) has a first bearing section (821a) on the side facing the clamping device (83), wherein a respective bearing element (81) is mounted in the first bearing section (821a) and wherein, in the clamped state, the clamping device (83) presses the bearing element against the connecting section (89) and in the process allows a relative rotation or turning between the respective bearing element and the clamping device (83).

[0017] In each of the embodiments of the actuating device according to the invention described herein, in particular in which the base section (88) is fastened to the output element (6), it can be provided, in addition to or as an alternative to functionally similar combinations of features, that the connecting section (89) of the rotor (4) has a second bearing section (822a) on the side facing away from the clamping device (83), wherein a respective bearing element (81) is mounted in the second bearing section (822a) and wherein, in the clamped state, the clamping device (83) presses the connecting section (89) against the second bearing element and this against the contact surface (40a) of the recess (40), thereby permitting a relative rotation between the respective bearing element and the connecting section (89) of the rotor (4).

[0018] In the embodiments of the adjusting device according to the invention with a bearing section, it can be provided, in particular, that the respective bearing element (81a, 81b) is designed as a bearing element that is at least partially spherically shaped. In this case, it can be provided, in particular, that the respective bearing section (821a, 822a) is shaped in such a way that it has a self-centering effect with respect to the spherically shaped section of the bearing element (81).

[0019] In each of the embodiments of the adjusting device according to the invention described herein, in particular in which the base section (88) is fastened to the output element (6), it can be provided in particular that the connecting section (89) has two resilient sections (821, 822) arranged opposite one another and spaced apart from one another, and in an intermediate space (82a) of the connecting section (89) located between the two resilient sections (821, 822), a clamping element (84) is arranged, against which the two resilient sections (82) are prestressed by means of the bearing elements (81), so that in the operational state of the adjusting device (1), the tensioning device (83) presses the resilient sections (821, 822) with the clamping element (84) against the contact surface (40a) of the recess (40) of the rotor (4) and thereby rigidly connects the rotor (4) in the drive direction with coupled to the output element (6).In particular, it can be provided that the material of the clamping element (84) has a thermal expansion coefficient that is different from the material of the connecting element (80).

[0020] According to further embodiments of the adjusting device according to the invention, it can be provided that the base section (88) is fastened to the output element (6) or to the rotor (4), wherein the tensioning device (83) acts between the base section (88) and the connecting section (89), wherein the tensioning device (83) in the released state allows a range of motion between the base section (88) and the connecting section (89) and in the tensioned state presses the connecting section (89) from the base section (88) against a fastening part (85) of the rotor (4) and this against the output element (6).

[0021] In each of the embodiments of the adjusting device according to the invention described herein, particularly in those in which the base section (88) is attached to the output element (6) and the tensioning device (83) acts between the base section (88) and the connecting section (89), it can be provided, in particular, that the base section (88) and the connecting section (89) are resiliently mounted against one another in the drive direction. However, this can also be provided if the base section (88) is attached to the rotor (4).

[0022] In these embodiments, it can be provided in particular that the base section (88) and the connecting section (89) form a solid-state arrangement with a solid-state joint located between the base section (88) and the connecting section (89).

[0023] In each of the embodiments of the actuating device according to the invention described herein, in particular in which the base section (88) is fastened to the output element (6) or to the rotor (4) and the clamping device (83) acts between the base section (88) and the connecting section (89), it can be provided in particular that a first bearing element (81a) is located between the fastening part (85) of the rotor (4) and the connecting section (89), and wherein a second bearing element (81b) is located between the fastening part (85) of the rotor (4) and the output element (6), so that in the clamped state the bearing elements (81a, 81b) form a rotary joint (90) for providing the rotational relative movement about a rotation axis running along the drive direction between the output element (6) and the rotor (4).In these embodiments, it can be provided in particular that the respective one of the bearing elements (81a, 81b) is designed as a bearing element that is at least partially spherically shaped.

[0024] In each of the embodiments of the actuating device according to the invention described herein, in particular in which the base section (88) is fastened to the output element (6) or to the rotor (4) and the clamping device (83) acts between the base section (88) and the connecting section (89), it can be provided in particular that the fastening part (85) of the rotor (4) has a first bearing section (80a) on the side facing the clamping device (83), wherein a respective bearing element is mounted in the first bearing section and wherein, in the clamped state, the clamping device (83) presses the first bearing element against the fastening part (85) and in the process allows a relative rotation between the respective bearing element and the clamping device (83).

[0025] In each of the embodiments of the actuating device according to the invention described herein, in particular in which the base section (88) is fastened to the output element (6) or to the rotor (4) and the clamping device (83) acts between the base section (88) and the connecting section (89), it can be provided in particular that the fastening part (85) of the rotor (4) has a second bearing section on the side facing away from the clamping device (83), wherein a respective bearing element is mounted in the second bearing section (85a) and wherein, in the clamped state, the clamping device (83) presses the fastening part (85) against the second bearing element and this against the output element (6), thereby permitting a relative rotation or turning between the respective bearing element and the fastening part (85).

[0026] In these embodiments of the adjusting device according to the invention with at least one bearing section, it can be provided in particular that the respective bearing section (80a, 85a) is shaped such that it has a self-centering effect with respect to the spherically shaped section of the bearing element (81).

[0027] In each of the embodiments of the actuating device according to the invention described herein, it can be provided, in addition to or as an alternative to functionally similar combinations of features, that the stator (2) together with the output element (6) forms a cavity within which the drive unit (5) is arranged.

[0028] In each of the embodiments of the actuating device according to the invention described herein, it can be provided, in addition to or as an alternative to functionally similar combinations of features, that the drive unit (5) has an electromechanical element.

[0029] In each of the embodiments of the adjusting device according to the invention described herein, it can be provided, in addition to or as an alternative to functionally similar combinations of features, that the bearing device (3) is formed by a drive unit (5), wherein the rotor is located between two oppositely arranged drive units (5).

[0030] It can be advantageous if the coupling device has at least one and preferably two bearing elements that are at least partially spherically shaped. The at least partially spherical shape of the bearing element or elements, which are preferably designed as a partial sphere or sphere, makes it easy to achieve a bearing with a rotational degree of freedom. In particular, a bearing element designed as a sphere is easily available in many sizes, qualities and materials and is comparatively inexpensive. Furthermore, a spherical bearing element does not need to be aligned. The spherically shaped bearing element also makes it possible to avoid or significantly reduce disruptive force components, particularly in directions deviating from the drive or adjustment direction, by means of point contact with an element supporting the bearing element or with part of the adjusting device.

[0031] It can also be advantageous if the connecting element has at least one bearing section which is provided for receiving or supporting a bearing element. In this case, it can be particularly advantageous if the bearing section is shaped such that it has a self-centering effect with respect to the spherically shaped section of the bearing element. This allows extremely simple assembly of the adjusting device, since the bearing element aligns or positions itself upon contact with the bearing section and in particular when pressed against the bearing section, without any further measures. The centering can ensure that unwanted contact between the bearing elements and other elements or parts of the adjusting device is avoided, which could lead to unwanted force introduction.Furthermore, centering usually results in a circular and thus larger-area contact than a point contact, which has a higher rigidity.

[0032] It can also be advantageous if the connecting device has at least one resilient section. The resilient section of the connecting device allows for easy compensation of dimensional tolerances, for example due to manufacturing or assembly inaccuracies and / or thermal expansion. In this case, it can be particularly advantageous if each resilient section is formed in one piece or integrally with the connecting device. This allows for particularly simple assembly of the actuating device due to the reduction in the number of individual parts. In addition, the one-piece connection of the resilient sections with the connecting device or its base section results in a solid-state joint that, in principle, exhibits no wear and only low internal friction.

[0033] Furthermore, it can be advantageous if at least one bearing element is pressed directly or indirectly against the bearing section by means of a clamping device. This makes it easy to press or force the corresponding bearing element against the bearing section with a defined force.

[0034] It can be advantageous if the bearing section is formed within the spring-elastic section. This provides an integral solution for the bearing section, and the correspondingly reduced number of parts in the adjusting device enables faster and easier assembly.

[0035] It can also be advantageous if the connecting device or the connecting section has two resilient sections arranged opposite one another and at a distance from one another, and if a clamping element is arranged in a space in the connecting element between the two resilient sections, against which clamping element the resilient sections are prestressed by means of the bearing elements. The two resilient sections arranged opposite one another and at a distance from one another create a symmetrical arrangement which, in particular, ensures identical conditions along the arrangement direction of the resilient sections, which is preferably arranged parallel to the drive or adjustment direction. The term “resilient” in this context means that the corresponding sections are designed in such a way that they can be reversibly deformed or deflected like a spring, wherein the deformation or deflectionDeflection generates a corresponding restoring force, which tends to move the spring-elastic sections back to their undeflected position. Because the spring-elastic sections can rest on the clamping element, an extremely rigid connection or coupling is created between the rotor and the output element with appropriate contact, which corresponds to a preload to the block.

[0036] It can be particularly advantageous if the material of the clamping element has a different thermal expansion coefficient than the material of the connecting element. This can prevent gaps (play) that might otherwise occur between the clamping element and the spring-elastic sections of the connecting section, which would otherwise impede the desired gap- or play-free mounting.

[0037] It may prove advantageous if the coupling device or the rotor, in addition to the connecting section, has a separate fastening element or a separate fastening part for connecting the rotor to the bearing device, wherein a bearing section is formed in the connecting element and a bearing section is formed in the fastening section or the fastening part. It may prove particularly advantageous if the connecting device comprises a solid-state arrangement with a parallel-guided clamping part or connecting section, and the clamping device enables clamping between the spring-elastic section and the clamping part. This makes it possible to realize a direction of the pretensioning force that is arranged essentially parallel to the drive direction.

[0038] It can also prove advantageous if the stator, together with the output element, forms a cavity within which the drive unit is located. This results in an extremely compact drive, and the compactness can be further increased by locating electronic parts or components for controlling or regulating the actuator within the cavity. These include sensors, controllers, or drivers.

[0039] Furthermore, it can prove advantageous if the drive unit includes an electromechanical element. Electromechanical elements exhibit dimensional changes under the influence of an electrical voltage or an electric field, which can be used to drive the rotor and thus the output element. This includes elements made of piezoelectric or electrostrictive materials, which experience a change in length when electrical voltages are applied to them.

[0040] Furthermore, it may prove advantageous if the bearing device itself is formed by a drive unit, with the rotor located between two oppositely arranged drive units. This can increase the drive force of the actuator.

[0041] Furthermore, the invention provides that the bearing device supports the rotor, at least in the clamped state or operational state, in such a way that the rotor has a rotational degree of freedom about a rotation axis which is arranged substantially parallel to the drive direction. The term “substantially” means that certain deviations from the ideal parallel arrangement between the rotation axis and the drive direction are possible without this resulting in a significant change and in particular deterioration. In particular, this means deviations of + / - 5° from parallelism. The rotational degree of freedom makes it easy to achieve an optimized mutual alignment between the rotor and the drive unit, with the rotational degree of freedom preventing tilting orPivoting of the rotor relative to the drive unit.

[0042] A method for assembling the adjusting device described above comprises the following steps, which are preferably carried out sequentially and in ascending numbering:

[0043] Step: Attaching the bearing device or a part of the bearing device and the guide device to the stator

[0044] Step: Connecting the rotor to the bearing device or to a part of the bearing device

[0045] Step: Alignment of rotor and drive unit

[0046] Step: Attach the drive unit to the stator

[0047] Step: Attaching the output element to the guide device

[0048] Step: Connect the output element to the rotor using the coupling device.

[0049] Such an assembly method allows the mutually fixed connection of the rotor and output element only during the final assembly step, allowing the output element to be moved freely and independently of the drive unit beforehand. In this way, the actuator can be tested and adjusted with regard to its guidance accuracy and quality over the entire travel or stroke without coupling it to the drive unit, and the coupling to the rotor can only be performed during the final assembly step. This coupling does not negatively impact the optimized alignment of the rotor to the drive unit performed in a previous assembly step. Embodiments of the invention are described below with reference to figures, which show:

[0050] Fig. 1: Perspective sectional view of an adjusting device according to the invention,

[0051] Fig. 2: Perspective view of the adjusting device according to Fig. 1 with the output element removed,

[0052] Fig. 3: Sectional view of the adjusting device according to Fig. 2,

[0053] Fig. 4: Enlarged section of the sectional view according to Fig. 3,

[0054] Fig. 5: Enlarged section of the sectional view according to Fig. 4,

[0055] Fig. 6: Sectional view of a region of an adjusting device according to the invention with a further embodiment of the coupling device,

[0056] Fig. 7: Top view of a further embodiment of a coupling device of an actuating device according to the invention, which functionally corresponds to the actuating device shown in Fig. 6.

[0057] Fig. 1 shows a perspective view of a section through an embodiment of the adjusting device 1 according to the invention in the form of a linear table. This has a stator 2, relative to which the output element 6 in the form of a table or carriage can be moved linearly in or along an adjusting direction (characterized in Fig. 1 by a corresponding double arrow), wherein a defined and in particular highly precise adjustment or positioning of the table or carriage is intended. For this purpose, the table or carriage is connected to the stator 2 via a guide device 7 in the form of two linear bearings arranged parallel to one another and is thus mounted for linear movement. To drive the table or carriage in or along the adjusting direction, a motor arranged within the adjusting device and shown in Fig.1, which is fixedly connected to the stator 2 and is in frictional contact with an elongated rotor 4. The rotor 4 is in turn supported or guided linearly along a drive direction by means of a bearing device 3, wherein the drive direction essentially coincides with the actuating direction. In the illustrated embodiments, the bearing device 3 is formed from a first linear guide rail 31, which is fixed to the rotor 4, and a second linear guide rail 32, which is fixed to the stator 2. The linear guide rails 31, 32 can move against one another in the operational state of the actuating device 1 upon actuation of the rotor 4.

[0058] The actuating device 1 has a coupling device 8 with a connecting device 80 and a clamping device 83 for rigidly coupling the rotor 4 and the output element 6 in the drive direction by means of a clamping device 83 in a clamped state, wherein a rotational relative movement about a rotation axis running along the drive direction between the output element 6 and the rotor 4 is permitted as a degree of freedom for this coupling. The coupling device 8 or connecting device 80 has a base section 88 and a connecting section 89, which can be formed together as a single piece (Figures 1 to 7) or as separate and mutually fastened parts. Furthermore, the clamping device 83, in a released state, allows a range of motion between the connecting section 89 and either the rotor 4 or the output element 6 to establish an assembled state of the actuating device 1t.

[0059] In the illustrations of Figures 1 to 7, the connecting device 80 has a base section 88, which is fastened to the output element 6, and a connecting section 89, which is connected to the base section 88. In a released state, the clamping device 83 allows a range of motion between the connecting section 89 and the rotor 4 to establish an assembled state of the actuating device 1, and in a clamped state, rigidly couples the connecting section 89 and the rotor 4 in the drive direction, thereby allowing a rotational relative movement about a rotation axis running along the drive direction between the output element 6 and the rotor 4.

[0060] Alternatively, in other implementations not shown in Figures 1 to 7, the base section 88 can be fastened to the rotor 4 and the connecting section 89, which is connected to the base section 88, can interact mechanically with the output element 6 such that the clamping device 83, in a released state, allows a range of motion between the connecting section 89 and the output element 6 to establish an assembled state of the actuating device 1 and, in a clamped state, rigidly couples the connecting section 89 and the output element 6 in the drive direction and thereby allows a rotational relative movement about a rotation axis running along the drive direction between the output element 6 and the rotor 4. In this case, the clamping device can, in particular, be arranged or fastened in or on the output element 6.

[0061] The clamping device 83 can, as shown in the figures, generally be realized by an actuating part such as a screw or a bolt, which can be moved or adjusted in an opening or bore of the rotor 4 or the output element 6 in positions between the release state in which there is a play or distance between the actuating part and the connecting section 89, and the clamping state in which the actuating part presses on the connecting section 89.

[0062] Thus, via the connecting device 80, the rotor 4 can be rigidly coupled to the output element 6 in the drive direction, wherein the coupling device 8 can ensure, in particular, a highly rigid coupling between the rotor 4 and the output element 6, at least in or along the drive or adjustment direction. In the illustrations of Figures 1 to 7, the connecting section 89 of the connecting element 80 is firmly connected to the output element 6 by means of screws.

[0063] In the embodiment of Figures 1 to 7, the connecting section 89 is formed by two resilient sections 82 or 821, 822, which protrude into a recess 40 of the rotor 4, wherein between the resilient sections 82 and the surfaces that delimit the recess 40 of the rotor 4 in or along the drive or adjustment direction, bearing elements 81 or 821a or 822a, each in the form of balls, are arranged. Alternatively, the connecting section 89 can be designed as a single resilient

[0064] Section 82. In general, the adjusting device 1 can also be designed without bearing elements.

[0065] Fig. 2 shows the actuating device 1 according to Fig. 1 in a perspective and uncut view from above with the output element removed. This view shows the two linear guides of the guide device 7 as well as the bearing device 3 for supporting or guiding the rotor 4. The rotor 4 has a groove-shaped recess in which a section of the linearly movable part of the bearing device 3 is received. Also visible is the drive unit 5, which comprises column-shaped piezoelectric elements arranged in pairs in a V-shape relative to one another. At the ends of a pair of piezoelectric elements which converge towards one another, a friction element (not visible in Fig. 2) is arranged. This friction element is intended for frictional contact with the rotor 4 or with a friction layer arranged on the rotor 4 or with a friction element arranged on the rotor 4.

[0066] Fig. 3 shows, based on a section executed parallel to the guide device 7 with respect to the illustration in Fig. 2, in particular further details of the adjusting device 1 according to Figs. 1 to 5 for the arrangement of the rotor 4 on the bearing device 3. Fig. 4 shows an enlarged section of the section according to Fig. 3 around the area of ​​the coupling device 8, while Fig. 5 represents a further enlarged section in this regard.The connecting device 80, which is designed as a one-piece connecting element, has a T-like shape in cross section, wherein the leg arranged horizontally in the direction of view of the illustration, i.e. the base section 88, realizes a fixed connection of the same to the output element 6 by means of a screw connection, while the connecting section 88 of the connecting device 80, which extends perpendicularly in the direction of view thereto, has the two spring-elastic sections 82 or 821, 822 which are designed in one piece or integrally with the latter and are arranged opposite and spaced from one another with respect to the drive or actuating direction and which partially protrude into the recess 40 which is formed in the rotor 4.In an intermediate space 82a located between the two spaced-apart resilient sections 82 and delimited by them in the drive direction, there is a clamping element 84 that is in contact with the resilient sections 821, 822. On each side of the respective resilient section 82 or 821, 822 facing away from the clamping element 84, a recess with a V-shaped cross section is formed therein, which forms a bearing section 80a or 821a or 822a for receiving the respective associated bearing element 81, in particular in the form of a sphere (Figure 4) or hemisphere. The respective bearing section 80a has a conical shape, so that the bearing element 81 or a spherical surface thereof is supported on the bearing section 80a via an annular surface contact.

[0067] The conical shape of the respective bearing section 80a, in conjunction with a spherical surface area of ​​the bearing elements 81, ensures self-centering of the bearing elements 81 when a bearing element 81 is pressed or pushed against the corresponding bearing section 80a. In this way, it can be provided that the lifting of the bearing elements 81 from the bottom of the recess 40 within the rotor 4 occurs solely through the pressing or pushing of the bearing elements 81 against the bearing sections 80a. With a spherical design of the bearing elements 81, they can be supported on the side facing away from the spring-elastic section 82 via a point contact on a flat surface of the recess or the actuating part of the clamping device 83, and can be supported on the bearing section 80a via an annular surface contact. The flat support surface for the bearing element 81 shown in Fig. 4 or Fig.The left-hand bearing element 81 in FIG. 5, as viewed in the direction of the illustration, is formed by a side wall 40a of the recess 40, while the flat support surface for the right-hand bearing element 81 in FIG. 4 or FIG. 5, as viewed in the direction of the illustration, is formed by the flat surface 83a of the actuating part 83b of the clamping device 83. Thus, no undesired forces are introduced via the bearing elements 81 in a direction deviating from the drive or adjustment direction. In addition, this type of mounting or mounting of the bearing elements ensures the desired rotational degree of freedom, which allows mutual tilting or pivoting between the rotor 4 and the coupling device 8 or the output element 6 connected thereto.

[0068] The pressing or pressing of the bearing elements 81 against the bearing sections 80a or 821a or 822a formed in the spring-elastic sections 82 is realized via the clamping device 83 with the actuating part 83b, in particular as shown in the form of a screw, the flat end surface of which acts on the right-hand bearing element 81 in the direction of view in Fig. 4 or Fig. 5 and presses this in a direction towards the associated spring-elastic section 82 due to a corresponding clamping force. As a result, the right-hand bearing element 81 in Fig. 4 or Fig. 5 presses on the associated spring-elastic section 82 on the right in Fig. 4 or Fig. 5 and deflects it in the corresponding direction, i.e. to the left. As a result, the spring-elastic section 82 on the right in Fig. 4 or Fig. 5 comes into contact with the clamping element 84 or presses against it, so that it comes into contact with the spring-elastic section 82 on the right in Fig. 4 or Fig.5 left spring-elastic section 82, and transmits the clamping force caused by the clamping device 83 to it. Since a bearing element 81 is arranged between the left spring-elastic section 82 in Fig. 4 or Fig. 5 and the rotor 4, the bearing element 81 is clamped between the side wall 40a and this spring-elastic section due to the clamping force, and the corresponding counterforce ensures that the left spring-elastic section 82 in Fig. 4 or Fig. 5 bears against the clamping element 84. Thus, both spring-elastic sections 82 are in contact with both the clamping element 84 and the respective bearing element 81, resulting in a rigid coupling of the coupling device 8 or the output element 6 firmly connected thereto to the rotor 4.

[0069] The at least one section 82 does not have to be spring-elastic, but can also be rigid.

[0070] For the corresponding assembly, the bearing elements 81 are first inserted into the recess 40 such that they are located near the two side walls 40a, 40b of the recess 40 of the rotor 4. The output element 6 is then displaced along the drive or adjusting device until its recess for receiving the connecting device 80 or the connecting section 89 is located in the region of the recess 40 of the rotor 4. The connecting section 89, together with the clamping element 84 inserted between the two spring-elastic sections 82 and in the intermediate space 82a, is then inserted into the recess of the output element 6 such that the elastic spring sections 82 are arranged between the two bearing elements 81. This is made possible or facilitated by the fact that the output element 6 is freely movable or movable along the adjusting direction.Subsequently, the connecting section 89 and thus the connecting device 80 are connected to the output element 6 by screwing. Finally, the actuating part or the screw of the clamping device 83 is tightened and brought into the clamped state, so that the flat clamping device surface 83a comes into contact with the bearing element 81 on the right in Fig. 4 or Fig. 5. Upon further tightening of the screw, a clamping force is exerted which braces the bearing elements 81, the spring-elastic sections 82 and the clamping element 84 against one another, whereby these each bear against one another, so that a contact on a block is realized, which ensures a very rigid coupling of the rotor 4 and the output element 6 in or along the drive or adjustment direction, while at the same time a rotational degree of freedom is provided for the mutual tilting or pivoting of the rotor and the output element.In deviation from the sequence of assembly steps outlined above, it is advisable to first tighten the screw of the clamping device 83 and only then to connect the output element 6 and the connecting section 89 or the connecting device 80.

[0071] In the embodiments described with reference to Figures 1 to 7, the connecting section 89 generally projects into a recess 40 of the rotor 4, wherein the clamping device 83 is formed in or on the rotor 4. In the released state, the clamping device 83 also generally allows a range of motion of the connecting section 89 in the recess 40 of the rotor 4, wherein in the operational state of the actuating device 1, the clamping device 83 presses the connecting section 89 against a contact surface 40a of the recess 40 of the rotor 4 facing the clamping device 83 and thereby rigidly couples the rotor 4 to the output element 6 in the drive direction, wherein a rotational relative movement about a rotation axis running along the drive direction between the output element 6 and the rotor 4 is permitted.

[0072] Fig. 6 shows a further embodiment of the adjusting device according to the invention with a coupling device 8 that is designed differently from that shown in Figs. 1 to 5. In addition to the connecting device 80, this coupling device has a separate fastening part 85 that is attached to the rotor 4 and can thus be considered part of the rotor 4. The fastening part 85 and the rotor 4 can also be realized together as one piece, i.e., as a one-piece rotor 4.

[0073] In the embodiments described herein with reference to Figures 6 and 7, it is generally provided that the base section 88 is fastened to the output element 6 or to the rotor 4. In the embodiments of the actuating device 1 shown in Figures 6 and 7, the base section 88 is fastened to the output element 6. In each of these embodiments, the clamping device 83 acts between the base section 88 and the connecting section 89, wherein the clamping device 83, in the released state, allows a range of motion between the base section 88 and the connecting section 89 and, in the clamped state, presses the connecting section 89 from the base section 88 against a fastening part 85 of the rotor 4 and this against the output element 6. In alternative implementations, the base section 88 can also be fastened to the rotor 4, and the other components can be implemented in an analogous manner.

[0074] In the embodiments of Figures 6 and 7, the base section 88 and the connecting section 89 are resiliently mounted on one another in the drive direction.

[0075] Specifically, in the embodiment of Figure 6, on the one hand, a bearing element 81 (the right-hand bearing element in Figure 6) is arranged between the connecting device 80 and in particular the connecting section 89 thereof and the fastening part 85, and on the other hand, a bearing element 81 (the left-hand bearing element in Figure 6) is arranged between the fastening part 85 and an inner wall surface of the output element 6. Such an embodiment of the coupling device 8 is not as compact as that according to Figures 1 to 5, but it can offer advantages in terms of assembly technology. In particular, it allows for easier access to the spring-elastic section. When using bearing elements that deviate from a spherical shape, for example, ground and thus flattened balls, such an embodiment of the coupling device enables easier alignment of the bearing elements.

[0076] The fastening part 85 of the coupling device 8 is essentially rigid and serves in particular to connect the rotor 4 and the bearing device 3. On the left side of the fastening part 85 (as viewed in the direction of Fig. 6), a bearing element 81 with its spherical section rests against the self-centering bearing section 85a thereof, while its flattened section is supported on a flat surface of the output element 6. The fastening part 85 is connected by means of screws to the rotor 4 on the one hand and to the bearing device 3 on the other. On the right side of the fastening part 85 (as viewed in the direction of Fig. 6), the other bearing element 81 with its complementarily shaped flattened section rests against the flat side surface located there.6 right bearing element 81 is mounted in the complementarily shaped and self-centering bearing section 80a of the connecting element 80. The connecting element 80 is connected to the rotor 4 as well as to the output element 6.

[0077] Fig. 7 illustrates, in a plan view from above, the structure of the connecting device 80 from Fig. 6, which is formed from the base section (88) and the connecting section 89, wherein the base section 88 and the connecting section 89 are movable relative to one another, in particular against the action of a spring device, here in the form of solid-state joints, which are arranged between the base section 88 and the connecting section 89. The connecting section 89 is designed as a clamping part 80b, which is connected to the remaining part of the connecting element 80, i.e. the base section 88, via solid-state joints. The solid-state joints are designed such that when a clamping force is applied by means of the clamping device 83, this force acts essentially in or along the drive or adjustment direction.The clamping device 83 comprises an actuating part in the form of a screw which is screwed into a thread formed in the base section 88, here in the form of a spring-elastic section 82 of the connecting device 80, and presses with its screw end surface against the clamping part 80b, so that the clamping part 80b is pressed in the direction of the fastening part 85. On the side of the clamping part 80b arranged opposite the clamping device 83, the bearing element 81 on the left in Fig. 7 rests with its spherically shaped section on the bearing section 80a and presses this in the direction of the fastening part 85, so that the latter is pressed in the direction of the other bearing element 81, which in turn is supported with the flattened side on an inner wall surface of the output element 6 (not visible in Fig. 7) and at the same time its spherically shaped section is mounted by means of the complementarily shaped bearing section 85a.Thus, the connecting element 80 or its clamping part 80b, the bearing elements 81 and the fastening part 85 are braced or pressed against one another, and a contact on block is realized, which ensures a rigid coupling between the rotor 4 and the output element 6 in the drive or adjustment direction. However, in the implementation of the adjusting device according to Fig. 6, the rigidity along the drive or adjustment direction is greater to the left than to the right, since the comparatively high elasticity of the spring-elastic section 82 becomes noticeable when driving or adjusting to the right. In Fig. 7, the rigidity of the coupling is correspondingly higher when driving or adjusting to the right than when driving or adjusting to the left.

[0078] In general, in the embodiments illustrated in Figures 6 and 7, a first bearing element 81a is optionally located between the fastening part 85 of the rotor 4 and the connecting section 89, and a second bearing element 81b is optionally located between the fastening part 85 of the rotor 4 and the output element 6, so that in the clamped state, the bearing elements 81a, 81b form a rotary joint 90 for providing the relative rotational movement about a rotation axis running along the drive direction between the output element 6 and the rotor 4. Alternatively, these embodiments have only one of the bearing elements 81a, 81b or none of the bearing elements 81a, 81b, so that in the clamped state, the actuating part 83b presses directly onto the connecting section 89, whereby the connecting section 89 is pressed directly onto the fastening part 85, which in turn is pressed directly onto the output element 6.

[0079] Furthermore, in these embodiments, the respective bearing elements 81a, 81b are each designed as a bearing element that is at least partially spherically shaped.

[0080] Furthermore, in these embodiments, the fastening part 85 of the rotor 4 has, as options, a first bearing section 80a on the side facing the clamping device 83, wherein a respective bearing element is mounted in the first bearing section and wherein, in the clamped state, the clamping device 83 presses the first bearing element against the fastening part 85 and thereby allows a relative rotation between the respective bearing element and the clamping device 83.

[0081] Furthermore, in these embodiments, the fastening part 85 of the rotor 4 has, as options, a second bearing section on the side facing away from the clamping device 83, wherein a respective bearing element is mounted in the second bearing section 85a and wherein, in the clamped state, the clamping device (83) presses the fastening part 85 against the second bearing element and this against the output element 6 and thereby allows a relative rotation between the respective bearing element and the fastening part 85.

[0082] In particular, the respective bearing section 80a, 85a can be shaped such that it acts self-centeringly with respect to the spherically shaped section of the bearing element 81. Although the figures always show adjusting devices with a linear adjustment path, the invention is not limited to linear adjusting devices; rotary adjusting devices are also conceivable, in which the rotor performs a rotation as the adjusting movement.

[0083] List of reference symbols:

[0084] 1 adjusting device

[0085] 2 Stator

[0086] 3 Storage facility

[0087] 4 runners

[0088] 5 Drive unit

[0089] 6 Output element

[0090] 7 Guide device

[0091] 8 Coupling device

[0092] 40 Recess (of the rotor 4)

[0093] 40a Side wall (of recess 40)

[0094] 40b Side wall (of recess 40)

[0095] 80 Connecting device (of the coupling device 8)

[0096] 80a, 821a, 822a Bearing section (of the connecting device 80)

[0097] 80b Clamping part (of the connecting element 80)

[0098] 81 Bearing element (of the coupling device 8)

[0099] 82, 821 , 822 spring-elastic section (of the coupling device 8)

[0100] 82a gap

[0101] 83 clamping device (of the coupling device 8)

[0102] 83a Clamping device surface

[0103] 83b Actuating part

[0104] 84 Clamping element (of the coupling device)

[0105] 85 Fastening part for rigid coupling

[0106] 85a Bearing section (of the fastening element)

[0107] 88 Base Section

[0108] 89 connecting section

[0109] 90 swivel joint

Claims

22 Claims 1. Actuating device (1) comprising a stator (2), an output element (6), a guide device (7) which, in the operational state of the actuating device (1), provides a guided bearing of the output element (6) relative to the stator (2) in a drive direction, a rotor (4), a bearing device (3) which mounts the rotor (4) movably relative to the stator (2) along the drive direction, a drive unit (5) driving the rotor (4), a coupling device (8), and a clamping device (83), wherein the coupling device (8) has a connecting device (80) which is attached to the output element (6) or the rotor (4).wherein the clamping device (83) in a release state allows a range of motion between a connecting section (89) of the connecting device (80) and either the runner (4) or the output element (6) to establish an assembly state of the adjusting device (1) and in a clamping state rigidly couples the connecting section (89) and either the runner (4) or the output element (6) in the drive direction and thereby allows a rotational relative movement about an axis of rotation extending along the drive direction between the output element (6) and the runner (4).

2. Actuating device (1) according to claim 1, wherein the connecting device (80) has a base section (88) which is attached to the output element (6) and connected to the connecting section (89), wherein the clamping device (83) in a release state allows a range of motion between the connecting section (89) and the runner (4) to establish an assembly state of the actuating device (1) and in a clamping state rigidly couples the connecting section (89) and the runner (4) together in the drive direction and thereby allows a rotational relative movement about an axis of rotation extending along the drive direction between the output element (6) and the runner (4).

3. Actuating device (1) according to claim 2, wherein the connecting section (89) projects into a recess (40) of the runner (4), wherein the clamping device (83) is formed in or on the runner (4), wherein the clamping device (83) in the release state allows a range of motion of the connecting section (89) in the recess (40) of the runner (4), wherein in the operational state of the actuating device (1) the clamping device (83) presses the connecting section (89) against a contact surface (40a) of the recess (40) of the runner (4) facing the clamping device (83) and thereby rigidly couples the runner (4) to the output element (6) in the drive direction, wherein a rotational relative movement about an axis of rotation extending along the drive direction between the output element (6) and the runner (4) is permitted.

4. Actuating device (1) according to claim 3, wherein the connecting section (809) has at least one spring-elastic section (82).

5. Actuating device (1) according to claim 4, characterized in that the spring-elastic section (82) is formed integrally with the connecting section (89).

6. Actuating device (1) according to one of claims 2 to 5, wherein the connecting section (89) has a first bearing section (821a) on the side facing the clamping device (83), wherein a respective bearing element (81) is mounted in the first bearing section (821a) and wherein, in the clamping state, the clamping device (83) presses the bearing element against the connecting section (89) and allows a relative rotation between the respective bearing element and the clamping device (83).

7. Actuating device (1) according to one of claims 2 to 6, wherein the connecting section (89) of the runner (4) has a second bearing section (822a) on the side facing away from the clamping device (83), wherein a respective The bearing element (81) is mounted in the second bearing section (822a) and, in the clamping state, the clamping device (83) presses the connecting section (89) against the second bearing element and this against the contact surface (40a) of the recess (40), thereby allowing a relative rotation between the respective bearing element and the connecting section (89) of the runner (4).

8. Actuating device (1) according to one of claims 6 or 7, wherein the respective bearing element (81a, 81b) is designed as a bearing element that is at least partially spherically shaped.

9. Actuating device (1) according to one of claims 6 to 8, wherein the respective bearing section (821a, 822a) is shaped such that it acts in a self-centering manner with respect to the spherically shaped section of the bearing element (81).

10. Actuating device (1) according to one of claims 2 to 9, wherein the connecting section (89) has two spring-elastic sections (821, 822) arranged opposite each other and spaced apart from each other, and a clamping element (84) is arranged in an intermediate space (82a) of the connecting section (89) located between the two spring-elastic sections (821, 822), against which the two spring-elastic sections (82) are pre-tensioned by means of the bearing elements (81), so that in the operational state of the actuating device (1) the clamping device (83) presses the spring-elastic sections (821, 822) with the clamping element (84) against the contact surface (40a) of the recess (40) of the runner (4) and thereby rigidly couples the runner (4) to the output element (6) in the drive direction.

11. Actuating device (1) according to claim 10, wherein the material of the clamping element (84) has a coefficient of thermal expansion different from the material of the connecting element (80).

12. Actuating device (1) according to claim 1, wherein the base section (88) is attached to the output element (6) or to the runner (4), wherein the clamping device (83) is located between 25 acts on the base section (88) and the connecting section (89), wherein the clamping device (83) in the release state allows a range of motion between the base section (88) and the connecting section (89) and in the clamping state presses the connecting section (89) from the base section (88) against a fastening part (85) of the runner (4) and this against the output element (6).

13. Actuating device (1) according to claim 12, wherein the base section (88) and the connecting section (89) are resiliently mounted against each other in the drive direction.

14. Actuating device (1) according to claim 13, wherein the base section (88) and the connecting section (89) form a solid body arrangement with a solid body hinge located between the base section (88) and the connecting section (89).

15. Actuating device (1) according to one of claims 12 to 14, wherein a first bearing element (81a) is located between the fastening part (85) of the runner (4) and the connecting section (89), and wherein a second bearing element (81b) is located between the fastening part (85) of the runner (4) and the output element (6), so that in the clamping state the bearing elements (81a, 81b) form a pivot joint (90) to provide the rotational relative movement about a rotation axis extending along the drive direction between the output element (6) and the runner (4).

16. Actuating device (1) according to one of claims 12 to 15, wherein each of the bearing elements (81a, 81b) is designed as a bearing element that is at least partially spherically shaped.

17. Actuating device (1) according to one of claims 12 to 16, wherein the fastening part (85) of the runner (4) has a first bearing section (80a) on the side facing the clamping device (83), wherein a respective bearing element is mounted in the first bearing section and wherein, in the clamping state, the clamping device (83) presses the first bearing element against the fastening part (85) and allows a relative rotation between the respective bearing element and the clamping device (83). 26 18. Actuating device (1) according to one of claims 12 to 17, wherein the fastening part (85) of the runner (4) has a second bearing section on the side facing away from the clamping device (83), wherein a respective bearing element is mounted in the second bearing section (85a) and wherein, in the clamping state, the clamping device (83) presses the fastening part (85) against the second bearing element and this against the output element (6), thereby allowing a relative rotation between the respective bearing element and the fastening part (85).

19. Actuating device (1) according to one of claims 17 or 18, wherein the respective bearing section (80a, 85a) is shaped such that it acts in a self-centering manner with respect to the spherically shaped section of the bearing element (81).

20. Actuating device according to one of the preceding claims, wherein the stator (2) together with the output element (6) forms a cavity within which the drive unit (5) is arranged.

21. Actuating device according to one of the preceding claims, wherein the drive unit (5) comprises an electromechanical element.

22. Actuating device according to one of the preceding claims, wherein the bearing device (3) is formed by a drive unit (5), wherein the runner is located between two oppositely arranged drive units (5).

23. Method for assembling an adjusting device (1) according to one of the preceding claims, characterized by the sequence of steps: Step 1: Attaching the bearing assembly (3) and the guide assembly (7) to the stator (2) 27 Step 2: Connecting the runner (4) to the bearing assembly (3) Step 3: Aligning the runner (4) and drive unit (5) Step 4: Attaching the drive unit (5) to the stator (2) Step 5: Attaching the output element (6) to the guide device (7) Step 6: Connecting the output element (6) to the runner (4) using the coupling device (8).

Images