Method for operating an electromechanical component, actuator, drive device and motor

Abstract

The present invention comprises an operating method for an electromechanical component, an actuating body, a drive device having the actuating body and a motor having the drive device and a component to be driven, the method comprising the following steps: by controlling a first control part (A1) that can be deformed by voltage, using a first voltage signal (S10) to generate an adjustment movement of a friction component, the friction component being arranged on the electromechanical component and provided for frictional contact with the component to be driven (90); controlling a second control part (A2) that can be deformed by voltage by a second voltage signal (S20), the second voltage signal (S20) comprising a signal segment (S21), the frequency of which is a factor compared to the first voltage signal (S10).

Description

Technical Field

[0001] The invention relates to a method for operating an electromechanical component, an actuating body, a drive device having an actuating body, and a motor having a drive device and a component to be driven. Background Art

[0002] JP 2012 147510 A discloses a drive device comprising a first actuating body fixedly mounted thereon and a second actuating body positioned on the first actuating body and adapted to contact a component to be driven. The deformation directions of the two actuating bodies are perpendicular to each other. The first actuating body is subjected to a symmetrical triangular voltage. During a rising or falling interval, the second actuating body is subjected to a high-frequency voltage so that vibrations generated in the second actuating body or at the interface between the second actuating body and the component to be driven during this period can be utilized to reduce the coefficient of friction between the second actuating body and the component to be driven, thereby enabling sliding relative movement between the second actuating body and the component to be driven within a relevant time range (sliding phase). During other time ranges of the triangular voltage, when the high-frequency voltage is not applied to the second actuating body, the coefficient of friction between the second actuating body and the component to be driven is not reduced, and the component to be driven is dimensioned so that, due to the dominant friction (i.e., static friction), it follows the movement of the second actuating body caused by the first actuating body (stiction phase). Summary of the Invention

[0003] The object of the present invention is to provide a method for operating an electromechanical component, an actuating body, a drive device with the actuating body and a motor with the drive device, with which method the component to be driven can be precisely predetermined in position.

[0004] This object is achieved by the features of the independent claims. Further embodiments are specified in the dependent claims, which in each case refer back to these embodiments.

[0005] According to the present invention, there is provided a method comprising the following steps:

[0006] generating a control movement of a friction component, which is arranged on the electromechanical component and is provided for frictional contact with the component to be driven, by controlling a first control portion that is deformable by voltage, with a first voltage signal, wherein the first voltage signal comprises a plurality of signal flanks that increase in absolute magnitude over time and a plurality of signal flanks that decrease in absolute magnitude, wherein the increasing signal flanks and the decreasing signal flanks alternate with each other in time, and wherein after an increasing signal flank and before a subsequent decreasing signal flank, or vice versa, an intermediate signal segment has a non-zero time interval that differs in time from the shape of the signal flanks and preferably comprises a time-dependent gradient;

[0007] The second control portion, which is deformable by voltage, is controlled by a second voltage signal, which comprises signal segments whose frequency is at least a factor of 10 higher than that of the first voltage signal and which are separated in time from the time interval t of the signal intermediate segment of the first voltage signal. z The signal edge begins and extends at least partially to a signal edge immediately following in time the middle segment of the signal.

[0008] In particular, the invention relates to a method for operating an electromechanical component or an actuating body.

[0009] In an embodiment of the method according to the invention, it can be provided that the intermediate signal segment comprises a time-dependent gradient of a maximum of 10 degrees.

[0010] In an embodiment of the method according to the present invention, it can be set that the signal segment of the second voltage signal starts at the time interval t after the middle segment of the signal has passed. z at least 10% and at most 90% of the time interval after the intermediate segment of the signal, or 50% of the time interval before the end of the intermediate segment of the signal.

[0011] In an embodiment of the method according to the invention, provision can be made that the signal segment of the second voltage signal extends into the adjacent and temporally subsequent signal intermediate segment and is separated from the signal intermediate segment by a time interval t z within or until the time interval t z End and end.

[0012] In an embodiment of the method according to the invention, provision can be made for the signal segment of the second voltage signal to be sinusoidal.

[0013] In an embodiment of the method according to the invention, provision can be made for the maximum amplitude of the signal segment of the second voltage signal to be at most 50% of the maximum amplitude of the first voltage signal.

[0014] In an embodiment of the method according to the present invention, it can be set as

[0015] The control of the first control portion is to simultaneously control a plurality of first control sub-portions using the first voltage signal, wherein the first control sub-portions form the first control portion and are arranged one after another in a longitudinal direction;

[0016] The control of the second control part is to simultaneously control a plurality of second control sub-parts using the second voltage signal, wherein the second control sub-parts form the second control part and are arranged one after another in the longitudinal direction.

[0017] In an embodiment of the method according to the present invention, it can be arranged that simultaneously with the control of the first control part, a third control part that can be deformed by voltage is controlled using the first voltage signal, wherein the third control part is arranged so that the second control part is located between the first and third control parts.

[0018] In an embodiment of the method according to the present invention, the control of the third control part can be set to simultaneously control multiple third control sub-parts using the first voltage signal, wherein the third control sub-parts form the third control part and are connected one after another in the longitudinal direction.

[0019] According to the present invention, there is provided an actuator comprising:

[0020] a first control portion extending in a longitudinal direction and deformable by voltage, comprising: a first deformable body defined by a first outer surface and two end surfaces, the two end surfaces being opposite to each other, the first outer surface extending along the longitudinal direction between the two end surfaces; and two actuation electrodes extending transversely to the longitudinal electrodes, one actuation electrode serving as an excitation electrode and disposed on the first end surface, and the other actuation electrode serving as a common electrode and disposed on the second end surface;

[0021] a second control portion extending in the longitudinal direction and deformable by voltage and comprising: a second deformable body disposed on the first deformable body in the longitudinal direction, wherein the second deformable body is defined by a second outer surface and two end surfaces, the two end surfaces being opposite to each other, and the first outer surface extending along the longitudinal direction between the two end surfaces; and two actuation electrodes extending transversely to the longitudinal electrodes, wherein one actuation electrode serves as an excitation electrode and is disposed on the first end surface, and the other actuation electrode serves as a common electrode and is disposed on the second end surface;

[0022] a first control electrode, the first control electrode being disposed at a first connection portion of the first outer surface and electrically connected to the excitation electrode of the first control portion;

[0023] a second control electrode, the second control electrode being electrically separated from the first control electrode, the second control electrode being disposed on a second connecting portion of the second outer surface and electrically connected to the excitation electrode of the second control portion;

[0024] A reference electrode is provided on the first outer surface and the second outer surface and is separated from the first control electrode and the second control electrode, and is electrically connected to the common electrode of the first and second deformable bodies.

[0025] The actuating body according to the invention is particularly suitable for use with embodiments of the method according to the invention. Provision can also be made for the actuating body to be embodied to carry out the method according to the invention.

[0026] In an embodiment of the actuator according to the present invention, the actuator may further include:

[0027] a third control portion, the third control portion extending in the longitudinal direction and deformable by voltage and located on one side of the second control portion, wherein the side is located opposite to the one side of the first control portion with respect to the longitudinal direction, and wherein the third control portion includes:

[0028] a third deformable body, the third deformable body being defined by a third outer surface and two end surfaces, the two end surfaces being opposite to each other, the third outer surface extending along the longitudinal direction between the two end surfaces; and two actuation electrodes, the two actuation electrodes extending transversely to the longitudinal direction, one actuation electrode serving as an excitation electrode and disposed on the first end surface, and the other actuation electrode serving as a common electrode and disposed on the second end surface; and

[0029] a third control electrode, the third control electrode being provided on the third outer surface of the third connection portion and being electrically connected to the excitation electrode of the third control portion,

[0030] The reference electrode is additionally disposed on the third outer surface of the third deformable body, separated from the third control electrode and the second control electrode, and electrically connected to the common electrode of the third deformable body.

[0031] In an embodiment of the actuator according to the present invention, the third control electrode may be integrally formed with the first control electrode.

[0032] In an embodiment of the actuator according to the present invention, it can be provided that at least one of the control parts can be formed by a sequence of several control sub-parts, wherein each of the control sub-parts is composed of a plate-shaped excitation electrode extending transversely to the longitudinal direction, a plate-shaped common electrode (E2) extending transversely to the longitudinal direction, and a layer located between the electrodes in the longitudinal direction and made of electromechanical material, in particular piezoelectric material, wherein the layers are respectively located between the excitation electrode and the common electrode.

[0033] In an embodiment of the actuator according to the present invention, it may be provided that at least one of the deformable bodies is formed of a homogeneous and electrically deformable material.

[0034] In an embodiment of the actuating body according to the present invention, it may be provided that the friction assembly is provided at an end portion of the first control portion or the second control portion oriented in the longitudinal direction.

[0035] According to the invention, a drive device is provided, which has an actuating body according to the invention and a holding device which is at least partially elastic, wherein the actuating body is held in the holding device and preferably clamped therein.

[0036] In an embodiment of the drive device according to the invention, provision can be made that the holding device is realized as a clamping frame which surrounds the actuating body at least in sections.

[0037] According to the present invention, a motor is provided having a drive device according to the present invention and a component to be driven, the component being supported so as to be movable relative to the drive device and being in frictional contact with a friction component provided on the actuating body. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention is described below with reference to the accompanying drawings, in which:

[0039] Figure 1 A perspective view of an embodiment of an actuating body according to the invention is shown, comprising a set of two control portions, each having a deformable body comprising two control electrodes and a reference electrode, wherein the two control electrodes are shown in the figure;

[0040] Figure 2 Shown based on Figure 2 The viewing direction is opposite to the viewing direction Figure 1 Another perspective view of an embodiment of an actuating body, wherein Figure 2 A reference electrode is shown;

[0041] Figure 3 Shown with Figure 1The finite element model (FEM model) of the two deformable bodies is shown as a uniformly deformed block in the non-operating state;

[0042] Figure 4 Shown according to Figure 3 Finite element simulation of the contraction state of the deformed block, where the contraction state is related to its longitudinal direction;

[0043] Figure 5 Shown according to Figure 3 Finite element simulation of the extended state of the deformed block, where the extended state is related to its longitudinal direction;

[0044] Figure 6 A perspective view of an embodiment of an actuator according to the present invention is shown, comprising a set of three control sections, each having a deformable body comprising two control electrodes and a reference electrode, wherein the two control electrodes are shown in FIG. Figure 6 ;

[0045] Figure 7 Shown based on Figure 1 The viewing direction is opposite to the viewing direction Figure 6 Another perspective view of an embodiment of an actuating body, wherein Figure 7 A reference electrode is shown;

[0046] Figure 8 A perspective view showing another embodiment of the actuator according to the present invention is shown. Figure 6 A variant embodiment of the actuating body comprises a set of three control electrodes and one reference electrode;

[0047] Figure 9 A schematic functional diagram of a control device for an embodiment of an actuating body having three control parts, the actuating body being shown in an exploded view, wherein the functional diagram shows control via two voltage signals;

[0048] Figure 10 Shown for Figure 6 or Figure 8 A schematic functional diagram of an actuating body and a control device of another embodiment of the actuating body, wherein the actuating body is shown in an exploded view, wherein the functional diagram shows control by two voltage signals;

[0049] Figure 11 The method according to the present invention is shown in FIG. Figure 6 or Figure 8 two voltage-time diagrams of a first and a second voltage signal of an actuating body according to an embodiment of the present invention;

[0050] Figure 12 It is shown by Figure 11a voltage-time graph of a total voltage signal resulting from the superposition of the first and second voltage signals;

[0051] Figure 13 Shows the display Figure 11 a first voltage signal and a voltage-time diagram of a time period;

[0052] Figure 14 Shows the display Figure 12 The total voltage signal and the voltage-time diagram of the time period;

[0053] Figure 15 Shown for illustration purposes Figure 11 two voltage-time graphs of a first and a second voltage signal of the voltage signal;

[0054] Figure 16 Shown is the display by Figure 15 a voltage-time graph of a total voltage signal resulting from the superposition of the first and second voltage signals;

[0055] Figure 17 shows a perspective view of an embodiment of a motor according to the invention having an actuating body according to the invention, a retaining device, a friction assembly and a driven assembly;

[0056] Figure 18 is based on Figure 17 The plan view of the motor;

[0057] Figure 19 Shown according to Figure 17 A cross-sectional view of a motor;

[0058] Figure 20 Shown with Figure 8 A perspective view of an embodiment of the actuating body of the motor according to the present invention;

[0059] Figure 21 Shown according to Figure 20 A side view of the motor;

[0060] Figure 22 Shown is the view from below from the direction of the holding device Figure 20 A perspective view of an embodiment of a motor;

[0061] Figure 23 Shown Figures 20 to 22 A perspective view of an embodiment of the drive device shown in , wherein the components to be driven are additionally shown;

[0062] Figure 24 Shown Figures 20 to 23 a side view of the illustrated embodiment of the drive device;

[0063] Figure 25 Shown Figures 20 to 23 A plan view of the embodiment of the drive device shown;

[0064] Figure 26 Shown Figures 20 to 23 a perspective view of an embodiment of the drive device shown;

[0065] Figure 27 shows a side view of another embodiment of a drive device according to the invention, comprising an actuating body and a holding device, the actuating body being integrated into the holding device, wherein the drive device is in a neutral deformation state;

[0066] Figure 28 Shown Figure 27 Another side view of the drive device, wherein the drive device is in an intermediate deformed state;

[0067] Figure 29 yes Figure 27 and 28 A plan view of the drive device;

[0068] Figure 30 Shown with Figure 8 The actuator and basis Figure 27 A perspective view of a drive device of the holding device, wherein the drive device is in an intermediate deformed state;

[0069] Figure 31 A perspective view showing another embodiment of a drive device according to the present invention is shown. Figure 8 The actuating body;

[0070] Figure 32 yes Figure 31 A side view of the drive device, wherein the drive device is in an intermediate deformed state;

[0071] Figure 33 Shown Figure 31 Another side view of the driving device;

[0072] Figure 34 yes Figure 31 A top view of a driving device;

[0073] Figure 35 Shown according to Figures 31 to 34 FEM simulation of the first deformation state of the drive device;

[0074] Figure 36 Shown according to Figures 31 to 34 FEM simulation of the second deformation state of the drive device, where the second deformation state is consistent with the Figure 35The first deformation state is opposite or opposite;

[0075] Figure 37 A perspective view of another embodiment of a drive device is shown, wherein the drive device comprises a Figure 8 Two actuating bodies adjacent to each other and wherein the actuating bodies are in an intermediate deformation state;

[0076] Figure 38 Shown Figure 37 A side view of a driving device;

[0077] Figure 39 Shown Figure 37 A top view of a driving device;

[0078] Figure 40 Shown with Figure 37 A perspective view of an embodiment of a motor according to the present invention in accordance with an embodiment of a drive device;

[0079] Figure 41 yes Figure 40 A side view of an embodiment of a motor;

[0080] Figure 42 The first operating mode is shown in FIG. Figure 39 FEM simulation of the first deformation state of the drive device;

[0081] Figure 43 The first operating mode is shown in FIG. Figure 39 FEM simulation of the second deformation state of the drive device, wherein the second deformation state is Figure 31 The deformation states are opposite or opposite;

[0082] Figure 44 The second operating mode is shown in FIG. Figure 39 FEM simulation of the first deformation state of the drive device;

[0083] Figure 45 The second operating mode is shown in FIG. Figure 39 FEM simulation of the second deformation state of the drive device, wherein the second deformation state is Figure 44 The deformation states are relative or opposite. DETAILED DESCRIPTION

[0084] The actuating body 1 according to the present invention is formed by a set of at least two control portions A1 and A2, each extending in the longitudinal direction L of the actuating body 1 and arranged one behind the other when viewed in the longitudinal direction L. The actuating body 1 is implemented as an electromechanical component, preferably a piezoelectric component. The actuating body 1 is delimited by an outer actuating body outer surface FA and two actuating body end surfaces FE1, FE2, which are oriented opposite each other with respect to the longitudinal direction L and between which the actuating body outer surface FA extends in the longitudinal direction L.

[0085] Figure 1 and Figure 2 An embodiment of an actuating body 1 according to the invention is shown which comprises a set of only two control portions A1 , A2 , each extending in the longitudinal direction L of the actuating body 1 and arranged one behind the other when viewed in the longitudinal direction L.

[0086] First control portion A1 includes a first deformable body D1, which is bounded by a first outer surface 10 and two end surfaces 11 and 12 oriented opposite each other relative to a longitudinal direction L, with the first outer surface 10 extending along the longitudinal direction L between the two end surfaces; and at least two actuation electrodes E1 and E2 extending transversely to the longitudinal direction L. The end surfaces 11 and 12 formed along the longitudinal direction L include a first end surface 11, which serves as an actuation body end surface FE1, and a second end surface 12. Functionally, based on the control function according to the present invention, a first actuation electrode E1 is provided at the first end surface 11, and at least one common electrode E2 is provided at the second end surface 12. To achieve a multilayer structure, additional actuation electrodes E1 and E2 may be arranged within first deformable body D1, extending transversely to the longitudinal direction and spaced apart from each other, with electromechanical material positioned between the additional actuation electrodes E1 and E2. In this case, due to the control provided according to the present invention, when starting from the first end surface 11 to the second end surface 12, the excitation electrodes E1 and the common electrodes E2 can be arranged alternately at least in sections as viewed in the longitudinal direction L. In the embodiment described herein having the first end surface 11, it can be realized as the first actuator end surface FE1.

[0087] The second control portion A2 comprises a second variant D2, which is bounded by a second outer surface 20 and two end surfaces 21, 22 oriented opposite each other relative to the longitudinal direction L, with the second outer surface 20 extending along the longitudinal direction L between the two end surfaces; and at least two actuation electrodes E1, E2 extending transversely to the longitudinal direction L. The end surfaces 21, 22 include a first end surface 21 and a second end surface 22 serving as actuation end surfaces FE2. As with the first control portion A1, functionally, based on the control function according to the present invention, from the group of actuation electrodes E1, E2, a first electrode E1, which functions as an excitation electrode, is arranged on the first end surface 21, and at least one common electrode E2 is arranged on the second end surface 22. In the second variant D2, the additional actuation electrodes E1, E2 extend transversely to the longitudinal direction and are spaced apart from each other. Intermediate layers of electromechanical material may be arranged to achieve a multilayer structure, each layer being located between the additional actuation electrodes E1, E2. In this case, due to the control provided according to the present invention, the excitation electrodes E1 and the common electrodes E2 can be arranged alternately at least in sections when viewed in the longitudinal direction L starting from the first end face 11 to the second end face 12. The actuator 1 having the two control portions A1 and A2 extends along the longitudinal direction L between the end faces 11 and 22, which form the actuator end faces FE1 and FE2, respectively.

[0088] Figure 1 and 2 The actuator 1 also includes a first control electrode 15 and a second control electrode 25, which are external electrodes relative to the control portions A1 and A2, respectively. The first drive electrode 15 is disposed on the first outer surface 10, while the second control electrode 25 is disposed on the second outer surface 20. The control electrodes 15 and 25 are located on the outer surfaces of the actuator 1 and are electrically isolated from each other. The first control electrode 15 is disposed on a first connection portion 16 on the first outer surface 10 and is electrically connected to at least one excitation electrode E1 of the first control portion A1. The second control electrode 25 is disposed on a second connection portion 26 on the second outer surface 20 and is electrically connected to at least one excitation electrode E1 of the second control portion A2. The connection portions 16 and 26 are spaced apart from each other.

[0089] Actuator 1 further includes a reference electrode 5 disposed on first outer surface 10 of first deformable body D1 and second outer surface 20 of second deformable body D2, extending at least partially or substantially across both outer surfaces 10 and 20. Reference electrode 5 is thus an external electrode relative to control portions A1 and A2. Reference electrode 5 is electrically isolated from first control electrode 15 and second control electrode 25 and electrically connected to at least one common electrode E2 of first and second deformable bodies D1 and D2.

[0090] Embodiments of the present invention may include a friction assembly F provided on the actuating surface 1 a oriented in the longitudinal direction L and receiving a deformation movement of the first end face 11 of the actuating body 1 and transmitting it to the friction assembly F.

[0091] For the available Figures 17 to 26 In the embodiment of the actuator 1, the housing friction component F is located on the first end surface 11 of the first control portion A1, and thus the actuating surface 1a. The friction component F may contact the first end surface 11 directly or indirectly. In this context, "indirect" means that an intermediate layer or a structural component having an outer surface serving as the actuating surface 1a may be located between the first end surface 11 and the friction component F, oriented along the orientation direction of the first end surface 11 or along the longitudinal direction L. This layer receives deformation of the first end surface 11 of the actuator 1 and causes changes in the position and location of the friction component F.

[0092] exist Figures 17 to 26 In the embodiment of the present invention, the support plate 42 is arranged on the second actuating body end face FE2 opposite the actuating surface 1a as viewed in the longitudinal direction L, wherein the support plate 42 includes a support surface 1b oriented along the actuating body end face FE2. In other embodiments of the present invention, the support surface 1b may be the second actuating body end face FE2, or, for example, the end face 22 or 32 itself, or an outer surface of a layer located on or at the second end face 22 or 32, or a structural component located on the second end face 22 or 32, wherein the support surface 1b is oriented along the orientation direction of the first end face 11 or along the longitudinal direction L.

[0093] In accordance with Figures 17 to 26 In the embodiment, the friction component F extends in the longitudinal direction LF. The friction component F can be made of or composed of a hard and wear-resistant material. In particular, the material can be made of or composed of a ceramic material, metal, or plastic, or a combination of these materials. Providing the material in this manner enables frictional contact with the components to be driven.

[0094] Figure 3 Shows the Figure 1 and Figure 2 The combination of the control parts A1 and A2 is a finite element model of a deformation block that can be actuated and formed in a uniform manner, and Figure 4 and Figure 5 The different deformation states of such a deformation block are illustrated. These deformation states of the deformation block can be achieved by appropriately controlling the control electrodes 15 and 25 in a dynamic sequence by reference to the voltage signal applied to the reference voltage of the reference electrode 5, thereby actuating the friction component F or causing it to move along a defined movement path or trajectory. The friction component F is configured to interact with the friction surface of the component to be driven 90 to interact, and when a voltage signal according to Figure 4 and Figure 5When the dynamic sequence of various deformation states is performed, the component 90 to be driven can be moved relative to the actuating body 1.

[0095] Figure 6 and Figure 7 A further embodiment of an actuating body 1 according to the invention is shown, which comprises a set of three control sections A1 , A2 , A3 , wherein each control section extends in a longitudinal direction L of the actuating body 1 and wherein the control sections are arranged one behind the other viewed in the longitudinal direction L.

[0096] In this embodiment, the actuator 1 further includes a third control portion A3 extending in the longitudinal direction and deformable by voltage. The second control portion A2 is located between the first and third control portions A1, A3, so that the control portions A1, A2, and A3 are positioned one behind the other when viewed in the longitudinal direction L. The third control portion A3 includes a third deformable body D3 defined by a third outer surface 30 and a first end surface 31 and a second end surface 32 serving as the second actuator end surface FE2, both of which are positioned opposite the first end surface 31 with respect to the longitudinal direction L; and at least two actuation electrodes E1 and E2 extending transversely to the longitudinal direction. The third outer surface 30 extends along the longitudinal direction L between the end surfaces 31 and 32. Due to the control provided by the present invention, the actuation electrodes E1 and E2 are implemented by at least one excitation electrode E1 disposed on the first end surface 31 and at least one common electrode E2 disposed on the second end surface 32. In the third variant D3, in order to achieve a multilayer structure, further actuation electrodes E1, E2 can be arranged, extending transversely to the longitudinal direction and being arranged at a distance from one another, with a layer of electromechanical material located between the further actuation electrodes E1, E2. In this case, due to the control provided according to the present invention, the actuation electrodes E1 and the common electrodes E2 can be arranged alternately, at least in sections, when viewed in the longitudinal direction L, starting from the first end face 11 to the second end face 12.

[0097] according to Figure 6 and Figure 7 The embodiment of the actuator 1 includes a third control electrode 35, which is arranged on a third connection portion 36 of the third outer surface 30 and is electrically connected to at least one excitation electrode E1 of the third control portion A3. Therefore, the connection portions 16, 26 and 36 can be spaced apart from each other.

[0098] The third drive electrode 35 can be electrically connected to the first control electrode 15. To this end, such electrical connection can be achieved through external wiring. As an alternative or in addition, as in accordance with Figure 6 and 7 In the embodiment of the actuator 1 provided herein, the first control electrode 15 and the third control electrode 35 may be integrally formed or manufactured.

[0099] The reference electrode 5 is electrically separated from the first, second and third control electrodes 15, 25, 35 and electrically connected to at least one common electrode E2 of the first deformable body D1, the second deformable body D2 and the third deformable body D3. Figure 8 In the embodiment of the actuator 1, the first control electrode 15 and the third control electrode 35 are formed as separate components, that is, each is formed as an integral component and is therefore at a distance from each other. Figure 8 The embodiment of the actuator 1 is formed according to Figure 6 and 7 Implementation of the actuating body 1.

[0100] In particular, the first control electrode 15, the second control electrode 25, the third control electrode 35 and the reference electrode 5, or one or more of these electrodes, may be realized as a layer applied to the respective outer surface or as a flexible plate or as a non-flexible plate.

[0101] The actuating body 1 with its three control portions A1 , A2 , A3 extends in the longitudinal direction L between end faces 11 , 32 forming the actuating body end faces FE1 and FE2 , respectively.

[0102] According to one embodiment of the actuator 1, the first deformable body D1, the second deformable body D2, and the third deformable body D3, or one or more of these deformable bodies, are made of a homogeneous, electrically deformable material, i.e., are formed as a bulk and do not include a multilayer structure. The control portion having such a deformable body formed as a bulk includes at least two actuation electrodes E1 and E2, which are specifically formed on one of the two end faces of each deformable body, the two end faces facing each other in the longitudinal direction L. One or both of the electrodes may also be arranged within the bulk and at a distance from each other in the longitudinal direction L.

[0103] exist Figure 9 shows an example of an embodiment in which the three deforming bodies D1, D2, and D3 of the actuating body 1 are each implemented as a block. Each of the control parts A1, A2, and A3 includes two actuation electrodes E1 and E2, with a first actuation electrode being arranged on a first end face and a second actuation electrode being arranged on a second end face of each deforming body D1, D2, and D3, so that each deforming body is deformed in a predetermined manner when a voltage signal is applied to the associated actuation electrode E1 and E2 by a signal generating device V.

[0104] Alternatively or additionally, in the actuator 1 according to the present invention, one or more of its control parts can be formed by a plurality of control sub-parts, each of which extends transversely to the longitudinal direction L and is located one layer at a time in the longitudinal direction L. Each control part is formed by a plate-shaped actuating electrode extending transversely to the longitudinal direction, having the function of an excitation electrode, and is formed by: a plate-shaped actuating electrode extending transversely to the longitudinal direction and having the function of an excitation electrode, a plate-shaped actuating electrode extending transversely to the longitudinal direction and having the function of a common electrode, and a piezoelectric layer located between these actuating electrodes in the longitudinal direction, wherein the piezoelectric layer is electromechanically deformable. As an example, Figure 10 An embodiment is shown, which comprises three control sections A1, A2, A3, wherein each control section is formed by several control subsections:

[0105] The first control part A1 includes control subparts A11, A12, A13 having piezoelectric layers P11, P12, P13,

[0106] The second control part A2 includes control parts A21, A22, A23, A24 having piezoelectric layers P21, P22, P23, P24, and

[0107] The third control part A3 includes control parts A31, A32, A33, A34 having piezoelectric layers P31, P32, P33, P34.

[0108] Each piezoelectric layer of the control subsections A1, A2, and A3 includes subsection end faces F1 and F2 that are positioned opposite each other and extend transversely to the longitudinal direction L and are oriented opposite each other relative to the longitudinal direction L. Actuation electrodes E1 and E2 are located on each subsection end face F1 and F2. Actuation electrodes E1 and E2 can be plate-shaped or layer-shaped, or can have other shapes, such as wire segments. A layer of non-electromechanically deformable material can also be located between the two control sections of the control subsections A1, A2, and A3.

[0109] As Figure 10 In the example of the reference numerals, when the signal generating device V is electrically connected to the control part, one or more of the following alternatives (a), (b), and (c) of the actuating body 1 can generally be realized:

[0110] (a) The first control portion A1 is formed by a sequence of a plurality of first control sub-portions A11, A12, and A13, each of which has a plate-shaped excitation electrode extending transversely to the longitudinal direction, a plate-shaped common electrode extending transversely to the longitudinal direction, and a piezoelectric layer located between each two inner electrodes in the longitudinal direction;

[0111] (b) the second control portion A2 is formed by a sequence of a plurality of second control sub-portions A21, A22, A23, and A24, each of which has a plate-shaped excitation electrode extending transversely to the longitudinal direction, a plate-shaped common electrode extending transversely to the longitudinal direction, and a piezoelectric layer located between each two internal electrodes in the longitudinal direction;

[0112] (c) The third control portion A3 is formed by a sequence of several third control sub-portions A31, A32, and A33, each of which has a plate-shaped excitation electrode extending transversely to the longitudinal direction, a plate-shaped common electrode extending transversely to the longitudinal direction, and a piezoelectric layer located between each two internal electrodes in the longitudinal direction.

[0113] In this case, the control portion or the control portion not formed according to (a), (b) or (c) may be formed into a block-like structure.

[0114] The actuating body 1 according to the present invention can also be operated by having a reference Figure 10 The described features or embodiment alternatives (a), (b), (c) can be realized in combination.

[0115] The outer side of the movement 1 can be coated in sections or completely. In the actuator 1 implemented according to the present invention, for example, there are at least two control parts A1 and A2, by correspondingly controlling the voltage signal, the voltage signal is generated by the signal generating device V and acts respectively between the actuation electrodes E1 and E2 adjacent in the longitudinal direction L, which can cause the actuation electrodes E1 and E2 to move in an alternating order. Figure 4 and 5 The deformed state shown.

[0116] The actuation electrodes E1, E2 can be implemented in various ways in the embodiments of the actuation body 1 mentioned herein and also in the control part thereof. For example, the actuation electrodes E1, E2 can be shaped as plates, layers, line segments or material patches.

[0117] According to the present invention, the actuating body 1 can be held in a holding device 40 and preferably structurally integrated therein, so that the actuating body 1 and the holding device 40 together form a drive device K. The holding device 40 can be implemented as a tensioning frame 41 made of elastic material at least in sections, in which the control portion of each actuating body 1 is elastically clamped. The clamping or compressive force exerted by the holding device 40 on the actuating body 1 acts in the longitudinal direction L of the actuating body 1, thereby preloading the actuating body 1 in this direction. In this way, the actuating body is under compressive stress and thus returns more quickly from an expanded state to a contracted state. The holding device 40 is preferably implemented so as to extend, at least on one side of the actuating body 1, beyond the distance extending from the first actuating body end face FE to the second actuating body end face FE2 of the actuating body 1, and thus the holding device 40 surrounds, encloses, or clasps the actuating body 1 at least in sections in the longitudinal direction L.

[0118] According to the invention, a method is provided for operating an actuating body 1, preferably an actuating body according to the above description, said actuating body having at least two control portions A1, A2, said control portions A1, A2 being arranged one behind the other in the longitudinal direction L of the actuating body 1. Furthermore, according to the invention, a method is provided for operating a drive device K, said drive device K comprising an actuating body 1 according to the invention and a friction component F arranged on an actuating surface 1a. The friction component F can be provided directly or indirectly on the first end face 11 of the actuating body 1, for example via an intermediate layer or an intervening structural component, so that a deformation movement of the actuating body 1 causes a corresponding change in the position and orientation of the friction component F. The deformation movement of the actuating body 1 causes a change in the position of the drive area 1a at the position of the friction component F, for example at Figure 12 、 14 and 16 as a function of time. Figures 17 to 26 In the embodiment of the drive device K, the outer actuating region 1a is located on the end faces 11, 12 of the actuating body 1 formed in the longitudinal direction L of the actuating body 1. The end face may be the end face 11 of the first control portion A1 of the actuating body 1, so that Figures 17 to 26 In the example, this end face is the actuation area, which is marked by the reference symbol "1a". Figures 27 to 45 In the embodiment, the actuating surface is the outer surface of a structural component arranged on the end face 11, wherein the structural component is implemented as a retaining device. Alternatively or additionally, the friction component F can also be arranged on a second end face or a third end face oriented opposite to the first end face 11, or on the outer surface of a layer or structural component arranged thereon.

[0119] In particular, the actuator body according to one of the embodiments described herein is formed with at least one first control portion, which is deformable by voltage and has a first end face 11, and a second control portion, which is deformable by voltage and has another end face 11 oriented opposite to the first end face 11. According to the present invention, the friction component F for forming the drive device K can be located on the first end face 11 or the other end face.

[0120] In this case, the first control component A1 , which is variable by voltage, is controlled by the first voltage signal S10 , and the second control component A2 , which is variable by voltage, is controlled in a superimposed manner by the second voltage signal S20 .

[0121] The first voltage signal S10 includes a signal consisting of a plurality of signal segments or signal edges S11 increasing in absolute magnitude, a plurality of signal segments or signal edges S12 decreasing in absolute magnitude, and a plurality of intermediate signal segments S13, each intermediate signal segment S13 being located between a signal edge S11 increasing in absolute magnitude and a signal edge S12 decreasing in absolute magnitude. The signal intermediate segments S13 are at a time interval t different from zero. z Upward extension, or in other words: time interval t z Extends over a period of time that includes an amount not equal to zero.

[0122] The first voltage signal S10 includes signal edges that increase according to an absolute amount and signal edges that decrease according to an absolute amount. In this context, the expression "increase according to an absolute amount" means that the signal in question increases at least in sections in the direction of the time axis T, that is, the voltage signal S10 includes a first signal segment SA1, whose signal edge S11 has a positive gradient. The expression "decrease according to an absolute amount" in this context means that the signal in question decreases at least in sections in the direction of the time axis T, that is, the voltage signal S10 includes a second signal segment SA2, whose signal edge S12 has a negative gradient. The first signal segment SA1 and the second signal segment SA2 can generally be signal segments that are continuous in time, that is, uninterrupted in time, or they can be signal segments that are discontinuous in time, that is, interrupted in time.

[0123] The first signal segments SA1 do not necessarily consist of increasing signal edges S11, i.e., they do not necessarily consist exclusively of increasing signal edges S11 according to an absolute magnitude. The first signal segments SA1 may also include sub-segments without a gradient or sub-segments with a negative gradient. Similarly, the second signal segments SA2 do not necessarily consist of decreasing signal edges S12, i.e., they do not necessarily consist entirely of decreasing signal edges S12 according to an absolute magnitude. The second signal segments SA2 may also include sub-segments without a gradient or sub-segments with a negative gradient.

[0124] However, according to the definition of the present invention, the first signal segment SA1 of the embodiment of the first voltage signal S1 according to the present invention can be defined in particular in such a way that it is formed by increasing signal edges S11 or consists only of increasing signal edges S11. Alternatively or additionally, according to the definition of the present invention, the second signal segment SA2 of the embodiment of the first voltage signal S1 according to the present invention can be defined in such a way that it is formed by decreasing signal edges S12 or consists only of decreasing signal edges S12.

[0125] The intermediate segment S13 defined according to the present invention forms a local maximum and is different from the signal edge S11 according to the increase in absolute amount and the signal edge S12 according to the decrease in absolute amount, because the signal shape of the intermediate segment S13 according to the present invention is different from the signal shape of the signal edge S11 according to the increase in absolute amount and the signal shape of the signal edge S12 according to the decrease in absolute amount over time.

[0126] In addition, the signal intermediate segment S13 can be defined as comprising a time-dependent gradient comprising a value of at most 10 degrees. Additionally or independently, it can be defined that the signal edge S11 that increases according to the absolute amount and is located directly before the signal intermediate segment S13 over time has a gradient that has a value greater than 10 degrees and preferably has a value greater than 20 degrees. Additionally or independently, it can also be defined that the absolute value of the gradient of the signal edge S12 that decreases directly after the signal intermediate segment S13 comprises a value greater than 10 degrees and preferably has a value greater than 20 degrees. In the case of these variants, it can be specifically defined that the time length of the signal edge S11 that increases according to the absolute amount is greater than the time length of the signal intermediate segment S13. In these variants, it can also be specifically defined that the time length of the signal edge S12 that decreases according to the absolute amount is greater than the length of the signal intermediate segment S13.

[0127] An embodiment of the first voltage signal S10 used in the method according to the invention comprises a plurality of signal edges S11 increasing in absolute magnitude, each signal edge S11 being immediately followed in time by an intermediate segment S13, wherein the intermediate segment S13 is immediately followed in time by a signal edge S12 decreasing in absolute magnitude. An example of this embodiment is Figure 11. According to the present invention, it is important that the first voltage signal S10 includes a plurality of signal segment groups G1, each group G1 consisting of a sequence of an increasing signal edge S11, an intermediate segment S13 immediately following it in time, and a decreasing signal edge S12 immediately following it in time. According to the present invention, when such a signal segment group G1 consists of a sequence of an increasing signal edge S11, an intermediate segment S13 immediately following it in time, and a decreasing signal edge S12 immediately following it in time, the signal segment is followed by the next increasing signal edge in time, but the immediately following signal edge is not necessarily a group that occurs in the same manner. In the case of the first voltage signal S10, the signal edge S11 that increases in absolute magnitude may be followed by other signal edges that do not include the intermediate segment S13 defined according to the present invention. Furthermore, in the first voltage signal S10, the signal edge S11 that increases in absolute magnitude may be followed by a decreasing signal edge in time. However, depending on the embodiment of the method according to the invention, the first voltage signal S10 may also include a plurality of signal segment groups G1 that follow one another in time.

[0128] An embodiment of the first voltage signal S10 used in the method according to the present invention can be formed by a time sequence of signal segment groups G1, each signal segment group G1 consisting of an increasing signal edge S11, an intermediate segment S13 directly following thereafter in time, and a decreasing signal edge S12 directly following thereafter in time, wherein each signal segment group G1 can specifically have a sawtooth shape or a trapezoidal shape or essentially one of these shapes, which means that each of the signal edge S11, the intermediate segment S13 and the signal edge S12 is formed as a straight line.

[0129] In an embodiment of the method according to the present invention, the second voltage signal S20 includes at least one relatively high-frequency signal segment S21. In this case, the second voltage signal S20 may include at least one connecting signal segment S22, which connects two relatively high-frequency signal segments S21. Figure 11 and 15 As shown, the connecting signal segment S22 can have a value that is constant over time, in particular a value of zero. Alternatively, the connecting signal segment S22 can consist of or be formed by a relatively low-frequency signal.

[0130] exist Figure 111 shows an example of an embodiment of a method for controlling an actuator 1 comprising three control sections A1, A2, A3, a first voltage signal S10 having a trapezoidal shape, and a second voltage signal S20. A relatively high-frequency signal segment S21 of the second voltage signal S20 begins in the intermediate segment S13 and extends beyond the respectively adjacent decreasing signal edge S12 and beyond a portion of the respectively adjacent intermediate segment S13. The temporal position change U of the reference position on the first end face 11 or the actuation region 1a resulting from this control is shown in FIG. Figure 12 .

[0131] exist Figure 11 In an embodiment, the first voltage signal S10 is additionally formed by a directly consecutive sequence of signal segment groups G1 or, in special cases, by a directly consecutive sequence of signal segment groups G2 with different choices of the starting point of the first voltage signal S10.

[0132] exist Figure 11 In the illustrated case of the first voltage signal S10 or its signal segment group G1, the increasing signal edge S11 includes a smaller gradient, in absolute terms, than the decreasing signal edge S12. Consequently, over time within the signal segment group G1, the shape or deformation state of the actuating body 1 changes more slowly during the increasing signal edge S11 than during the decreasing signal edge S12. In this case, the magnitude of the gradient of the increasing signal edge S11 is set so that the resulting change in the shape state of the actuating body 1 causes static friction between the friction component F disposed on the actuating surface 1a and the friction surface 90a of the component 90 to be driven, on which the friction component F rests. During this period, as the shape state of the actuating body 1 changes, the component 90 is carried along by the contact surface of the friction component F due to the static friction, and the contact surface FK of the friction component F resting on the friction surface 90a of the component 90 to be driven ( Figure 19 ) position and the position change of assembly 90 to be driven in the first driving direction. Like this, the propulsion of assembly 90 to be driven is realized in the first driving direction.

[0133] Furthermore, the magnitude of the gradient of the reduced signal edge S12 is set so that, due to the relatively rapid change in the shape and position of the actuating element 1, static friction does not occur between the friction element F and the friction surface 90a, but sliding friction occurs. During the time period of the reduced signal edge S12, the inertia of the component 90 to be driven is opposed to the friction force occurring between the contact surface FK of the friction element F, which is in contact with the friction surface 90a of the component 90 to be driven. The friction surface 90a is so large that the relatively rapid change in the shape and position of the actuating element 1 and the contact surface FK of the friction element F causes relative movement, thus generating sliding friction between the contact surface FK and the friction surface 90a of the component 90 to be driven. During this period, the component 90 to be driven does not advance, but instead undergoes a reversal movement of the contact surface FK of the friction element F relative to the friction surface 90a of the component 90 to be driven. After the time end of the signal edge S12 is reached, an additional signal edge S11 of another signal segment group G1 can again follow in order to achieve further advancement of the component 90 to be driven.

[0134] Generally speaking, when the voltage signal S10 implements the first driving direction, the signal segment group G1 is implemented as follows:

[0135] (a) the first signal segment SA1 includes at least one segment including a gradient, which causes the movement speed of the friction component F to cause a static friction state to occur between the friction component F disposed on the actuating surface 1 a and the friction surface 90 a of the component 90 to be driven on which the friction component F rests,

[0136] (b) The second signal section SA2 includes a gradient according to the absolute amount of each position, resulting in a moving speed of the friction component F, a sliding friction state occurring between the friction component F provided on the actuating surface 1a and the friction surface 90a of the component to be driven 90 on which the friction component F rests.

[0137] When the actuating body 1 is in the intermediate state, the friction assembly F assumes an intermediate state in terms of its shape, orientation, or both. In both the first signal segment SA1 and the second signal segment SA2, the friction assembly F is in a moving state opposite to the intermediate state in terms of its orientation or shape. In an embodiment of the method according to the present invention, the intermediate segment S13, located between the first signal segment SA1 and the second signal segment SA2, is a signal segment in which the shape of the actuating body 1 does not change, or in which the shape of the actuating body 1 changes significantly less than in the first and second signal segments SA1 and SA2. While applying the signal strength of the intermediate segment S13, once the actuating body 1 is controlled by the first signal segment SA1 or the second signal segment SA2, the friction assembly F, and optionally the retaining device receiving the actuating body 1, can return from each instantaneous moving state to the intermediate state before the friction assembly F enters a moving state again.

[0138] A particular embodiment of the first voltage signal S10 used in the method for generating a first drive direction for a component 90 to be driven according to the present invention includes, due to the respective starting points of first voltage signal S10, a plurality of signal segment groups G2. Each group G2 consists of a sequence of a signal edge S12 decreasing in absolute magnitude, a directly subsequent intermediate segment S13, and a directly adjacent signal edge S11 increasing in absolute magnitude, wherein the increasing signal edge S11 has a smaller gradient than the decreasing signal edge S12. In this embodiment of first voltage signal S10, when such a signal segment group G2 occurs and the immediately subsequent decreasing signal edge occurs, such a group does not necessarily follow. Thus, in the case of first voltage signal S10, after a decreasing signal edge S12, the immediately subsequent signal segments may not have an intermediate segment S13 as defined in the present invention. Furthermore, in the case of first voltage signal S1, a decreasing signal edge S12 may also be immediately followed in time by an increasing signal edge S11. However, depending on the embodiment of the method according to the invention, the first voltage signal S10 can also have a plurality of such groups that follow one another in time. The signal segment group G2 can in particular have a sawtooth shape or a trapezoidal shape.

[0139] Figure 13 and 14 By way of example, the embodiment of the method according to the present invention is explained, in which the second voltage signal S20 is switched on in such a manner that the relatively high-frequency signal segment S21 already occurs in the temporal intermediate segment S13 of the voltage signal S10 applied to the actuator body 1 and is applied to the time segment TV therein. In addition, the signal segment S21 of the voltage signal S20 still occurs in the intermediate segment immediately following it and only occurs in the same time segment TN. Figure 15 , another embodiment of the method according to the present invention is shown, wherein the actuator 1 comprises three control parts A1, A2, A3, with a first voltage signal S10 and a second voltage signal S20. The first voltage signal S10 or Figure 15 The illustrated signal segment group G1 of the first voltage signal S10 includes an increasing signal edge S11 having a larger gradient in absolute terms than the decreasing signal edge S12. Therefore, during the time course within the signal segment group G1, the shape state or deformation of the actuating body 1 changes more rapidly during the increasing signal edge S11 than during the decreasing signal edge S12. In this case, the magnitude of the gradient of the increasing signal edge S11 is set such that, due to the resulting speed of the shape state change of the actuating body 1, static friction does not occur between the friction component F provided on the actuating surface 1a and the friction surface 90a of the component 90 to be driven, with which the friction component F contacts. Instead, a sliding friction state is generated. During the time period of the increasing signal edge S11, the inertia of the component 90 to be driven is opposed to the friction force occurring between the contact surface FK of the friction component F, which is in contact with the friction surface 90a of the component 90 to be driven. The friction surface 90a is so large that the shape state of the actuating body 1 and the position of the contact surface FK of the friction component F change relatively quickly, resulting in relative movement between the contact surface FK and the friction surface 90a of the component 90 to be driven. Therefore, during this time period, the component 90 to be driven does not advance, but rather causes relative movement between the contact surface FK of the friction component F and the friction surface 90a of the component 90 to be driven, which is opposite to the driving direction and has no effect on the advancement.

[0140] Typically, in order to implement the second driving direction, the signal segment group G1 of the voltage signal S10 is implemented as follows:

[0141] (a) the first signal segment SA1 has a gradient at least sectionally and in particular at each position, resulting in a movement speed of the friction component F, wherein a sliding friction state occurs between the friction component F arranged on the actuating surface 1 a and the friction surface 90 a of the component 90 to be driven on which the friction component F rests,

[0142] (b) The second signal segment SA2 includes at least one segment including a gradient, resulting in a moving speed of the friction component F, a static friction state occurring between the friction component F provided on the actuating surface 1a and the friction surface 90a of the component 90 to be driven on which the friction component F rests.

[0143] A special variant of the first voltage signal S10 for generating a second drive direction of the component 90 to be driven includes a plurality of signal segment groups G2 having respective starting points of the first voltage signal S10, each signal segment group G2 consisting of a sequence of a signal edge S12 decreasing in absolute quantity, an intermediate segment S13 immediately following it in time, and a signal edge S11 immediately following it in absolute quantity, wherein the signal edge S11 increasing in absolute quantity includes a larger gradient than the signal edge S12 decreasing in absolute quantity.

[0144] Furthermore, the amount of the gradient of the signal edge S12 is reduced because the shape state of the actuating body 1 changes at a relatively slow rate, and static friction is dominant between the friction element F and the friction surface 90a. In this time segment, as the shape state of the actuating body 1 changes, the component 90 is driven by the contact surface of the friction element F due to the presence of static friction, and the contact surface FK of the friction element F resting on the friction surface 90a of the component 90 to be driven ( Figure 19 ) and the position of the component 90 to be driven in the second driving direction opposite to the first driving direction. Thus, when the reduced signal edge S12 is applied, due to Figure 11 and 12 The signal generated in the PWM module causes the component 90 to be driven to advance in a second driving direction opposite to the first driving direction.

[0145] After the time end of the signal edge S12 is reached, an additional signal edge S11 of another signal segment group G1 can be adjoined in order to achieve further advancement of the component 90 to be driven. Figure 13 In the embodiment of , the first voltage signal S10 is additionally formed by the sequence of signal segments that immediately follow the group G1 .

[0146] In an embodiment of the method according to the present invention, the time interval t of the high-frequency signal segment S21 of the second voltage signal S20 in the middle segment S13 is z and extends along the subsequent decreasing signal edge S12 and also along a portion of each subsequent intermediate segment S13. Figure 16shows the change in the position U of a reference point on the first end surface 11 or the actuating surface 1a, particularly the point on which the friction component F is arranged, over time, resulting from this control. By activating the second voltage signal S20 during the intermediate segment S13 of the first voltage signal S10, friction is reduced between the friction component F arranged on the actuating surface 1a and the friction surface 90a of the component 90 to be driven, on which the friction component F rests. By activating the second voltage signal S20 in the intermediate segment S13, which occurs before the signal segments SA1 and SA2 with the gradient magnitude, neither static friction nor sliding friction occurs between the friction component F and the friction surface 90a. This friction reduction between the friction component F and the friction surface 90a occurs before the application of each signal segment SA1 and SA2. Since friction has already been reduced in this manner at the beginning of each signal segment SA1 and SA2, it is optimally ensured that the friction component F is not carried along the friction surface 90a during the transition from static to sliding friction. As a result, the precision of the movement of the component 90 to be driven, which is produced by the friction component F, is optimized.

[0147] In all embodiments of the method according to the present invention, the signal edges S11, which may be the first voltage signal S10, which increase in absolute value, may extend linearly and therefore have a positive and temporally constant gradient. In this case, a plurality of groups G1 and G2, in particular directly successive groups G1 and G2 or alternating groups G1 and G2, may have linearly extending increasing signal edges S11, therefore having a positive and temporally constant gradient. The increasing signal edges S11 may each have the same gradient.

[0148] Alternatively or additionally, embodiments of the first voltage signal S10 used in the method according to the present invention may include a signal edge S12 that decreases in absolute terms and extends linearly, thus having a negative and temporally constant gradient. Multiple groups G1 and G2, in particular directly successive groups G1 and G2 or alternating groups G1 and G2, may have linearly extending decreasing signal edges S12, thus having a negative and temporally constant gradient. In this case, the decreasing signal edges S12 may each have the same gradient.

[0149] Embodiments of the first voltage signal S10 used in the method according to the invention may include a linearly extending intermediate segment S13. In this case, a plurality of groups G1 and G2, in particular directly consecutive groups G1, G2 or alternating groups G1, G2, may have a linearly extending intermediate segment S13. In each case, the intermediate segment S13 may be a segment with a gradient that has a zero value throughout, or may be a segment with a gradient that has a zero value throughout, such as Figure 11 and 13As shown in the example.

[0150] According to the present invention, the time interval t of the signal middle segment S13 of the first voltage signal S10 z The control of the second control part A2 with the second voltage signal S20 is started in time, and the time interval is particularly located in the time period TZ before the signal edge, which causes the relative movement between the friction component F arranged on the actuating surface 1a and the friction surface 90a of the component 90 to be driven.

[0151] In particular, if the frequency of the first voltage signal S10 is defined by a time sequence of two signal intermediate segments S13, then in each case after an increasing signal edge S11 or in each case after a decreasing signal edge S12, at least in these signal segments S13, the frequency of the second voltage signal S20 can be at least 10 times higher than the frequency of the first voltage signal S10 defined in this way.

[0152] Generally speaking, the high-frequency signal segment S21 of the second voltage signal S20 may be sinusoidal.

[0153] According to an embodiment of the method according to the present invention, in particular in combination with one of the above features, the second voltage signal S20 is in the time interval t z Alternatively or additionally, the start of the second voltage signal S20 occurs at a time point 50% of the time interval before the end of the signal intermediate segment S13.

[0154] According to one embodiment of the method according to the invention, in particular in combination with one of the above-mentioned features, the second voltage signal S20 extends uninterruptedly across the temporally directly following or temporally adjacent signal segment SA1 with the increasing signal edge S11 up to the temporally following signal intermediate segment A13, and in particular with the time period TN in the time interval t of this signal intermediate segment 13. z Furthermore, according to one embodiment of the method according to the present invention, in particular in combination with one of the above-mentioned features, the second voltage signal S20 may continuously and uninterruptedly pass through the signal segment SA2 having the reduced signal edge S12 that directly follows it in time or is adjacent in time, until the intermediate signal segment 13 that follows it in time, and may be terminated in the time interval t of the intermediate signal segment 13. z Ends within or at its end.

[0155] According to one embodiment of the method of the present invention, in particular in combination with one of the above features, the maximum amplitude of the second voltage signal S20 is at most 50% of the maximum amplitude of the first voltage signal S10.

[0156] According to another embodiment of the method according to the invention, in particular in combination with one of the above features, the following occurs:

[0157] (a) during the activation of the first control portion A1, a plurality of first control sub-portions forming the first control portion A1 and positioned one after another in the longitudinal direction L are simultaneously activated using the first voltage signal S10,

[0158] (b) During the activation of the second control portion A2, a plurality of second control sub-portions forming the second control portion A2 and arranged one after another in the longitudinal direction L are simultaneously driven by the second voltage signal S20.

[0159] According to a further embodiment of the method according to the invention, in particular in combination with one of the above-mentioned features, control of the third control section A3 by means of a voltage deformation using the first voltage signal S10 can take place simultaneously with control of the first control section A1 using the first voltage signal, wherein the third control section is arranged in such a way that the second control section A2 is located between the first and third control section A3.

[0160] exist Figures 17 to 19 , an embodiment of a drive device K is shown, which is denoted hereinafter by the reference symbol “ K1 ”. Figure 17 The embodiment of the holding device 40 comprises a receiving portion 43 for receiving the second actuating body end face FE2 of the actuating body 1, a holding portion 44 for holding the friction assembly F or the first end face 11, and two connecting portions 45 extending along each other and connecting the receiving portion 43 and the holding portion 44. Due to the position of the actuating body 1 in the holding device 40, a central axis Z of the drive device K1 can be defined, which can extend along or in particular in the direction of the longitudinal direction L of the actuating body 1. The central axis Z can be the axis of symmetry of the mounting device 40 or its intermediate axis. In reference to Figures 17 to 26 In the embodiment of the drive device K described, the friction component F is located on the first actuating body end face FE1, which is therefore the outer actuating surface 1a. The actuating surface 1a can also be the outer surface of an intermediate layer or a structural component located on the first actuating body end face FE1. Figures 17 to 26 In the embodiment of the present invention, the receiving portion 43, the holding portion 44 and the two connecting portions 45 and 46 define a receiving space 49 that holds the actuating body 1 and the friction assembly F together or holds the various control parts of the actuating body and the friction assembly F together. The actuating body 1 together with the friction assembly F extends in the longitudinal direction L between the receiving portion 43 and the holding portion 44. The friction assembly F is therefore arranged in the holding device 40 or in the receiving space 47. Figures 17 to 26In the embodiment, the friction component F extends in its longitudinal direction LF from the area between the first actuator body end face FE1 and the retaining portion 44 along its longitudinal direction LF transverse to the longitudinal direction L of the actuator body 1 to the friction surface 90a of the component 90 to be driven, wherein the friction surface 90a generally faces the friction component F.

[0161] As seen from the drive device K1 , the retaining portion 44 pushes from the outside onto the friction component F in a direction extending along the longitudinal direction L to the actuation surface 1 a. Figure 4 、 5 The deformation state of the actuating body 1 corresponding to the voltage shown causes a movement of the actuating surface 1 a , which results in a corresponding movement of the friction component F, by which the component 90 to be driven can be moved.

[0162] The actuating body 1 according to the present invention, including the retaining device 40, can be built into or integrated into the support device 50 of the motor M, wherein the support device is designed to be spatially fixed, i.e., arranged fixedly in a spatial reference system. During dynamic deformation of the actuating body 1 and the resulting movement of the actuating surface 1a, the friction component F moves relative to the support device 50 or the spatial reference system, causing movement of the component 90 to be driven. The component 90 to be driven comes into frictional contact with the friction component F and is guided by a guide device 95 along a guide path predetermined by the latter. The guide device 95 is particularly arranged fixedly relative to the support device 50 as a reference system.

[0163] In accordance with Figure 17 In the embodiment of FIG. 5 , the support device 50 comprises a base plate 51 , which can in particular have the function of a support plate or a connecting plate.

[0164] The support device 50 may include a pre-tensioning device 60 which applies a force on the drive device K or the friction component F, which force is directed from the base plate 51 towards the friction component F and presses it towards the component 90 to be driven. Figure 17 In the embodiment of the drive device K, the pretensioning device 60 is realized as a plate 64 or spring plate, which is attached to the base plate 61 via a first end 65. The plate 64 is located on the base plate 51 of the support device 50 so that, when the drive device K is built into the motor M, the second end 66 opposite the first end 65 rests against the friction component F and pushes the friction component F against the component 90 to be driven with a compressive force. Figure 17As shown, the actuating body 1 can be at least partially located in a recess 57 of the base plate 51, which can be a notch or a through hole open toward the component 90 to be driven, wherein the plate 64 extends from an edge portion of the recess 57 into the recess 57, wherein the second end 66 rests against the friction component F. Alternatively or additionally, the pretensioning device 60 can be realized as a compression spring, which is located between the base plate 51 and the friction component F, or, if necessary, between the plate 64 and the friction component F.

[0165] The motor M having the drive device K and the support device 50 is Figures 17 to 22 , the actuator 1 is schematically shown in each figure. The support device 50 can also be implemented in different ways, for example as a mounting device. The embodiment of the actuator 1 described here can be built into or integrated into the motor M according to the present invention. The motor M includes a drive device K, a component 90 to be driven, and a guide device 95. The guide device 95 is structurally and statically connected to the base plate 51, so that the component 90 to be driven can move relative to the base plate 51 due to the deformation of the actuator 1 and the movement of the friction component F.

[0166] Figures 17 to 22 An embodiment of a motor M is shown, in which the actuator body 1 is structurally integrated with three control parts A1, A2, A3 arranged one after another in the longitudinal direction L. The drive device K used with such an actuator body 1 is Figures 17 to 26 In detail shown in reference Figures 17 to 26 In the embodiment described, the friction assembly F is situated on the first end face 11 of the first control portion A1 as the first actuating body end face FE1 , which is therefore the outer actuating area 1 a .

[0167] In another embodiment, the friction component F can be located on the outer surface 44a of the holding portion 44 of the holding device 40 as the actuating surface 1a, which is oriented opposite the inner surface 44b of the holding portion 44 on which the actuating body 1 rests. In this respect, the friction component F can be fastened to the holding portion 44. The friction component F can extend in its longitudinal direction LF transverse to the longitudinal direction L or along the longitudinal direction L of the actuating body 1 up to the friction surface 90a of the component 90 to be driven.

[0168] The embodiment of the drive device K having these features is Figures 27 to 30 The actuator 1 can be implemented according to one of the embodiments described herein.

[0169] Figures 27 to 30The illustrated embodiment of the drive device K2 includes a holding device 240 comprising a receiving portion 243 extending at least in sections transversely to the longitudinal direction L for receiving the second actuating body end face FE2, which serves as the bearing surface 1b of the actuating body 1; a holding portion 244 extending at least in sections transversely to the longitudinal direction L for holding a friction assembly F and for receiving the first actuating body end face FE1; and two connecting portions 245 and 246 extending in the longitudinal direction L and connecting the receiving portion 243 and the holding portion 244. The receiving portion 243, the holding portion 244, and the connecting portions 245 and 246 form a receiving space 249 in which the actuating body 1 is located. The friction assembly F is located on an outer surface 244a of the holding portion 244 of the holding device 240, which serves as the actuating surface 1a. This actuating surface is oriented opposite an inner surface 244b of the holding portion 244, on which the actuating body 1 rests. When the drive device K2 is integrated into the motor, the friction element F in the reference or intermediate position extends with its longitudinal direction LF in the longitudinal direction L or along the longitudinal direction L of the actuating body 1 towards the friction surface 90a of the component 90 to be driven.

[0170] It is also conceivable that the longitudinal direction LF of the friction component F extends transversely to the longitudinal direction L of the actuating body 1 toward the friction surface 90a of the component 90 to be driven. The friction component F can also be arranged between the retaining portion 244, in particular the inner surface 244b of the retaining portion 244, and the actuating body 1.

[0171] Due to the position of the actuating body 1, a central axis Z of the drive device K2 can be defined, which central axis Z can extend along or in particular in the direction of the longitudinal direction L of the actuating body 1. The central axis Z can be the axis of symmetry of the mounting device 240 or its central axis. The connecting parts 245, 246 extend along the central axis Z. The connecting parts 245, 246 each have an outer surface 245c and 246c, which extend along the longitudinal direction L or the central axis Z of the actuating body 1 and are oriented opposite to each other. The receiving part 243, the retaining part 244 and the connecting parts 245, 246 can be made in one piece. Alternatively, as Figures 27 to 30 As shown, the holding portion 244 can serve as its own first part, while the receiving portion 243 and the connecting portions 245 and 246 can be implemented as their own second part. The holding device 240 can also be implemented to include only a single connecting portion 245 or 246. The receiving portion 243 and the at least one connecting portion 245 or 246 can be implemented as their own parts. The holding portion 244 can specifically be formed in a plate or mesh shape. The receiving portion 243 and the at least one connecting portion 245 or 246 can be integrally formed into a horseshoe shape.

[0172] The mounting device 240 can be implemented as a tensioning frame 241. The control portion of each actuator 1 is clamped between a receiving portion 243 and a retaining portion 244, thereby applying a compressive clamping force to the actuator 1. This clamping force acts in the longitudinal direction L of the actuator 1. In this embodiment of the mounting device 240, the clamping force elastically biases the actuator 1 in a predetermined contracted state relative to the longitudinal direction L, such as a reference state or an intermediate state. In particular, the retaining portion 244 is plate-shaped or mesh-shaped, providing an elastic pretensioning force on the actuator 1. In particular, the retaining portion 244 can be formed at least in sections from an elastic material. This pretensioning force allows the actuator 1 to return more quickly from the expanded state to the contracted state. The retaining device 240 is implemented such that it extends a distance on at least one side of the actuator 1, extending from the actuating surface 1a to the supporting surface 1b, and thus surrounds or grips the actuator 1 in the longitudinal direction L.

[0173] The first end 245a of the first connecting portion 245 and the second end 246a of the second connecting portion 246 are located on the holding portion 244 or the actuating surface 1a of the actuating body 1. In an embodiment of the holding device 240, the two opposing ends 247 or 248 of the holding portion 244 can be attached to the respective ends 245a, 246a of at least one connecting portion 245 or 246, for example, via connecting components 245d or 246d. The position of the holding portion 244 relative to the receiving portion 243 or the connecting portion 245 or 246, in particular the ends 245a or 246a, can be adjusted by an adjustment device. The adjustment device can be implemented by connecting components 245d or 246d, thereby adjusting the distance between the respective outer ends 245a or 246a. By adjusting the position of the holding portion 244 relative to the at least one connecting portion 245 or 246, the clamping force acting on the actuating body 1 can be adjusted.

[0174] The friction assembly F may be located at the center of the central axis Z. Alternatively or additionally, the actuating body 1 may also be located at the center of the central axis Z, wherein the longitudinal direction L may coincide with the central axis Z. Typically, the longitudinal direction L may be located at a distance from the central axis Z, which distance is different from zero. Figure 27 In the embodiment of the driving device K2 shown, the actuator body 1 is located on one side of the central axis Z and the friction assembly F is located in the center of the central axis Z. Figures 27 to 30 In the embodiment of the drive device K2 shown, the outer surfaces 245 c and 246 c are arranged symmetrically with respect to the longitudinal direction L of the actuating body 1 .

[0175] In the embodiment of the drive device K2, the actuating body 1 can be realized according to one of the same embodiments described herein. Figure 31 In the embodiment, the actuating body 1 includes a first control part A1, a second control part A2 and a third control part A3.

[0176] Figures 31 to 34 Shown according to Figures 27 to 30 A variant of the embodiment of the drive device is hereinafter indicated by the reference numeral “K3” and comprises a holding device 340 comprising:

[0177] The receiving portion 343 extends transversely to the longitudinal direction L and is configured to receive the second actuating body end face FE2 as a support surface 1b of the actuating body 1; the retaining portion 344 extends at least in a portion transverse to the longitudinal direction L and is configured to retain the friction assembly F and receive the first control portion A1 of the actuating body 1 having the first end face 11 as the first actuating body end face FE1; and the first connecting portion 345 and the second connecting portion 346 extend along the longitudinal direction L and connect the receiving portion 343 and the retaining portion 344 to each other. The friction assembly F is located on the outer surface 344a of the retaining portion 344 of the retaining device 340, which serves as the actuating surface 1a and is oriented opposite the inner surface 344b of the retaining portion 344, on which the actuating body 1 rests. When the drive device K3 is built into the motor, the friction assembly F extends in a reference or intermediate position with its longitudinal direction LF in the longitudinal direction L or along the longitudinal direction L of the actuating body 1, toward the friction surface 90a of the component 90 to be driven. Due to the position of the actuating body 1, a central axis Z of the drive device K3 can be defined, which can extend, in particular, along the longitudinal direction L of the actuating body 1. The central axis Z can be the axis of symmetry of the retaining device 340 or its central axis. The following primarily describes the features of the drive device K3 that differ from the drive device K2. The first end 345a of the connecting portion 345 and the second end 346a of the second connecting portion 346 are located on the first retaining portion 344 or the actuating surface 1a of the actuating body 1. The receiving portion 343, the retaining portion 344, and the connecting portions 345 and 346 form a receiving space 349 in which the actuating body 1 is located. The outer surfaces 345c and 346c of the connecting portions 345 and 346, which are oriented opposite each other, extend along the longitudinal direction L or the central axis Z of the actuating body 1.

[0178] In the drive device K3, the first end 347 of the retaining portion 344 is located above the first end 345a of the first connecting portion 345, and the retaining portion 344 extends transversely to the longitudinal direction L from the first end 345a of the first connecting portion 345 to the second end 346a of the second connecting portion 346. Here, when viewed transversely to the longitudinal direction L, the first end 347 of the retaining portion 344 is located above the first end 345a of the first connecting portion 345, and the second end 348 of the retaining portion 344 is integrally formed with the second end 346a of the second connecting portion 346. The first end 347 of the retaining portion 344 may be integrally formed with the first end 345a of the first connecting portion 345, or as shown in FIG. Figure 22As shown, it can be connected to the latter via a connecting assembly 345d. In particular, the position of the retaining portion 344 and the position of the receiving portion 343 can be set to clamp the actuating body 1 in the longitudinal direction L of the actuating body 1 and apply a clamping force in the form of a compressive force to the actuating body 1, which acts in the longitudinal direction L of the actuating body 1. The first end 347 of the retaining portion 344 can be connected to the first end 345a of the first connecting portion 345 via an adjustment device. This can be achieved by using a connecting assembly, which allows the distance between the first end 347 of the retaining portion 344 and the first end 345a of the first connecting portion 345 to be adjusted to adjust the clamping force or pressure acting on the actuating body 1 in the longitudinal direction L.

[0179] The friction assembly F is provided on the protrusion 344e of the outer side 344a of the retaining portion 344. Figures 22 to 23 In the illustrated embodiment of the drive device K3, the friction component F is located centered about the central axis Z. When the drive device K3 is installed in the motor M, the longitudinal direction LF of the friction component F extends in the longitudinal direction L or along the longitudinal direction L of the actuating body 1, toward the friction surface 90a of the component 90 to be driven. Alternatively, the friction component F can be arranged such that its longitudinal direction LF extends transversely to the longitudinal direction L of the actuating body 1, toward the friction surface 90a of the component 90 to be driven. The friction component F can also be arranged between the retaining portion 344, in particular the inner surface 344b of the retaining portion 344, and the actuating body 1.

[0180] The drive device K3 may include features of the drive device K2 and vice versa.

[0181] If the actuator 1 is electrically controlled by each voltage signal from the signal generating device V, then Figures 27 to 34 The drive devices K2 and K3 can be presented using FEM simulation calculations Figure 35 and Figure 36 deformation states, and by periodically changing from one of these deformation states to each other deformation state, the movement of the friction component F can be achieved, which can be used to drive the component to be driven in friction contact with it.

[0182] Figures 37 to 39 Another embodiment of the drive device according to the present invention is shown, which is hereinafter indicated by the reference numeral "K4". The drive device K4 comprises two actuating bodies 401 and 402, each of which is as shown in FIG. Figure 8The actuator bodies 401 and 402 are generally implemented and use the same reference numerals. The reference symbols "L401" and "L402" are specifically used for the longitudinal direction L of the actuator bodies 401 and 402. Furthermore, the drive device K4 includes a retaining device 440, which includes: a receiving portion 443 extending at least in a portion transverse to the longitudinal directions L401 and L402 and configured to receive the second actuator end face FE2 serving as the support surface 1b of the actuator bodies 401 and 402; a retaining member 444 extending at least in a portion transverse to the longitudinal directions L401 and L402 and configured to retain the friction assembly F and to receive the first control portion A1 or first actuator end face FE1 of the actuator bodies 401 and 402; and first and second connecting portions 445 and 446 extending along the longitudinal direction L and connecting the receiving portion 443 and the retaining portion 444. Here, the friction element F is located on the outer surface 444a of the retaining portion 444 of the retaining device 40, serving as the actuating surface 1a. This actuating surface 1a is oriented opposite the inner surface 444b of the retaining portion 444, on which the actuating body 1 rests. When the drive device K4 is integrated into the motor, the friction element F, in a reference or neutral position, extends with its longitudinal direction LF in the longitudinal direction L or along the longitudinal direction L of the actuating body 1, toward the friction surface 90a of the component 90 to be driven. The position of the actuating bodies 401, 402 defines a central axis Z of the drive device K4, which can extend, in particular, along the longitudinal directions L401, L402 of the actuating body 1. The central axis Z can be the axis of symmetry of the retaining device 40 or its central axis.

[0183] The following primarily describes the features of the drive device K4 that differ from those of the drive device K2. The first end 445a of the first connecting portion 445 and the second end 446a of the second connecting portion 446 are located on the retaining portion 444 or the actuating surface 1a of the actuating body 1. The receiving portion 443, the retaining portion 444, and the connecting portions 445 and 446 form a receiving space 449 in which the actuating bodies 401 and 402 are located. The longitudinal directions L401 and L402 of the actuating bodies 401 and 402 are parallel to each other. Generally, the longitudinal direction L401 extends along the longitudinal direction L402. The outer surfaces 445c and 446c of the connecting portions 445 and 446, which are oriented opposite to each other, extend along the longitudinal directions L401 and L402, or the central axis Z, of the actuating bodies 401 and 402.

[0184] The retaining portion 444 of the drive device K4 can be of any shape, and in the illustrated embodiment is plate-shaped or mesh-shaped. The first end 447 of the retaining portion 444 is located above the first end 445b and the second end 448 of the retaining member 444 is located above the second end 446b. Here, when viewed from the longitudinal direction L401, the first end 447 of the retaining portion 444 is located above the first end 445b of the first connecting portion 445, and when viewed from the longitudinal direction L402, the second end 448 of the retaining portion 444 is located above the second end 446b of the second connecting portion 446. One or both of the ends 447, 448 of the retaining portion 444 may be integrally formed with each end 445b, 446b, or as shown in FIG. Figures 37 to 39 As shown, the retaining portion 444 can be connected to each end 445b, 446b via a connecting assembly 445d, 446d. Specifically, the position of the retaining portion 444 and the position of the receiving portion 443 can be configured to clamp the actuating bodies 401, 402 in the longitudinal directions L401, L402 of the actuating body 1 and apply a clamping force in the form of a compressive force to the actuating bodies 401, 402, respectively. This clamping force acts in the longitudinal directions L401, L402 of the actuating bodies 401, 402. The first end 447 of the retaining portion 444 can be connected to the first end 445b of the first connecting portion 445 via an adjustment device. This can be achieved by using a connecting assembly, which allows the distance between the first end segment 447 of the retaining portion 444 and the first end 445b of the first connecting portion 445 to be adjusted to adjust the clamping force or pressure acting on the actuating bodies 401, 402 in the longitudinal directions L401, L402.

[0185] Typically, the longitudinal directions L401 , L402 may be located at a distance different from zero from the central axis Z. The actuating bodies 401 , 402 may be located as a whole laterally on opposite sides of the central axis Z, respectively. Figures 37 to 39 In the embodiment of the drive device K4 shown, the longitudinal directions L401 , L402 are also symmetrical with respect to the central axis Z. In the embodiment of the drive device K4 shown, the friction assembly F is centered on the central axis Z.

[0186] The drive device K4 may include features of the drive device K2 or the drive device K3 and vice versa. Furthermore, the definitions made with respect to the drive devices K2 and K3 may apply to the other drive devices described herein, in particular the drive device K4.

[0187] exist Figure 40 and 41, a motor M4 is shown in which a drive device K4 is integrated or built-in. The motor comprises the drive device K4, a support device 450 for supporting the drive device K4, a component 90 to be driven, and a guide device for guiding the movement of the component 90 to be driven. The drive device K1, the drive device K2, or the drive device K3, or their variants, can be supported by or integrated into the support device 450 or their variants, respectively.

[0188] The support device 450 is implemented as a base plate 451, which can particularly function as a storage plate or a connecting plate. The drive device K4 can be arranged or supported on a portion of the support device 450 or base plate 451, wherein this portion is spaced a certain distance from the friction assembly F. In this case, the friction assembly F extends with its longitudinal direction LF in the longitudinal direction L or along the longitudinal direction L of the actuating body 1 toward the friction surface 90a of the component 90 to be driven. Alternatively, the friction assembly F can extend with its longitudinal direction LF transverse to the longitudinal direction L of the actuating body 1 toward the friction surface 90a of the component 90 to be driven. The friction assembly F can also be arranged between the retaining portion 444, in particular the inner surface 444b of the retaining member 444, and the actuating body 1.

[0189] Figure 40 and 41 The bearing device 450 shown in FIG. 4 comprises a pretensioning device 460 which presses the drive device K and thus the friction component F against the component 90 to be driven with a defined force.

[0190] The pretensioning device 460 is arranged between the base plate 451 and the drive device K4 and is shaped such that it presses the friction component F of the drive device K4 against the component 490 to be driven. Figure 40 The pretensioning device 460 includes a first spring piece 461 which is implemented in a U-shape or a groove shape in a middle portion 462. At least in one portion, the outer surfaces 445c, 446c of the connecting parts 445, 446 and the outer surface 444c of the retaining part 444 rest on the first outer surface 462a of the middle portion 462. The middle portion 462 can be formed of an elastic or dimensionally stable material. The first spring piece 461 is retained on the bottom plate 451 and can be as Figure 40 The bent end portions 463, 464 are shown supported on the retainers 465, 466 of the base plate 451, wherein the bent end portions 463, 464 are preferably made of an elastic material and abut the center portion 462 on opposite sides of the center portion 462, wherein the retainers 465, 466 are located on different sides of the drive device K4 relative to the center axis Z. The end portions 463, 464 extend at least in a portion deviating from the center axis Z or the longitudinal directions L401, L402 to elastically retain the first spring leaf 461 on the base plate 451 having the aforementioned flexibility. In particular, as shown in FIG. Figure 29 As shown, the ends 463, 464 may be configured to at least partially capture respective retainers 465, 466, which protrude from the bottom plate 451 to provide a retaining function.

[0191] also, Figure 40 The pre-tensioning device 460 may comprise a spring for elastically holding the drive device K4 or a first spring leaf 461 and in particular Figure 40 Another retaining device for the second spring piece 471 shown. The middle part 472 is U-shaped or groove-shaped. The middle part 472 can be formed of an elastic or dimensionally stable material. The middle part 472 includes an outer surface 472a, on which, in at least a portion, the second outer surface 462b of the middle part 462 of the first spring piece 461 is oriented relative to the first outer surface 462a of the middle part 462 of the first spring piece 461, so that the middle part 462 can move at the second middle part 472 along the center axis Z or along the longitudinal directions L401, L402. Thereby, the first spring piece 461 is retained on the second spring piece 471, while providing the movability of the first spring piece 461 in the above-mentioned directions. The second spring piece 471 is retained on the base plate 451, and as shown Figure 40 As shown, the bent ends 473, 474 can be used to hold the second spring piece 471 on the holders 475, 476 of the base plate 45, wherein the holders 475, 476 are located on different sides of the drive device K4 and outside the middle portion 462 of the first spring piece 461d when viewed from the center axis Z. The ends 473, 474 extend at least in a portion deviating from the center axis Z or in a direction deviating from the longitudinal directions L401, L402 to provide elastic holding of the second spring piece 471 and the first spring piece 461 on the base plate 451 with the aforementioned movability. In particular, as Figure 40 As shown, the ends 473 and 474 may be configured to at least partially engage respective retainers 475 and 476 protruding from the bottom plate 451 to provide a retaining function.

[0192] The pretensioning device 460 can also be implemented in other ways. For example, the drive device K4 can be positively locked and supported in a recess in the base plate 461. In this regard, the shape of the recess can be provided to allow the drive device K4 to move relative to the base plate 461, with a spring additionally acting between the recess and the drive device K4, which spring presses the drive device K4 against the component 90 to be driven.

[0193] The support device 450 can also be realized differently and for example as a mounting device, so that the motor does not include a pretensioning device. The embodiments of the actuating body 1 described herein can be built into or integrated in a motor M having an embodiment of the support device 450 according to the invention.

[0194] The guiding device is formed on the base plate 451 and in particular provides a guide rail extending transversely to the center axis Z or at least transversely to one of the longitudinal directions L401, L402, so that the component 90 to be driven can be moved due to the deformation of the actuator body 1 and the movement of the friction component F relative to the base plate 51 transversely to the center axis Z or transversely to at least one of the longitudinal directions L401, L402.

[0195] The guide device is in particular arranged fixedly relative to the support device 450 as a reference system.

[0196] Figures 42 to 45 Finite element simulations were used to illustrate the deformation state of the drive, which can be caused by Figures 37 to 39 This is caused by the different electrical control of the actuator of the drive device K4.

[0197] It is understood that the drive device K4 or its friction element F can move the component to be driven (not shown in the figure) in two mutually opposite directions, in particular, only one of the two actuating bodies 401 or 402 is alternately contracted and expanded. Figure 42 In the process, the actuator 401 contracts, and in Figure 43 , the actuating body 401 expands. When these actuations are repeated, the component to be driven moves with the moving part in the direction from the actuating body 401 to the actuating body 402. Figure 44 In the case of Figure 45 , the actuating body 402 is expanded. As these actuations are repeated alternately, the component to be driven moves along with the moving member in the direction from the actuating body 402 to the actuating body 401.

[0198] Reference numerals

[0199] 1 Actuator

[0200] 1a External actuation area of ​​the first control part A1

[0201] 1b Support surface

[0202] 5 Reference electrode

[0203] 10 First outer surface

[0204] 11 First end face viewed from the longitudinal direction L

[0205] 12 Second end face

[0206] 15. First control electrode

[0207] 16 First connection portion of the first outer surface 10

[0208] 20 Second outer surface

[0209] 21 First end face

[0210] 22 A second end surface opposite to the first end surface 21

[0211] 25 Second control electrode

[0212] 26 Second connection portion of the second outer surface 20

[0213] 30 Third outer surface

[0214] 31 First end face

[0215] 32 Second end face

[0216] 35 third control electrode

[0217] 40 Holding device

[0218] 41 tensioning frame

[0219] 42 Support plate

[0220] 43 Receiving Department

[0221] 44 Grip

[0222] 45, 46 connection

[0223] 47 Receiving Space

[0224] 50 Support device

[0225] 51 bottom plate

[0226] 57 Recessed portion of bottom plate 51

[0227] 60 Pre-tensioning device

[0228] 64 boards

[0229] 65 first end

[0230] 66 Second end

[0231] 90 Components to be driven

[0232] 90a friction surface

[0233] 95 Guidance Device

[0234] 140 holding device

[0235] 141 tensioning frame

[0236] 143 Receiving Department

[0237] 144 Maintenance

[0238] 144a: outer surface of the holding portion 144

[0239] 144b inner surface of the holding portion 144

[0240] 145, 146 connection

[0241] 145a, 145b ends

[0242] 145c, 146c outer surface

[0243] 145d, 146d connection components

[0244] 147 First end portion of the holding portion 144

[0245] 148 Second end portion of the holding portion 144

[0246] 149 Receiving Space

[0247] 240 holding device

[0248] 241 tensioning frame

[0249] 243 Receiving Department

[0250] 244 Maintenance Department

[0251] 244a Outer surface of the holding portion 244

[0252] 244b inner surface of the holding portion 244

[0253] 245, 246 connection

[0254] 245a, 245b ends

[0255] 245c, 246c outer surface

[0256] 245d connection components

[0257] 247 First end portion of the holding portion 144

[0258] 248 Second end portion of the holding portion 144

[0259] 249 Receiving Space

[0260] 401, 402 Actuator

[0261] 440 holding device

[0262] 443 Receiving Department

[0263] 444 Maintenance Department

[0264] 444c Outer surface of the holding portion 444

[0265] 445, 446 connection

[0266] 445c, 446c outer surface

[0267] 445a First end

[0268] 446a Second end

[0269] 447 end

[0270] 448 end

[0271] 449 Receiving Space

[0272] 450 Support device

[0273] 451 base plate

[0274] 460 preload device

[0275] 461 First Spring Leaf

[0276] 462 middle part

[0277] 462a: first outer surface of the middle portion 462

[0278] 462b Second outer surface of the middle portion 462

[0279] 463, 463 end

[0280] 465, 466 Retainer of base plate 451

[0281] 471 Second spring leaf

[0282] 472 middle part

[0283] 472a Outer surface of the middle portion 472

[0284] 473, 474 end

[0285] 475, 476 Retainer of base plate 451

[0286] A1, A2, A3 control section

[0287] D1, D2, D3 deformation

[0288] E1 excitation electrode

[0289] E2 common electrode

[0290] F Friction component

[0291] FE1, FE2 actuator end face

[0292] V, V1, V2 signal generating device

[0293] G1, G2 signal segment group

[0294] K, K1, K2, K3, K4 drive units

[0295] L is the longitudinal direction of the actuator 1

[0296] L401, L402 Longitudinal direction of the actuator 401 or 402

[0297] LF Longitudinal direction of friction component F

[0298] M, M1, M4 motors

[0299] S10 First voltage signal

[0300] S11 rising signal edge

[0301] S12 signal edge

[0302] S13 middle segment

[0303] S20 Second voltage signal

[0304] S21 signal segment

[0305] S22 signal segment

[0306] SA1 First signal segment

[0307] SA2 Second signal segment

[0308] t z Time interval

[0309] Z center axis

Claims

1. A method for operating an electromechanical assembly, the electromechanical assembly comprising a first control portion (A1) and a second control portion (A2), the first control portion (A1) and the second control portion (A2) both extending along a longitudinal direction (L) of the electromechanical assembly and arranged one behind the other when viewed in the longitudinal direction (L), the method comprising the following steps: By controlling a first control part (A1) that can be deformed by voltage, an adjustment movement of a friction component is generated using a first voltage signal (S10), the friction component being arranged on the electromechanical component and being configured for friction contact with the component (90) to be driven, wherein the first voltage signal (S10) comprises a plurality of signal edges (S11) that increase in absolute value and a plurality of signal edges (S12) that decrease in absolute value over time, wherein the increasing signal edges and the decreasing signal edges alternate with each other in time, wherein an intermediate signal segment (S13) has a non-zero time interval t after an increasing signal edge and before a subsequent decreasing signal edge, or vice versa z , the non-zero time interval t z a shape that varies with time from that of the signal edge; The second control portion (A2) that can be deformed by voltage is controlled by a second voltage signal (S20), the second voltage signal (S20) comprising a signal segment (S21) whose frequency is at least a factor of 10 higher than the first voltage signal (S10) and which is time-spaced from the signal intermediate segment (S13) of the first voltage signal (S10) by the time interval t z The method starts at and extends at least partially to an edge of the signal (S11, S12) that immediately follows the middle segment of the signal in time.

2. The method according to claim 1, wherein the intermediate signal segment (S13) of the first voltage signal (S10) further comprises a time-dependent gradient, the time-dependent gradient representing a gradient of a voltage varying with time.

3. The method according to claim 2, wherein the signal intermediate segment (S13) comprises a time-dependent gradient of a maximum of 10 degrees.

4. The method according to claim 1, wherein the signal segment (S21) of the second voltage signal (S20) starts at the time interval t after the signal intermediate segment (S13) has passed. z at least 10% and at most 90% of the time interval after the intermediate segment (S13) of the signal, or 50% of the time interval before the end of the intermediate segment (S13) of the signal.

5. The method according to claim 1 , wherein the signal segment ( S21 ) of the second voltage signal ( S20 ) extends into the adjacent and temporally subsequent signal intermediate segment ( S13 ) and is separated from the signal intermediate segment ( S13 ) by a time interval t z within or until the time interval t z End and end.

6. The method according to claim 1, wherein the signal segment (S21) of the second voltage signal (S20) is sinusoidal.

7. The method according to claim 1, wherein a maximum amplitude of the signal segment (S21) of the second voltage signal (S20) is at most 50% of a maximum amplitude of the first voltage signal (S10).

8. The method according to claim 1, wherein the control of the first control portion (A1) is to simultaneously control a plurality of first control sub-portions using the first voltage signal (S10), wherein the first control sub-portions form the first control portion (A1) and are arranged one after another in the longitudinal direction (L); The control of the second control part (A2) is to simultaneously control multiple second control sub-parts using the second voltage signal (S20), wherein the second control sub-parts form the second control part (A2) and are one after another in the longitudinal direction (L).

9. A method according to claim 1, wherein the electromechanical component further includes a third control part (A3) that can be deformed by voltage, the third control part (A3) extending in the longitudinal direction (L), and simultaneously with the control of the first control part (A1), the third control part (A3) is controlled by the first voltage signal (S10), wherein the third control part is arranged so that the second control part (A2) is located between the first and the third control parts (A3), so that the first control part (A1), the second control part (A2) and the third control part (A3) are positioned one after another when viewed in the longitudinal direction (L).

10. The method according to claim 1, wherein the control of the third control part (A3) is to simultaneously control a plurality of the third control sub-parts using the first voltage signal (S10), wherein the third control sub-parts form the third control part (A3) and are arranged one after another in the longitudinal direction.

11. An actuating body (1) suitable for use with the method according to any one of claims 1 to 9, the actuating body (1) comprising: A first control portion (A1), the first control portion (A1) extending in a longitudinal direction (L) and being deformable by voltage and comprising: a first deformable body (D1), the first deformable body (D1) being defined by a first outer surface and two end surfaces (11, 12), the two end surfaces (11, 12) being opposite to each other, the first outer surface (10) extending along the longitudinal direction between the two end surfaces (11, 12); and two actuating electrodes (E1, E2), the two actuating electrodes (E1, E2) extending transversely to the longitudinal direction electrodes (E1, E2), one of the actuating electrodes serving as an excitation electrode (E1) and being arranged on the first end surface (11), and the other actuating electrode serving as a common electrode (E2) and being arranged on the second end surface (12); a second control portion (A2), the second control portion (A2) extending in the longitudinal direction (L) and being deformable by voltage and comprising: a second deformable body (D2), the second deformable body (D2) being arranged on the first deformable body (D1) in the longitudinal direction (L), wherein the second deformable body (D2) is defined by a second outer surface (20) and two end surfaces (21, 22), the two end surfaces (21, 22) being opposite to each other, and the first outer surface (10) extending along the longitudinal direction between the two end surfaces (21, 22); and two actuating electrodes (E1, E2), the two actuating electrodes (E1, E2) extending transversely to the longitudinal direction electrodes (E1, E2), one of the actuating electrodes serving as an excitation electrode (E1) and being arranged on the first end surface (21), and the other actuating electrode serving as a common electrode (E2) and being arranged on the second end surface (22); a first control electrode (15), the first control electrode (15) being provided at a first connection portion (16) of the first outer surface (10) and being electrically connected to the excitation electrode (E1) of the first control portion (A1); a second control electrode (25), the second control electrode (25) being electrically separated from the first control electrode (15), the second control electrode (25) being disposed on a second connecting portion (26) of the second outer surface (20) and electrically connected to the excitation electrode (E1) of the second control portion (A2); A reference electrode (5) is provided on the first outer surface (10) and the second outer surface (20) and is separated from the first control electrode (15) and the second control electrode (25), and is electrically connected to the common electrode (E2) of the first and second deformable bodies (D1, D2).

12. The actuating body (1) according to claim 11, wherein the actuating body (1) further comprises: a third control portion (A3), the third control portion (A3) extending in the longitudinal direction (L) and deformable by voltage and located on a side of the second control portion (A2), wherein the side is located opposite to the side of the first control portion (A1) with respect to the longitudinal direction (L), and wherein the third control portion (A3) comprises: a third deformable body (D3), the third deformable body (D3) being defined by a third outer surface (30) and two end surfaces (31, 32), the two end surfaces (31, 32) being opposite to each other, the third outer surface (30) extending along the longitudinal direction between the two end surfaces (31, 32); and two actuation electrodes (E1, E2), the two actuation electrodes (E1, E2) extending transversely to the longitudinal direction, one of the actuation electrodes serving as an excitation electrode (E1) and being arranged on the first end surface (31), and the other actuation electrode serving as a common electrode (E2) and being arranged on the second end surface (32); and a third control electrode (35), the third control electrode (35) being provided on the third outer surface (30) of the third connection portion (36) and being electrically connected to the excitation electrode (E1) of the third control portion (A3), The reference electrode is additionally arranged on the third outer surface (30) of the third deformable body (D3), separated from the third control electrode (35) and the second control electrode (25), and electrically connected to the common electrode (E2) of the third deformable body (D3).

13. The actuator (1) according to claim 12, wherein the third control electrode (35) and the first control electrode (15) are formed integrally.

14. An actuator (1) according to claim 11, wherein at least one of the control parts (A1, A2, A3) is formed by a sequence of several control sub-parts (A11, A12, A13, A21, A22, A23, A24, A31, A32, A33), wherein each of the control sub-parts is formed by a plate-shaped excitation electrode (E1) extending transversely to the longitudinal direction, a plate-shaped common electrode (E2) extending transversely to the longitudinal direction, and a layer (P) located between the electrodes (E1, E2) in the longitudinal direction and made of an electromechanical material, in particular a piezoelectric material, wherein the layer (P) is located between the excitation electrode (E1) and the common electrode (E2), respectively.

15. The actuating body (1) according to claim 11, wherein at least one of the deformable bodies (D1, D2, D3) is formed from a homogeneous and electrically deformable material.

16. The actuating body (1) according to claim 11, wherein a friction component (F) is provided at an end portion of the first control portion (A1) or the second control portion (A2) in the longitudinal direction (L).

17. A drive device (K) having an actuating body (1) according to claim 11 and an at least partially elastically formed holding device (40), wherein the actuating body (1) is held in the holding device (40) and is clamped therein.

18. Drive device (K) according to claim 17, wherein the holding device (40) is realized as a tensioning frame (41) which surrounds the actuating body (1) at least in sections.

19. A motor (M), said motor (M) having According to the drive device (K) and the component (90) to be driven according to claim 17, the component (90) is supported so as to be movable relative to the drive device (K) and is in frictional contact with a friction component (F) provided on the actuating body (1).

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