Driving device, driving system, adjusting system and driving motor

Abstract

The invention relates to a drive system (S) having at least two drive units (1, 2) each for receiving and driving a spindle (90) having a spindle axis (A90); at least one coupling device (K), each of which resiliently couples the two drive units (1, 2) to each other in the direction of the spindle receiving axis (AA), each coupling device (K) having at least one spring device (F), each of which, in a non-loaded neutral state in which no spindle (90) is received in the drive system (S), can spring the two drive units (1, 2) in the direction of the spindle receiving axis (AA). Each of the two drive units (1, 2) is stably held at a predetermined distance (D12) and each provides a spring travel from a neutral state in opposite directions to each other along a spindle receiving axis (AA). The invention also relates to a control system (A) and a drive motor (M).

Description

Technical Field

[0001] The invention relates to a drive device, a drive system for driving a spindle, an adjustment system and a drive motor. Background Art

[0002] DE19909913A1 describes a drive system having two bearing elements, each of which has a piezoelectric element. The two bearing rings form two sliding bearings, which are pressed onto the rotor, thereby enabling a gapless rotation of the rotor. The piezoelectric element can put the bearing ring into rotation to drive the spindle. The bearing elements are elastically pressed onto the rotor. The respective bearing ring is supported on the bearing block via a plurality of webs, wherein the webs in this case form bending joints.

[0003] EP 1 396 012 B2 describes a piezoelectric drive having two piezoelectric elements which are spaced apart from one another in the axial direction.

[0004] Drive devices having piezoelectric actuators are known from JPH08-251950A, DE10260363A1, EP3691110A1, CN106208806A, EP2676361B1 and US10161560B2.

[0005] A drive system having two actuators is known from CN 106 208 806 A, DE 60 110 107 T2 and US 2011 / 0109197 A1.

[0006] US 10,161,560 B2 describes a linear motor with a piezoelectric drive. US 8,059,346 B2 describes a linear drive system. Summary of the invention

[0007] An object of the invention is to provide a drive system and an electric machine having such a drive system in contrast to the known solutions.

[0008] Another object of the present invention is to provide a drive system and an electric machine having such a drive system, which are advantageous with regard to precision and also with regard to production and assembly.

[0009] This object is achieved with the features of the independent claims. Further embodiments are given in the dependent claims, which respectively refer to the independent claims.

[0010] According to the present invention, a drive system is provided, which has:

[0011] at least two drive units, each for receiving and driving a spindle having a spindle axis, wherein each drive unit, each for receiving a section of the spindle, each has a spindle space, which extends on the spindle receiving axis through each drive unit extending in the direction of the spindle axis, wherein the at least two drive units stably support the spindle;

[0012] A coupling device which elastically couples at least two drive units to one another in the direction of a spindle receiving axis, wherein the coupling device has at least one spring device which extends along the spindle receiving axis.

[0013] In particular, according to the present invention, at least one spring device is implemented so that, in a load-free neutral state without a spindle housed in the drive system, each of the two drive units is stably maintained at a predetermined distance) and each provides a spring stroke from the neutral state in opposite directions along the spindle housing axis.

[0014] The drive unit of the drive system has the function of a stator. The use of at least two drive units or stators in the embodiment of the drive system according to the invention has the advantage that the drive unit can perform not only the function of actuating the spindle but also the function of supporting the spindle. Here, each drive system in particular performs actuating movements coordinated with one another, in particular actuating movements of the actuating component structure for driving the spindle. A separate spindle support would also rest against the spindle, so that its use has the disadvantage of friction losses.

[0015] Embodiments of the drive system according to the invention preferably have no separate component which has a bearing function for the spindle but does not have a drive function.

[0016] In each embodiment of the drive system according to the present invention having one or more of the other features described otherwise herein, it can be provided that at least one spring device each, in an unloaded neutral state without a spindle housed in the drive system, each stably holds the two drive units at a predetermined distance and each provides a spring travel along the spindle housing axis in opposite directions from the neutral state.

[0017] Any embodiment of the drive device according to the invention having the combination of features described herein can be characterized in that the spring device has at least one meandering section which is shaped transversely to the spindle reception axis.

[0018] Each embodiment of the drive system according to the present invention having the combination of features described herein may have the feature that the coupling device has two coupling unit connectors, each of which has at least one spring section, wherein the coupling unit connectors are each connected to at least two drive units on sides of the spindle storage axis that are arranged opposite to each other when viewed in a viewing direction extending transversely to the spindle storage axis.

[0019] An embodiment of the drive system according to the invention with spring segments of the coupling unit connection can be realized in that the spring segments each have a meandering segment for providing a spring travel in each case in mutually opposite directions along the spindle receiving axis.

[0020] Embodiments according to the invention of a drive system having a coupling device with two coupling unit connections and one or more of the other features of the drive system described in other ways in this document can have at least one coupling device, which has two coupling units, which are each arranged on mutually opposite sides of the spindle storage axis and extend along one another when viewed in a viewing direction extending transversely to the spindle storage axis;

[0021] wherein each coupling unit has two coupling unit connecting parts, the two coupling unit connecting parts are connected to the two drive units, and the two coupling unit connecting parts have spring sections for providing spring travel in directions opposite to each other;

[0022] The two coupling units are each transverse to the spindle storage axis and extend along each other.

[0023] Embodiments of the drive system according to the invention having one or more of the other features of the drive system described in other ways in this document can be realized in such a way that:

[0024] Each drive unit has a drive device having a spindle space;

[0025] Each drive unit has a frame device, wherein the respective frame devices are coupled to one another by means of a coupling device;

[0026] at least one drive device having an actuating member structure for receiving and, in particular, contacting and driving the spindle, the actuating member structure partially defining the spindle space;

[0027] At least one drive device has at least one actuator device which, when activated accordingly, moves the actuating member arrangement in such a way that a spindle received by the actuating member arrangement is drivable.

[0028] An embodiment of a drive system according to the invention having an actuating component structure and having one or more of the other features of the drive system described in other ways in this document can be realized in such a way that at least one drive device has an actuator device, which is realized as an electric motor, and the actuating component structure has a drive spindle nut, which is rotatably supported in the drive device and is fixed in this case in the direction of the spindle storage axis, wherein the drive spindle nut can be screwed onto the spindle and, when the actuator device is controlled accordingly, the drive spindle nut is set in rotation and thereby the spindle is set in rotation due to the friction contact with the spindle.

[0029] Alternatively, an embodiment of a drive system according to the invention having an actuating component structure and having one or more of the other features of the drive system described in other ways in this document can be realized in such a way that at least one drive device has at least one actuator device, which has at least one actuator implemented as a piezoelectric actuator.

[0030] In each embodiment of the drive system according to the invention, at least one and in particular each drive unit of the drive system can have a drive device with an actuator, which is a multilayer actuator. When using a multilayer actuator, it can be provided that the respective multilayer actuator is controlled in such a way that the respective multilayer actuator performs a plurality of mutually opposite deformations, such as a multiple or multiple sequence of length increases and length decreases, in order to thereby correspondingly move the actuating member structure and set the spindle against which the actuating member structure abuts in rotation and drive the spindle.

[0031] If a drive system according to the invention is implemented with at least one multilayer actuator, and if such a drive system has a separate bearing device or a drive function of a support spindle with an actuating movement, the corresponding multilayer actuator must be operated at a higher voltage. When the multilayer actuator is controlled at a higher voltage, the temperature of the multilayer actuator increases, which generally leads to a reduction in the efficiency of the corresponding multilayer actuator.

[0032] In any embodiment of the drive system according to the invention, at least one drive unit and in particular each drive unit of the drive system can have a drive device with an actuator which is realized in bulk.

[0033] An embodiment of a drive system according to the present invention having an actuating member structure and having one or more of the other features of the drive system described in other ways in this document can be achieved in that the drive system has a control device, which is electrically connected to each of the at least one drive device, and the control device sends a periodic drive signal to the corresponding drive device in an activated state, and the periodic drive signal has at least one half-cycle continuous edge segments of different signs, whose maximum slopes have a minimum difference in quantity between each other, and the minimum difference causes the movement of the actuating member structure and through these movements alternately causes a sliding state and a friction state between the actuating surface segment of the actuating member structure against which the spindle abuts and the spindle.

[0034] An embodiment of the drive system according to the invention with an actuating member structure and with one or more of the other features of the drive system described in other ways herein can be realized in that: at least one drive device has at least one pair of actuator devices, each of the at least one pair of actuator devices having an actuator, which is realized as a piezoelectric actuator with an actuator axis;

[0035] wherein at least one of the drive devices has an actuating member structure that can contact a surface of the spindle;

[0036] Wherein the actuator axes extend along each other, and the expansion of each actuator along its actuator axis is reversibly variable when electrically driven accordingly, and the expansion change of the actuator puts the actuator member structure into motion, and the spindle received by the actuator member structure can be put into rotation.

[0037] Embodiments of the drive system according to the invention with at least one pair of actuator devices and with one or more of the other features of the drive system described elsewhere herein can be realized in such a way that:

[0038] The drive system has a control device, which is electrically connected to each pair of actuator devices of at least one drive device, and the control device sends a periodic drive signal to each of the first actuator device and the second actuator device in the pair of actuator devices in an activated state, wherein the periodic drive signal has at least one half-cycle of consecutive edge segments of different signs, whose maximum slopes have the smallest difference in magnitude from each other;

[0039] an actuation member structure having at least one actuation surface segment that contacts the spindle and can place the spindle in rotation in a circumferential direction when each controls a respective actuator device of a pair of actuator devices with a periodic drive signal;

[0040] The periodic drive signals sent to the first actuator device and the second actuator device in the corresponding pair of actuator devices move in anti-phase and alternate in anti-phase between the corresponding temporary sliding state and the friction state, wherein consecutive edge segments of different signs of the same half cycle of the two periodic drive signals apply movement of at least one actuating surface segment in the same circumferential direction of the core shaft.

[0041] Embodiments of the drive system according to the invention with at least one pair of actuator devices and with one or more of the other features of the drive system described elsewhere herein can be realized in such a way that:

[0042] The actuation member structure has a first actuation section having a first actuation surface section and a second actuation section having a second actuation surface section;

[0043] The first actuation surface segment is set in motion when a first actuator device of the respective pair of actuator devices is controlled with its control signal, and the second actuation surface segment is set in motion when a second actuator device of the respective pair of actuator devices is controlled with its control signal.

[0044] In these embodiments, it may be provided in particular that:

[0045] The first actuation section is connected to an end of the first actuation device, and the second actuation section is connected to an end of the second actuation device;

[0046] The actuating surface sections are at least each opposite one another in one section and define a corresponding spindle space and abut against a contact point of a spindle received by the actuating member structure in order to drive the spindle.

[0047] According to a further aspect of the invention, a drive motor is provided, which has a drive system according to the embodiments described herein and a spindle with a spindle axis, wherein the spindle is arranged in a spindle space and is coupled to a drive unit for driving the spindle.

[0048] Embodiments of the drive motor according to the invention having one or more of the other features of the drive system described in other ways in this document can each be realized in such a way that:

[0049] at least one drive device having an actuating member structure partially defining the spindle space and contacting the spindle to receive and drive the spindle;

[0050] At least one drive device has at least one actuator device which, when activated accordingly, moves the actuating member arrangement in such a way that it drives a spindle received by the actuating member arrangement.

[0051] According to another aspect of the invention, an adjustment system is provided, which has a drive system according to the embodiments described herein and a carriage coupled to a spindle.

[0052] A driving device may have:

[0053] a drive housing having a housing wall on which at least one actuating surface section extending in the radial direction is implemented;

[0054] an actuating spindle nut, which forms a spindle space having a spindle receiving axis and defines a radial direction of the driving device;

[0055] a follower device which is realized as a contact surface section of the actuating spindle nut or as a contact surface section of a component part which is arranged on the actuating spindle nut or is connected to the actuating spindle nut, wherein the contact surface section of the actuating spindle nut or of the component part and the contact surface section of the housing wall are oriented facing each other;

[0056] At least one actuator device is arranged between the actuating spindle nut or one of the abutment surface sections of the component part and the abutment surface section of the housing wall, wherein the longitudinal direction of the at least one actuator device runs in the circumferential direction.

[0057] Such a drive device can have a reset device which causes a rotational movement in each mutually opposite circumferential direction from a neutral position of the actuating spindle nut relative to the drive housing by a reset force to the neutral position, the strength of which depends on the size of the rotation angle of the corresponding rotational movement.

[0058] According to another embodiment of the drive device of the present invention, the drive device has:

[0059] a drive housing having a housing wall on which at least one actuating surface section extending in a radial direction is realized, the actuating surface section being oriented in a first circumferential direction of the actuating spindle nut;

[0060] an actuating spindle nut constituting a spindle space having a spindle receiving axis and defining a radial direction of the drive device, wherein the actuating spindle nut has at least one abutment surface section oriented along a second circumferential direction of the actuating spindle nut oriented opposite to the first circumferential direction, wherein a corresponding one of the at least one abutment surface section of the actuating spindle nut and the at least one abutment surface section of the housing wall oriented along the second circumferential direction of the actuating spindle nut is arranged facing each other;

[0061] At least one actuator device abuts with a first end against a bearing surface section of the housing wall and with a second end against a bearing surface section of the actuating spindle nut, wherein a longitudinal direction of the at least one actuator device extends from the first end to the second end.

[0062] In particular, this embodiment of the drive device can be realized as follows:

[0063] The housing wall (533) has at least two actuating surface sections (545c, 546c) extending in radial direction, one of which is oriented along a first circumferential direction of the actuating spindle nut (541) and the other is oriented along a second circumferential direction of the actuating spindle nut (541) which is oriented opposite to the first circumferential direction of the actuating spindle nut (541);

[0064] The actuating spindle nut (541) has at least two abutment surface sections (555c, 556c), one of which is oriented along the second circumferential direction of the actuating spindle nut (541) and the other is oriented along the first circumferential direction of the actuating spindle nut (541), wherein at least one abutment surface section of the actuating spindle nut (541) and a corresponding one of at least one abutment surface section (545c) of the housing wall (533) oriented along the circumferential direction of the actuating spindle nut (541) are arranged facing each other;

[0065] The drive device (501) has a first and a second actuator device (610, 620), each of which has a first end (11) abutting against a resting surface section (545c, 546c) of a housing wall (533) and a second end (12) abutting against a corresponding resting surface section (555c, 556c) of an actuating spindle nut (541), wherein the corresponding resting surface section (555c, 556c) of the actuating spindle nut (541) and the corresponding resting surface section (545c, 546c) of the housing wall (533) abutting against a corresponding actuator are opposite to each other.

[0066] Here, the driving device (501) can be implemented as follows:

[0067] at least two actuating surface sections (545c, 546c) of the housing wall (533) extend in a radial direction and are oriented away from each other with respect to each circumferential direction;

[0068] the actuating spindle nut (541) having two followers (550, 551, 552), each of which has a contact surface segment (555c, 556c) extending in the radial direction and oriented facing each other relative to each circumferential direction, wherein each actuating surface segment (545c, 546c) of the housing wall (533) and each actuating surface segment (555c, 556c) of the actuating spindle nut (541) are opposite to each other;

[0069] The first and second actuator devices (610) each abut against abutment surface sections (555c, 556c) of the follower device (550) and corresponding abutment surface sections (555c, 556c) of the actuating spindle nut (541) when viewed in the direction of the spindle receiving axis (539a).

[0070] Alternatively, the drive device can be implemented in this way:

[0071] At least two actuating surface sections (545c, 546c) of the housing wall (533) extend in a radial direction and are opposite to each other;

[0072] The actuating spindle nut (541) has a follower device (550), which is arranged at least in sections between actuating surface sections (545c, 546c) of the housing wall (533) and has two abutment surface sections oriented opposite to each other;

[0073] The first and second actuator devices (610) abut against corresponding abutment surface sections (555c, 555d) of the follower device (550) on mutually oppositely arranged sides of the follower device (550) when viewed in the direction of the spindle receiving axis (539a). The term "along" in this context, in connection with a direction indication which in this context also relates in particular to a route of a contour line or a surface or a component or structural part such as an axis or shaft or its center axis relative to a reference direction or a reference axis, means that a section of the route or a tangent or direction of the corresponding contour line or the corresponding surface deviates locally or segmentally in an explicit or implicit predetermined viewing direction by an angle of maximum 45 degrees and in particular maximum 30 degrees from the corresponding reference direction or reference axis associated with the corresponding direction indication.

[0074] The term "lateral" in this context, in conjunction with the directional indications mentioned in this context, which in particular also relate to the direction of a contour line or a surface or a component or structural part such as an axis or shaft or its centre axis relative to a reference direction or a reference axis, means that a section of the course or a tangent or direction of the corresponding contour line or the corresponding surface deviates locally or segmentally in an explicit or implicit predetermined viewing direction by an angle of between 45 degrees and 135 degrees and preferably by an angle of between 67 degrees and 113 degrees from the corresponding reference direction or reference axis associated with the corresponding directional indication.

[0075] In this context, in particular a “distance” between two surfaces may be understood to mean in particular the shortest distance.

[0076] The “longitudinal direction” or another reference direction of a reference line, such as in particular the center axis of at least one structural component or member and in particular a guide rail or a centrally extending line or center line, is generated in this context in particular as the center of gravity of the surface of the corresponding smallest cross section of the corresponding structural component along a determined or predetermined direction or as a connecting line between two determined or predetermined ends. In the case of a reference line that can extend in a curved manner or in an at least segmentally curved manner, the reference direction can generally be understood as a local longitudinal direction. However, here, the reference direction can also be understood in this context as the direction of a straight-line-defined reference line, wherein, in order to determine a straight-line reference line, a line is used whose position relative to the curved line generally produces a minimum deviation or a minimum deviation surface between these lines. The same applies if in this context a straight-line reference line is derived from a curved line.

[0077] The term "elongated" in relation to a component and in particular to a leaf spring or a leaf spring assembly is understood herein to mean that a first length of the component in a first longitudinal direction is at least 1.2 times greater than a second length of the component in a second longitudinal direction extending perpendicularly to the first longitudinal direction and the thickness direction. The first length can in particular be a maximum length in terms of quantity. The lengths can also be in a reference plane, which can in particular be a mid-plane.

[0078] The longitudinal direction of a component may be understood herein in particular as the abovementioned first longitudinal direction, and the width direction may be understood herein in particular as the abovementioned second longitudinal direction.

[0079] The term “substantially” for a feature or a value is understood in this context to mean in particular that the feature comprises a deviation of 20% and in particular 10% from the feature or its geometric property or value.

[0080] A “curved course” of a line, edge or surface means that the surface, when viewed along a reference direction, has no angles over the entire width extending transversely to the reference direction, ie has a differentiable course.

[0081] A "bend" of a component or a surface of the component along a direction, for example along the longitudinal direction, is herein defined as a bend of the component along this direction. Here, the bend is visible in its course in a viewing direction transverse to this direction and can be visible, for example, along the width direction of the component.

[0082] "Orientation" relative to a plane and in particular a surface may be understood herein as the normal to the respective surface. In the case where the surface in question is not a straight surface, but for example a curved surface, the normals of the straight surface of the same size may be used to determine the surface normals, for which the position of these normals results in the smallest deviation overall relative to the curved surface.

[0083] The "extension" of a surface segment is to be understood as the direction of a flat surface segment which extends along the surface segment in question and has for this surface segment such a position at which the sum of the deviations between the two surface segments is minimal, in the case of curved segments or differently oriented parts of the surface segment. The length of the extension of a surface segment is to be understood in this context as the length of a virtual surface segment of the same size in the direction to be defined, which virtual surface segment has a position relative to the reference surface segment at which the sum of the deviations between the two surface segments is minimal.

[0084] The term "one-piece" for a component or a part is understood herein to mean that the component or the part is made in one piece. Here, the component or the part may be formed from a plurality of pieces or parts that are associated or coupled or connected to each other. In this regard, the term "made from one piece" is understood to mean that the component or the part is made from a one-piece raw material when it is manufactured.

[0085] The term "electromechanical material" is understood in this context to mean a material which undergoes a dimensional change when a corresponding voltage is applied to the material; for example, a length change can be induced in a component made of an electromechanical material by applying a voltage.

[0086] In this document, unless otherwise stated, a logical link "or" for two alternatives means only one or the other of the alternatives. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The embodiments of the present invention are described below with reference to the accompanying drawings. In this article, the description of the features or components of the embodiments of the present invention should be understood in such a way that, according to the relevant embodiments of the present invention, unless explicitly excluded, at least one feature of another embodiment may also be present, respectively as an additional feature of the relevant embodiment or as a substitute feature for another feature of the relevant embodiment. In the accompanying drawings:

[0088] Figure 1A perspective view showing an embodiment of a drive system according to the present invention, the drive system having two drive devices and a spindle received by the drive devices, the spindle being driven by the drive system;

[0089] Figure 2 Shown is a Figure 1 A top view of an embodiment of a drive system;

[0090] Figure 3 A perspective view showing an embodiment of a drive motor according to the present invention is shown. The drive motor has Figure 1 Embodiments of a drive system, a spindle received by the drive system, and a base and a carriage;

[0091] Figure 4 Shows Figure 3 Another perspective view of an embodiment of the drive motor according to the invention is shown, wherein the carriage is only partially shown;

[0092] Figure 5 Shows Figure 3 An exploded view of an embodiment of the drive motor according to the invention is shown, wherein the base body, the drive system with the accommodated spindle and the carriage are shown as separate parts from one another;

[0093] Figure 6 Shows Figure 3 A top view of an embodiment of the drive motor according to the invention is shown, wherein the carriage is only partially shown;

[0094] Figure 7 Shows Figure 3 A sectional view of an embodiment of a drive motor according to the present invention is shown, wherein the section is made of Figure 6 The line S7-S7 is defined;

[0095] Figure 8 Shows Figure 3 Another sectional view of an embodiment of a drive motor according to the present invention is shown, wherein the section is divided into Figure 6 The line S8-S8 is defined;

[0096] Fig. 9 Shows Figure 1 a schematic cross-sectional view of an arrangement of a drive system of a first drive device, a threaded section of an actuating member structure of a first drive device and a threaded section of an actuating member structure of a second drive device, wherein the threaded section of the actuating member structure abuts against the spindle and is arranged by the drive system in a neutral position such that the threaded sections thereof are pressed away from each other relative to the thread of the spindle;

[0097] Fig.10 Shows Fig. 9a schematic cross-sectional view of an arrangement of wherein a threaded section of the actuating member structure is compressed relative to the threads of the spindle;

[0098] Fig.11 Shows Fig. 9 A schematic cross-sectional view of an arrangement of wherein a threaded section of the actuating member structure is adapted to be arranged in a thread of a spindle;

[0099] Fig.12 Shows Fig. 9 A schematic cross-sectional view of an arrangement of Fig.10 The threaded section of the actuating member structure is compressed relative to the thread of the spindle, wherein the thread shape of the threaded section of the actuating member structure is consistent with the thread of the spindle according to Fig.10 The difference

[0100] Fig.13 A side view of another embodiment of the drive system according to the invention is shown, which has three drive devices and an additional position fixing device;

[0101] Fig.14 A perspective view showing an embodiment of a drive system for three drive devices according to the invention, wherein only two drive devices are shown;

[0102] Fig.15 A front view of an embodiment of a drive motor according to the present invention is shown, wherein the drive motor has Fig.14 Implementation method of the drive system;

[0103] Fig.16 Another embodiment of a drive device is shown, which can be used in a drive system according to the present invention or a drive motor according to the present invention;

[0104] Fig.17 Another embodiment of a drive device is shown, which can be used in a drive system according to the present invention or a drive motor according to the present invention;

[0105] Fig.18 Shows the activation Fig.17 A diagram of an exemplary first electrical control signal for a first actuator device of an embodiment of a drive device of FIG.

[0106] Fig.19 Shown in Fig.18 The driving signal shown in the case is used to activate Fig.17 1 is a diagram of an exemplary second electrical drive signal for a second actuator device of an embodiment of a drive device of the present invention, wherein the spindle is moved in a Fig.17 Drive in the first adjustment direction shown;

[0107] Fig. 20 A perspective view showing an embodiment of a drive motor according to the present invention is shown. The drive motor has Fig.14 Two examples of embodiments of a drive system arranged successively on the spindle axis, the spindle received by the drive system, and a portion of the base body, but without the carriage;

[0108] Fig.21 Shows Fig. 20 A side view of an embodiment of the drive motor according to the invention is shown, wherein the carriage is not shown;

[0109] Fig. 22 A perspective view showing another embodiment of a drive system according to the present invention, the drive system having three drive devices, spindles received by the drive devices, and a position fixing device for fixing the positions of two outer drive devices among the three drive devices;

[0110] Fig.23 A perspective view showing an embodiment of a drive device according to the present invention, which can be used Fig. 22 in the drive system;

[0111] Fig.24 Shows Fig.23 A front view of an embodiment of a drive device;

[0112] Fig.25 A perspective view showing another embodiment of a drive device according to the present invention, which can be used for Fig. 22 in the drive system;

[0113] Fig.26 Shows Fig.25 A front view of an embodiment of a drive device;

[0114] Fig. 27 A perspective view showing another embodiment of a drive device according to the present invention, which can be used for Fig. 22 in the drive system;

[0115] Fig.28 Shows Fig. 27 A front view of an embodiment of a drive device. DETAILED DESCRIPTION

[0116] According to the present invention, a drive system S is generally provided, which has at least two drive units for receiving and driving a spindle 90 having a spindle axis A90. Through each drive unit, a spindle space having a coincident spindle receiving axis is extended so that the spindle space can receive the spindle 90. Here, the spindle receiving axis and the spindle axis A90 coincide. The spindle receiving axis in this article can be understood as an axis along which a spindle space extends, in which a section of the spindle to be driven by the drive unit can be received. At least two drive units or every two drive units are elastically coupled to each other in the direction of the spindle receiving axis or along the spindle receiving axis by at least one coupling device K.

[0117] To illustrate the invention in the figures, a Cartesian coordinate system is also used in these figures.

[0118] exist Figure 1 and Figure 2 An embodiment of a drive system S according to the invention is shown in FIG. The drive system S has two drive units 1, 2. Typically, the drive units 1, 2 provided according to the invention each have: a drive device, which is generally assigned the reference numeral AV in this document; and optionally, a bearing device 5, in which the corresponding drive device AV is accommodated or supported. Figure 1 and Figure 2 The two drive devices shown in FIG. 1 are additionally specifically assigned the reference numeral AV1 or AV2. A spindle space 1a, 2a, each with a spindle receiving axis 1b, 2b, extends through each drive unit 1, 2. The spindle receiving axes 1b, 2b coincide and are also referred to below as spindle receiving axes AA, which the spindle spaces 1a, 2a define in combination (see also Figure 8 ). When the spindle 90 is arranged in the spindle space 1a, 2a, its spindle axis A90 coincides with the spindle receiving axis 1b, 2b or the spindle receiving axis AA. Figure 1 and Figure 2 As shown, the bearing device 5 can be formed by lateral retainers, between which the corresponding drive devices are arranged and supported by these lateral retainers. Figure 1 and Figure 2 An implementation of the drive system S comprises: a first drive unit 1, which is realized by using two first lateral retainers 7a, 7b relative to the spindle storage axis AA, and a first drive device AV1 is supported on the two first lateral retainers 7a, 7b; and a second drive unit 2, which is realized by using two second lateral retainers 8a, 8b relative to the spindle storage axis AA.

[0119] In each embodiment of the drive unit used according to the invention, the bearing device 5 can be formed or manufactured in one piece, wherein, for example, the lateral retainers 7a, 7b or 8a, 8b each form a single component, which each has a connecting piece that connects the corresponding lateral retainers 7a and 7b or 8a and 8b structurally, i.e. in a shape-stable manner.

[0120] The spindle 90 can have a spindle actuation portion 95, which is arranged on an end section of the spindle 90 or is formed as an end section of the spindle 90, for example, so that a rotational position or a rotational movement of the spindle 90 can be manually performed. The spindle actuation portion 95 is suitable for manual actuation, so that the spindle is manually placed in rotation. The spindle 90 can also have a spindle adjustment portion 96, by means of which the axial position or the axial movement of the spindle 90 can be transferred to the carriage C ( Figure 3 ), the carriage C interacts with the drive system S. Figure 1 and Figure 2 In the illustration of , the spindle adjustment part 96 is formed as an end piece, which is used as a follower or a stopper on the stop surface of the carriage C. Instead of being an end piece, the spindle adjustment part 96 can also be realized in other ways, for example, as a nut connected to the carriage C and anti-rotatable relative to the spindle 90.

[0121] The drive system S according to the invention has a coupling device K, which couples at least two drive units to one another. The coupling device K thus connects two drive units to one another, wherein the drive units are arranged one behind the other along the spindle storage axis AA. According to the invention, the coupling device K can usually be designed as a spring device F. Figure 1 and Figure 2 An embodiment of the drive system S has a coupling device K having two spring devices F1, F2. Figure 1 and Figure 2 In the embodiment of the drive system S of FIG. 1 , the coupling device K or the spring device F1 , F2 is respectively implemented as at least one one-piece coupling unit 70 , which is substantially plate-shaped. Generally, the coupling unit 70 can also be formed by a plurality of individual parts.

[0122] In an embodiment of a drive system S in which the drive units can each have a drive device and a bearing device supporting the drive device, Figure 1 and Figure 2 As shown, the bearing arrangements of the drive units can be connected to one another by means of coupling devices K. Alternatively, in these cases the drive arrangements can be connected to one another by means of coupling devices K, or both the drive arrangements and their bearing arrangements can be connected to one another.

[0123] The coupling device K of the embodiment of the drive system S according to the invention has at least one spring device F, by means of which the drive devices AV respectively coupled to the coupling device K assume a neutral state with respect to each other, in which no external force or an external force which is negligible relative to the spring force respectively applied by the spring device F acts on the respective drive devices AV and these drive devices AV can assume a neutral state distance with respect to each other, and when the respective external force acts on the drive devices AV, these drive devices AV can assume a regulating state. In the regulating state, the drive devices AV assume distances with respect to each other, which distances are different from the neutral state distance, and which distances can be not only a regulating state in which the distance between the respective drive devices AV is less than the neutral state distance, but also a regulating state in which the distance between the respective drive devices AV is greater than the neutral state distance, depending on the external force acting on the respective drive devices AV.

[0124] In particular, the coupling device K provided according to the invention is realized in such a way that at least one spring device F of the coupling device K can be shortened or lengthened in the direction of the spindle receiving axis AA. Therefore, when the drive devices AV each exert a corresponding force on the coupling device K, the drive devices AV respectively coupled to the coupling device K are moved toward each other or away from each other. Therefore, the force can be a compressive force or a tensile force, which acts from the drive devices respectively coupled to the coupling device K to the coupling device K and in particular to the at least one spring device F, which is provided for providing the above-mentioned spring travel. In other words, the at least one spring device F is each implemented in such a way that, starting from its neutral state, the spring device F realizes an increase or decrease in the effective spring length between the drive devices respectively coupled to the coupling device K.

[0125] In summary, the coupling device K has at least one spring device F, which each holds the two drive units 1, 2 stably at a predetermined distance D12 and provides a spring travel in mutually opposite directions along the spindle storage axis AA from the neutral state in the unloaded neutral state in which no external force or negligible external force acts on the drive device AV, i.e., in particular when no spindle 90 is accommodated in the drive system S. Such a respective spring travel occurs in particular when no spindle 90 is accommodated in the drive system S and the drive device AV each exerts a respective force on the coupling device K.

[0126] Generally, each drive unit of the drive system S provided according to the present invention can also be realized without the bearing device 5. Here, the drive units 1, 2 or their corresponding frame devices 30 can be directly held and supported by means of the coupling device K, i.e. without components being located in between, in such a way that the drive units 1, 2 or their corresponding frame devices 30 are coupled to each other. In addition, here, the corresponding drive devices are directly coupled to each other via the coupling device K. In addition, as Figure 1As shown, the frame device 30 can be realized in one piece with the bearing device 5 .

[0127] The respective coupling unit 70 is arranged on the side of the respective spindle space 1a or 1b and on the side of the spindle 90 when viewed in the viewing direction of the spindle receiving axis AA or the spindle axis A90 and generally extends along the spindle receiving axis AA and is arranged on the side of the spindle space 1a or 1b and on the side of the spindle 90 according to the embodiment of the present invention. Figure 1 and Figure 2 In the case of the embodiment, it also extends transversely to the spindle storage axis AA. Figure 1 and Figure 2 An embodiment of the drive system S according to the invention has a coupling unit 70 having two coupling unit connecting parts 71, 72, which are each arranged at one of the two ends of the coupling unit 70 arranged opposite each other when viewed in the viewing direction of the spindle receiving axis AA. The coupling unit connecting parts 71, 72 each have two fastening sections 73a, 73b or 74a, 74b arranged successively in the direction of the spindle receiving axis AA, which are fastened to the frame device 30 of the respective drive device AV, AV1, AV2, for example, by means of a connecting device. The first fastening sections 73a, 74a, which are each arranged opposite each other with respect to the spindle receiving axis AA, are fastened to the first drive unit 1, and the second fastening sections 73b, 74b, which are arranged opposite each other with respect to the spindle receiving axis AA, are fastened to the second drive unit 2. The two fastening sections 73 a , 73 b of the first coupling unit connecting part 71 and the two fastening sections 74 a , 74 b of the second coupling unit connecting part 71 , 72 are each connected to one another via a spring section 75 or 76 .

[0128] according to Figure 1 and Figure 2 , each spring section 75 or 76 has three u-shaped sections 77a, 77b, 77c or 78a, 78b, 78c or ring sections, these u-shaped sections 77a, 77b, 77c or 78a, 78b, 78c or ring sections are arranged on the mandrel receiving axis AA one after another and are alternately formed relative to each other to form a zigzag shape, so that spring sections 75 or 76 are also referred to as zigzag sections in this article. Usually, each zigzag section can also have only one ring section or multiple ring sections. Ring can be formed as angle or parabola or triangle or other shapes as shown in the figure.

[0129] Depending on the number of drive units to which the coupling device K is to be connected, the coupling device K or the spring device has a corresponding number of coupling units 70. Fig. 22In an embodiment of the drive system S, the coupling device K has a coupling unit 70, each of which has two coupling unit connectors 71, 72, and the two coupling unit connectors 71, 72 are each arranged on one of the two ends of the coupling unit 70 that are arranged opposite to each other when viewed in the observation direction of the spindle storage axis AA.

[0130] Figure 1 and Figure 2 The coupling unit 70 of the embodiment of the drive system of the embodiment of the drive system of the embodiment of the invention has a first bridging section 79a and a second bridging section 79b, which each extend transversely to the spindle receiving axis AA and are arranged successively on the spindle receiving axis AA, wherein the first bridging section 79a connects the fastening sections 73a, 74a and the second bridging section 79b connects the fastening sections 73b, 74b. Therefore, the spring section 75 or 76 is arranged between the bridging sections 79a, 79b and can in particular connect the bridging sections 79a, 79b to each other.

[0131] Each spring section 75 or 76 can also be formed so that the corresponding bending section is connected to the first bridging section 79a or the corresponding first fastening section 73a, 74a on the one hand through an intermediate section extending along the spindle storage axis AA, and is connected to the second bridging section 79b or the corresponding second fastening section 73b, 74b on the other hand, wherein the U-shaped section 77c or 78c is formed transversely to the spindle storage axis AA.

[0132] Each coupling unit 70 or one of the coupling units 70 can be realized instead of being essentially plate-shaped, but in another way, for example as a rod structure or a mesh or a casting.

[0133] In accordance with Figure 1 and Figure 2 In an embodiment of the drive system S, the coupling unit 70 of the first spring device F1 and the coupling unit 71 of the second spring device F2 are formed identically to each other. Alternatively, the coupling unit 70 of the first spring device F1 and the coupling unit 71 of the second spring device F2 may be formed differently from each other.

[0134] Each coupling unit 70 or one of the coupling units 70 can be realized in a multi-part and in particular two-part form, in contrast to the described coupling unit 70, i.e., as a combination of second parts. For example, the first part of the coupling unit 70 and the second part of the coupling unit 70 can each be realized as a coupling unit connector 71 or 72, so that in this case, the respective coupling unit 70 does not have a bridging section that connects the coupling unit connectors to each other.

[0135] As an alternative to the above-described specific embodiment of the coupling unit 70 , it can be provided, otherwise with the described combination of features, that the coupling unit 70 has only one first spring device F1 and only one second spring device F2 .

[0136] Embodiments of the coupling unit 70 can also be implemented in other ways with the described combination of features of the drive system S, with only one coupling unit connection element or with more than two coupling unit connections.

[0137] The embodiment of the coupling unit 70 can be realized with the described combination of features in other respects in that the spring segment or the spring segments are realized as ring segments or helical spring segments or disk spring segments or in another way as spring segments.

[0138] according to Figure 1 and Figure 2 An embodiment of the drive system S can have an embodiment of the coupling device K which has only one coupling unit 70 which is arranged on the side of the spindle 90 when viewed in the direction of the spindle storage axis AA.

[0139] What is achieved through the implementation of the coupling device K provided according to the present invention is that the two drive units 1 and 2 are respectively stably maintained at a predetermined distance D12 even when they are actuated during operation, and the coupling device K starts from a neutral state in which there is no external force acting on the coupling device K, especially in the direction of the spindle storage axis AA, and each provides a spring stroke in opposite directions along the spindle storage axis AA.

[0140] The drive system S according to the present invention can be used in a drive motor M, wherein a spindle 90 is inserted into the drive system S.

[0141] exist Figures 3 to 8 FIG. 4 shows an embodiment of a drive motor M according to the present invention. In order to manufacture the drive motor M, Figure 1 and Figure 2The embodiment of the drive system S shown is inserted into a base body B or integrated with the base body B. As shown in the figure, the base body B can be formed in such a way that the drive system S is embedded in or supported in the base body B. A carriage C with a table or carriage connection device C1 is movably supported on the base body B by means of a guide device D. The guide device D is implemented in such a way that the carriage C can perform a linear movement relative to the base body B. In the embodiment shown, the guide device D is implemented by two guide rail assemblies D1, D2 arranged laterally relative to the spindle storage axis AA, wherein a corresponding one guide rail component is placed or formed on the base body B, the second guide rail component is placed or formed on the carriage C, and the two guide rail components are provided to provide an adjustment movement of the carriage C relative to the base body B on the spindle storage axis AA. The guide device D can also be implemented by only one guide rail assembly D1 or D2 or in another way. Alternatively or additionally, one or both of the guide rail assemblies D1, D2 can be implemented as an encoder or a position sensor, for example in Figure 5 This is the case for the second guide rail part D2.

[0142] The drive units 1, 2 of the drive motor M can each be actuated by a corresponding electrical control signal, with which the actuating member structure 40 in each drive device of the drive system S can put the spindle 90 into rotation or can be brought to a predetermined rotational position. Here, the actuating member structure 40 abuts against the spindle 90 or against a corresponding spindle contact point of the spindle 90 or against a plurality of corresponding spindle contact points of the spindle 90.

[0143] exist Figures 3 to 8 In the embodiment of the drive motor M according to the invention shown, the explicit conversion of the rotary movement of the spindle 90 into a predetermined linear movement of the carriage C is achieved by means of an adjustment wall C2 having an adjustment wall surface C3 arranged facing the spindle 90 and by means of a biasing device E, which steers the adjustment wall C2 and therefore the carriage C in the direction of the base body B and therefore to the spindle 90. The base body B has a front wall B1, on which the first end 93 of the spindle 90 is arranged. The carriage C has an adjustment wall C2, which is arranged on the second end 94 of the spindle 90. Here, the second end 94 of the spindle 90 abuts against the adjustment wall C2. The biasing device E is fixed on the one hand, in particular with a first end, to the base body B and on the other hand, in particular with a second end, to the carriage C.

[0144] Figures 3 to 8The biasing device E of the embodiment of the drive motor M according to the invention shown is realized by two helical springs E1, E2 and generally two springs, which extend along each other and also along the spindle receiving axis AA and are fixed on the one hand to the front wall B1 of the base body B and on the other hand to the adjustment wall C2 of the carriage C. Generally, the biasing device E can also be realized by means of at least one elastic member, which biases the base body B and the carriage C relative to each other by means of an attractive force. Here, the elastic member can be fixed at points of the base body B and at points of the carriage C, wherein the points on the spindle receiving axis AA are spaced apart from each other and exert a predetermined minimum attractive force in the moved-in position of the spindle 90. The advantage of this arrangement is that the movement of the carriage C on the base body B is decoupled from the movement of the spindle in the drive device of the drive system S. In particular, a biasing of the spindle in the drive device can thereby be avoided.

[0145] The coupling of the rotational movement of the spindle 90 and the linear movement of the carriage C can also be achieved in other ways, for example by a spindle nut screwed onto the spindle 90 , which is connected to the carriage C in a rotationally fixed manner relative to the spindle 90 .

[0146] The drive units 1, 2 each have a drive device AV having an actuating member structure 40 which, with at least one actuating section or abutting surface section, abuts against a respective spindle contact point 91 of the spindle 90 when viewed on the spindle accommodation axis AA. The respective drive device AV has an electrical connection device, via which an electrical control signal can be supplied to the drive device AV and thus to the respective drive unit 1, 2. The drive device AV converts the control signal into an actuating movement of the actuating member structure 40. The actuating movement is realized in such a way that it causes a rotational movement of the spindle 90 corresponding to the control signal.

[0147] Each drive device AV also has at least one actuator device, which is used to place and drive at least one actuating segment 58a, 58b or abutment surface segment that is in contact with the spindle contact point of the spindle 90 and can move in the circumferential direction of the spindle 90 in rotation around the spindle 90.

[0148] The drive device AV may also have two or more actuator devices, each of which has a drive segment 58a, 58b or abutment surface segment, and each of the drive segments 58a, 58b or the abutment surface segment is in contact with a spindle contact point of the spindle 90, wherein the spindle contact point of the spindle 90 is in contact with different spindle contact points of the spindle 90 in the circumferential direction of the spindle 90 and moves in the circumferential direction of the spindle 90 when the actuator device is controlled accordingly, so as to place the spindle 90 in rotation and drive it.

[0149] Here, two of the at least two actuator devices can be controlled in phase or in antiphase in order to set the spindle 90 into motion.

[0150] In particular, in order to drive the spindle 90, each of the at least one drive device can be controlled in such a way that a time sequence of sliding and friction states is generated between the corresponding actuating segment 58a, 58b or the corresponding abutment surface segment and the associated spindle contact point of the spindle 90.

[0151] The positioning accuracy of the carriage C relative to the base body B depends in part on the accuracy with which at least one respective actuating section 58 of the actuating member arrangement 40 of the respective drive device AV abuts against the respective spindle contact point 91 relative to the spindle accommodation axis AA.

[0152] To this end, according to Fig. 9 The coupling device K of one of the embodiments provided by the present invention shown in the figure can be provided in such a way that the coupling device K sets the neutral position of the actuating segments 58a, 58b of each two adjacent drive devices AV, which is not loaded by external forces. In this neutral position, the distance of the threaded segments of the corresponding actuating segments 58a, 58b when they abut against the corresponding spindle contact points of the spindle 90 is greater than the distance of the threaded segments corresponding to the corresponding actuating segments 58 and the threaded segments of the corresponding spindle contact points 91 of the spindle 90 where the actuating segments 58 abut against each other is a small part of the thread lead of the spindle thread. This state is Fig. 9 This results in a centering of the threaded section of the respective actuating section 58 with the threaded section of the respective spindle contact point 91 of the spindle 90 .

[0153] This effect is particularly advantageous when the cross-sectional shape of the thread lead of the threaded section of the respective actuating section 58 and the threaded section of the respective spindle contact point 91 of the spindle 90 is triangular or is realized in such a way that their mutually oppositely arranged outer surfaces extend obliquely to each other.

[0154] exist Fig.10 The effect of the coupling device K is shown in FIG. 5 , wherein the distance between the threaded sections of the respective actuating sections 58 a , 58 b at the respective spindle contact points against the spindle 90 is smaller than a fraction of the size of the thread lead of the spindle thread.

[0155] Fig.11 and Fig.12It is shown that the effect of centering the threaded section of the corresponding actuating section 58 with the threaded section of the corresponding spindle contact point 91 of the spindle 90 is not achieved by the coupling device K arranged between the drive devices AV, but by coupling devices K1, K2, which are fastened to the actuating sections 58a, 58b of the corresponding drive devices AV with the first end and fastened to the base B with the second end.

[0156] exist Fig.12 , another cross-sectional shape of the thread lead of the actuating segment 58 of the respective drive AV is shown, which causes the thread segment of the respective actuating segment 58 to be centered at the respective spindle contact point 91 of the spindle 90. Here, the cross-sectional shape of the thread segment of the respective actuating segment 58 is designed as a trapezoid, and the surface segments extending obliquely to one another are components of the side surfaces of the thread lead.

[0157] Fig.13 Another option for centering the threaded section of the respective actuating section 58, 68 or 58a, 58b, 58c or 68a, 68b, 68c with the respective spindle contact point 91 of the spindle 90 is shown based on a drive system with three drive units 1, 2, 3. Here, the actuating section 58a, 68a or 58b, 68b or 58c, 68c of at least one drive unit 1 or 2 or 3 is pressed transversely to the spindle storage axis AA in the direction toward the spindle 90. This measure can also be realized with only two drive systems, for example with Figure 1 and Figure 2 The drive system of the present invention can be realized by using more than three drive systems 1, 2, 3. Pressing at least one drive unit with its corresponding actuation segment 58 or 68 in the direction of the spindle 90 can be realized by a position fixing device, i.e., for example, by a biasing device or by an actuator or by an adjustment device, which is integrated with the frame device R of the drive system and the corresponding actuation segment 58a, 58b, 58c or 68a, 68b, 68c or the base body B and the corresponding actuation segment 58a, 58b, 58c or 68a, 68b, 68c to adjust their positions relative to each other.

[0158] Fig.14 An embodiment of a drive system S with a coupling device K is shown, which is similar to the embodiment of the drive system S with a coupling device K. Figure 2 and Figure 3 The coupling device K described is designed differently in such a way that it can elastically support the three drive units relative to one another on the spindle receiving axis AA. Fig.14 A drive system S is shown having two drive units 1 , 2 .

[0159] to this end, Fig.14The coupling device K of the embodiment of the drive system S has a spring device F1, F2, which has a coupling unit connecting parts 71, 72, and these coupling unit connecting parts 71, 72 have three fastening sections 73a, 73b, 73c or 74a, 74b, 74c arranged successively in the direction of the spindle storage axis AA. These fastening sections 73a, 73b, 73c or 74a, 74b, 74c can, for example, each be fastened to the frame device 30 of the corresponding drive device AV, AV1, AV2 by means of a connecting device, wherein, in the illustrated embodiment, only two fastening sections 73a, 73c and 74a, 74c are each fastened to the frame device 30 of the corresponding drive device AV1 and AV2 by means of a connecting device.

[0160] Therefore, according to Fig.14 The spring devices F1, F2 of the drive system S of the embodiment according to Figure 1 The spring devices F1, F2 of the embodiment of the drive system S differ in the shape of the coupling unit connecting elements 71, 72, which connect each three fastening sections 73a, 73b, 73c or 74a, 74b, 74c and each two fastening sections adjacent in the direction of the spindle receiving axis AA to each other via spring sections 75a, 75b or 76a, 76b. In the embodiment shown, the spring sections 75a, 75b or 76a, 76b are formed by three U-shaped sections, such as Figure 1 However, the spring sections 75a, 75b or 76a, 76b can also be realized in other ways, in particular those mentioned in this article.

[0161] The drive device AV of the at least one drive unit 1 , 2 can be embodied in different ways.

[0162] Embodiments of the drive device AV which can be used in at least one drive unit 1, 2 are Fig.16 201 and has a frame device 230 having a first biasing device 231, a second biasing device 235, a first actuator support portion 251 and a second actuator support portion 261. The frame device 230 of the drive device AV can be inserted into a base body B of the drive system S.

[0163] The drive device 201 can generally have an actuator 13 or 23 or consist of an actuator 13 or 24. For example, the actuator device 10, 20 can have an actuator 13 or 23 and an at least partially present outer coating of the actuator 13 or 23. Alternatively or in addition thereto, the actuator device 10, 20 can have: an actuator with or without an at least partial outer coating, and a housing surrounding the actuator 13 or 23 with or without an at least partial outer coating. Here, such a housing can be designed so that it biases or additionally biases the actuator 13, 23.

[0164] The actuators 13, 23 are piezoelectric actuators, i.e. actuators 13, 23 made of or having a piezoelectric material and in particular a piezoelectric ceramic material. An actuator made of another electromechanical material is also conceivable. In general, any type of actuator is conceivable, such as a hydraulically or pneumatically operated actuator, or an actuator made of a shape memory material.

[0165] The drive device AV, 201 is provided for driving a spindle 90 having a spindle axis A90. The drive device AV, 201 has a spindle space 39 for receiving the spindle 90, which extends in the longitudinal axis of the spindle space. Fig.16 and Fig.17 An embodiment of the drive device AV has:

[0166] a first actuator device 10 having a first end 11, a second end 12 and a first actuator 13, the expansion of which along a first actuator axis L1 is reversibly variable when controlled, wherein the first end 11 and the second end 12 are oriented opposite each other with respect to the first actuator axis L1, and wherein the first actuator axis L1 extends transversely to a spindle axis A90 of a spindle 90;

[0167] a second actuator device 20 having a first end 21, a second end 22 and a second actuator 23, the expansion of the second actuator 23 along the second actuator axis L2 being reversibly variable when electrically controlled, wherein the first end 21 and the second end 22 are oriented opposite to each other with respect to the first actuator axis L1, and wherein the first actuator axis L1 and the second actuator axis L2 extend along each other;

[0168] Actuating means 40, 240; and

[0169] The frame device 30 provides a spindle space 39 for receiving the spindle 90 .

[0170] The actuating member structure 240 of the drive device 201 has a first actuator functional part 255 with a first actuating surface section 254 and a second actuator functional part 265 with a second actuating surface section 264, wherein the actuating surface sections 254, 264 are arranged opposite to each other and together form a spindle space 239 therebetween.

[0171] The first actuator device 10 is provided between the first actuator support portion 251 and the first actuator functional portion 255, wherein the first actuator support portion 251 and the first actuator functional portion 255 each abut against the mutually opposite end 11 or 12 of the first actuator device 10 directly or indirectly through an intermediate member. For example, the first end 11 abuts against the first actuator support portion 251, and the second end 12 abuts against the first actuator functional portion 255. The first actuator support portion 251, the first actuator functional portion 255, and the first actuator device 10 form a first actuation structure 250.

[0172] The second actuator device 20 is provided between the second actuator support portion 261 and the second actuator function portion 265, wherein the second actuator support portion 261 and the second actuator function portion 265 each abut against the opposite ends 21 or 22 of the second actuator device 20 directly or indirectly through an intermediate member. For example, the first end 21 abuts against the second actuator support portion 261, and the second end 22 abuts against the second actuator function portion 265. The second actuator support portion 261, the second actuator function portion 265, and the second actuator device 20 form a second actuation structure 260.

[0173] The abutment surface sections 254, 264 may have the features of the variants of the abutment surface sections described herein and are in particular concavely curved when viewed from the spindle space 239. The curvature is formed in a circumferential direction defined relative to the spindle axis A90 and suitably, these curvatures each abut the spindle surface 90a in a planar manner.

[0174] The first actuator support portion 251 has a first base section 252 and a first support section 253 connected to the first base section 252. The first actuator functional portion 255 has a first fastening section 256 and a first actuating section 258 and a first connecting section 257 connecting the first fastening section 256 and the first actuating section 258. The first support section 253 abuts against the first end 11 of the first actuator device 10, and the first connecting section 257 abuts against the second end 12 of the first actuator device 10. The first base section 252 and the first fastening section 256 are fastened to the first end section 233 of the biasing device 231 by means of a connecting element. Here, the first actuator support part 251 and the first actuator function part 255 can be designed so that the first support section 253 applies pressure to the first end 11, and the first connection section 257 applies pressure to the second end 12 to compress the first actuator device 10 from its two ends 11, 12. In a variant of the actuating member structure 240, the first fastening section 256 can be omitted, and the first connection section 257 can be fastened to the second end 12. The first actuating section 258 extends from the first connection section 257 along the first actuator axis L1. The first actuating section 258 has a surface section 259, which is arranged facing the spindle space 239. A first actuating surface section 254 is arranged in the actuating surface 259. The first actuating surface section 254 can generally have the features described herein with reference to other actuating surface sections, and is particularly implemented as a friction surface relative to the surface section surrounding the actuating surface 259.

[0175] Similarly, the second actuator support portion 261 has a second base section 262 and a second support section 263 connected to the second base section 262. The second actuator functional portion 265 has a second fastening section 266 and a second actuating section 268 and a second connecting section 267 connecting the second fastening section 266 and the second actuating section 268. The second support section 263 abuts against the first end 21 of the second actuator device 20, and the second connecting section 267 abuts against the second end 22 of the second actuator device 20. The second base section 262 and the second fastening section 266 are fastened to the second end section 234 of the biasing device 231 by means of a connecting element 234s. Here, the second actuator support part 261 and the second actuator functional part 265 can be designed so that the second support section 263 applies pressure to the first end 21 and the second connecting section 267 applies pressure to the second end 12 to compress the second actuator device 20 from its two ends 21, 22.

[0176] In a variation of the actuating member structure 240, the second fastening section 266 can be omitted, and the second connecting section 267 can be fastened on the second end 22. The second actuating section 268 extends from the second connecting section 267 along the second actuator axis L2. The second actuating section 268 has a surface section 269, which is arranged facing the spindle space 239. A second actuating surface section 264 is arranged in the actuating surface 269. The second actuating surface section 264 can generally have the features described herein with reference to other actuating surface sections, and is particularly implemented as a friction surface relative to the surface section surrounding the actuating surface 269.

[0177] The surface sections 259, 269 face each other and are opposite to each other. Likewise, the actuation surface sections 254, 264 face each other and are opposite to each other.

[0178] The first biasing device 231 biases the first actuating section 258 and the second actuating section 268 toward the spindle space 239 or against the spindle 90 in an elastic manner from two mutually opposite sides.

[0179] Similarly, the second biasing device 235 connects the first base section 252 of the first actuator support portion 251 and the second base section 262 of the second actuator support portion 261 .

[0180] The drive device AV, 201 can also be implemented without the second biasing device 235. The frame device 230 can also be implemented in a different way. The frame device 230 can also be omitted, and the first fastening section 256 and the second fastening section 257 are fastened directly to each other on sections of the base frame device R that are opposite to each other with respect to the spindle storage axis.

[0181] The integration or insertion of the drive device AV, 201 into the base frame device R can also be carried out in other ways, for example by means of connecting elements 233s, 234s on sections of the base frame device R that are opposite to each other with respect to the spindle storage axis.

[0182] In each embodiment of the drive device AV, 201 according to the invention with all other features and optional alternative features described further herein, the first biasing device 231 and the second biasing device 235 can be fastened to each other and thus form the revolving frame device 230. Here, it can be provided that the first actuator support part 251 and the first actuator functional part 255 are spaced apart from each other or are fastened together on at least one of the biasing devices 231, 235. Here, it can also be provided that the second actuator support part 261 and the second actuator functional part 265 are spaced apart from each other or are fastened together on at least one of the biasing devices 231, 235.

[0183] The frame device 230 having the first biasing device 235 and the second biasing device 235 is therefore implemented as a structurally continuous component in the embodiment of the drive device 200 described herein, which completely surrounds the spindle space 239, the first actuator device 10 and the second actuator device 20 in the circumferential direction defined by the longitudinal axis of the spindle space.

[0184] Here, it can be particularly advantageous if the first base section 252 and the first actuator support section 253 as well as the second base section 262 and the second actuator support section 263 each form a lever. Thus, the force applied by the second biasing device 235 causes:

[0185] (D1) the first actuator support section 253 presses the first actuator device 10 against the first actuator functional portion 255 or the first abutment section 257 and thereby biases the first actuator device 10 and the first actuator functional portion 255 having the first actuation section 258;

[0186] (D2) The second actuator supporting section 263 presses the second actuator device 20 against the second actuator functional portion 265 or the second abutting section 267 and thereby biases the second actuator device 20 and the second actuator functional portion 265 having the second actuating section 268 .

[0187] In accordance with Fig.16 In the embodiment of the drive device 1, 201 according to the present invention, the connecting section 257 of the first actuator functional part 255 abutting against the second end 12 of the first actuator device 10 extends laterally toward the spindle space 239 and away from the first fastening section 256 of the first actuator support part 251. Fig.10 In the embodiment of the present invention, the first actuation section 258 extends from the connection section 257 along the first actuator axis L1, and the first actuation surface section 254 extends at least in sections along the first actuator axis L1. In addition, the connection section 267 of the second actuator functional part 265 abutting against the second end 12 of the second actuator device 20 extends laterally toward the spindle space 239 and away from the second fastening section 266 of the second actuator support part 261. In addition, in Fig.10 In the embodiment of the present invention, the second actuation section 268 extends from the connection section 267 along the second actuator axis L2, and the second actuation surface section 264 extends at least in sections along the second actuator axis L2. Therefore, the first and second actuation surface sections 254, 264 form surface areas that are arranged differently from each other when viewed in the direction of the longitudinal axis of the spindle space. Similarly, the surface normal direction of a point of at least one area of ​​the actuation surface sections 254, 264 defines an angular range of the direction of a vertical plane containing the first actuator axis L1 or the second actuator axis L2 or both actuator axes L1, L2.

[0188] In accordance with Fig.16 In the embodiment of the drive device 1, 201 according to the present invention, the first actuation section 258 and the second actuation section 268 are each configured as a free end of the first fastening section 256 or the second fastening section 266, which is only supported on the corresponding connecting section 257 or 267 in a non-movable manner or connected to the corresponding connecting section 257 or 267. Here, the first fastening section 256 and the second fastening section 266 can be particularly elastically supported on the corresponding connecting section 257 or 267. Therefore, through the aforementioned features (D1), (D2), the first actuation section 258 and the second actuation section 268 are each elastically pressed against the spindle 90 to optimize the drive of the spindle 90.

[0189] Alternatively to these embodiments, the drive device 1, 201 according to the present invention can also be realized in such a way that the actuating segments 258, 268 are supported on the corresponding actuator support parts 251 or 261, so that the corresponding actuating surface segments 254, 264 are pressed against the spindle 90 with less or no elasticity depending on the design of the actuating segments 258 and 268.

[0190] like Fig.16 As shown, the second biasing device 235 can be designed to be curved or substantially curved in the area between the first end section 237 and the second end section 238. In particular, the connecting section 236 can be designed to be curved or substantially curved. Independently of this, the second biasing device 235 can be designed to be overall plate-shaped or arched. In particular, the connecting section 236 has a curved portion in the area that does not abut against the first end section 237 and the second end section 238. Fig.10 As shown, the bend can be a uniform bend, that is, the bend has no inflection point. Fig.10 The connecting section 236 is curved concavely when viewed from the spindle space 239. Alternatively, the connecting section 236 can also be curved convexly. In this way, the connecting section 236 biases the first actuating section 258 and the second actuating section 268 elastically from two mutually opposite sides toward the spindle space 239 or against the spindle 90.

[0191] As described in the above embodiment, according to Fig.16Actuation of at least one of the actuator devices 10, 20 of the drive motor 200 causes a relative movement of the first actuation surface segment 254 along the first actuator axis L1 or a relative movement of the second actuation surface segment 264 along the second actuator axis L2 or both relative movements. Due to the contact of the actuation surface segments 254, 264 with the spindle surface 90a, at least one of the two actuation surface segments 254, 264 drives the spindle 90 in a predetermined rotation direction corresponding to the control signal. In the case where only one of the actuator devices 10, 20 is actuated, only the actuation surface segment 254 or 264 functionally connected to the respective actuated actuator device 10 or 20 drives the spindle 90. During simultaneous opposite actuation of the actuator devices 10 , 20 , the actuating surface segments 254 , 264 drive the spindle 90 in the same rotational direction over a period of time corresponding to the circumferential direction in which they move the first spindle contact point 91 and the second spindle contact point 92 .

[0192] Fig.14 and Fig.15 as well as Fig.17 This article shows the reference Fig.16 The above-described embodiment of the drive motor M or 200 according to the present invention is a modification of the present invention. Fig.17 The embodiment of the drive motor 200 according to the present invention is shown in FIG. Fig.16 The features described above. Fig.14 The features of the drive motor 200 shown are the same or similar in function, so for Fig.17 The corresponding features in Fig.16 The same reference numerals are used in the drawings.

[0193] and Fig.16 The drive motor 200 according to the invention shown has different embodiments. Fig.17 The drive motor 200 has connecting sections 232 and 236 which are convexly curved when viewed from the spindle space 239 .

[0194] In addition, Fig.16 The drive motor M or 200 according to the present invention is shown in different embodiments. Fig.17 In the illustrated embodiment of the driving motor M or 200 according to the present invention, the first actuator supporting portions 251, 261 are each formed in a block shape.

[0195] Fig.16 and Fig.17The drive device is implemented in such a way that a relatively small deformation of the second end 22 of the second actuator 23 causes a larger displacement or displacement amplitude of the second actuation surface section 264, which displacement or displacement amplitude can be in particular 1.1 times or 1.2 times larger than the corresponding associated movement of the second end 22 of the second actuator 23. This also applies analogously to the deformation of the first end 21 of the first actuator 13 and the displacement or displacement amplitude of the first actuation surface section 254.

[0196] The actuating member structure 240 is implemented in one piece and has a coupling section 280 for this purpose. Alternatively, the actuating member structure 240 can also be implemented in one piece, that is, without a coupling section 280. The coupling section 280 has a first end section 281, a second end section 282 and a connecting section 283, which connects the first end section 281 and the second end section 282 to each other. The first end section 281 is connected to the outer end section 285 of the first actuating section 258 when viewed from the first connecting section 257 or the first biasing device 231 by a first transition section 287, especially in a shape-stable or elastic manner. The second end section 282 is connected to the outer end section 286 of the second actuating section 268 when viewed from the second connecting section 267 or the first biasing device 231 by a second transition section 288, especially in a shape-stable manner. In this way, the spindle 90 is arranged between the connecting section 283 and the first biasing device 231.

[0197] like Fig.17 As shown, the cross section of the transition sections 287, 288 is reduced relative to the actuation sections 258, 268 and their end sections 285, 286 and relative to the connection section 283 of the coupling section 280 when viewed on the spindle space longitudinal axis or spindle axis A90. Fig.19 The embodiment of the drive motor 200 shown results in a resilient connection of the connecting section 283 to the first actuating section 258 and to the second actuating section 268 .

[0198] Here, if Fig.17 As shown, the second biasing device 236 can be designed to be dimensionally stable, so that the second biasing device 236 does not deform or only deforms insignificantly when the actuator 13, 23 is actuated. Fig. 22 It is shown that here, the elastic biasing of the actuating sections 258, 268 against the spindle 90 is achieved by the one-piece implementation of the actuating member structure 240. It is therefore also achieved that the assembly consisting of the frame device 230 and the actuating member structure 240 elastically biases the first actuator device 10 along the first actuator axis L1 and the second actuator device 20 along the second actuator axis L2 and provides here an elastic biasing of the actuating member structure 240 in the direction of the spindle space 239.

[0199] exist Fig.18 and Fig.19 The voltage signals S31 and S32 are shown in the figure. The reference Fig.16 or Fig.17 The embodiment of the drive motor 200 described above can also perform the adjustment movement of the spindle 90. The specified time points T31, T32, T33, T34, T35, T36 are recorded for the sake of explanation.

[0200] Typically, the first voltage signal S31 and the second voltage signal S32 are each periodic and have a section between two adjacent extreme values, which has a slope that is greater in magnitude than the maximum slope that occurs between two relative extreme values ​​that are adjacent to each other and are located before or after the aforementioned extreme value in time. Here, the corresponding relative extreme value pairs can be directly adjacent in time. However, the corresponding relative extreme value pairs do not have to be directly adjacent in time, but multiple extreme value pairs with larger slopes in magnitude, preferably with the same slope sign, but also with different slope signs, can also directly follow each other and exist before or after a relative extreme value pair with a smaller slope in magnitude.

[0201] Regarding the signal form of the first voltage signal S11 and the second voltage signal S12, "a quantitatively larger slope" can be understood in this article as a slope at which at least temporary slip occurs between the first actuating surface segment 254 and the first spindle contact point 91 in contact with the first actuating surface segment 254, and between the second actuating surface segment 264 and the second spindle contact point 92 in contact with the second actuating surface segment 264, because compared with the movement of the actuating surface segments 254, 264 in the segments with the "quantitatively smaller slope", the movement of the actuating surface segments 254, 264 does not overcome or less overcomes the inertia of the spindle 90 due to the corresponding given friction coefficients relative to the corresponding spindle contact points 91, 92.

[0202] In order to cause the spindle 90 to rotate in the rotation direction DR ( Fig.17 ), the slope between the first relative minimum value of the first voltage signal S31 at time point T31 and the relative maximum value at time point T33 that follows in time is greater in magnitude than the slope between the relative maximum value of the first voltage signal S31 at time point T33 and the relative minimum value at time point T35 that follows in time. Here, the slope between time points T31 and T33 may be at least 1.05 times greater than the slope between time points T33 and T35.

[0203] At the same time, in order to cause the mandrel 90 to rotate in the rotation direction DR ( Fig.17) in the adjustment movement, the slope between the first relative maximum value of the second voltage signal S32 at the time point T31 and the subsequent relative minimum value at the time point T33 is greater in quantity than the slope between the relative minimum value of the second voltage signal S32 at the time point T33 and the subsequent relative maximum value at the time point T33.

[0204] Fig. 20 and Fig.21 An embodiment of a drive system S is shown, which has a Fig.14 The present invention relates to two drive systems arranged one after the other on the spindle receiving axis AA, which are mounted on a base body B. Here, the intermediate fastening sections 73b or 74b of the spring devices F1, F2 are used to connect them to the base body B. Alternatively, these intermediate fastening sections 73b or 74b can also be used to fasten the drive device AV.

[0205] Fig. 22 An embodiment of a drive system S with a coupling device K is shown, which coupling device K is as described with reference to Fig.14 The coupling device K is implemented in such a way that the coupling device K can elastically support the three drive units 1, 2, 3 on the spindle receiving axis AA. Fig.14 The coupling device K is realized as follows, wherein according to Fig. 22 The two coupling unit connecting parts 71 , 72 are realized as separate components. The coupling device K has two spring sections 75 and 76 .

[0206] According to Fig.14 The drive system S is implemented differently according to Fig. 22 The embodiment of the drive system S has three drive devices AV1, AV2, AV3, which are based on Figure 23 to Figure 28 The coupling device K has two spring sections 75, 76. Each spring section 75, 76 has two spring subsections 75a, 75bb or 76a, 76b, wherein each subsection is respectively arranged between two drive devices. Fig. 22 As shown, the spring sections 75, 76 can be realized in one piece, wherein the three drive devices AV1, AV2, AV3 are fastened at points distributed through the longitudinal direction of the respective spring section 75 or 76 extending along the spindle storage axis AA and in particular evenly distributed on the spring section 75 or 76. The coupling device K therefore has no bridging section, since its connecting function is sensed by the drive devices AV1, AV2, AV3.

[0207] according to Fig. 22Embodiments of the drive system S may have one or two further spring segments which are constructed identically to the spring segments 75 , 76 and which are each arranged point-symmetrically to the spring segments 75 or 76 relative to the spindle storage axis AA.

[0208] The drive devices AV1 , AV2 , AV3 are mounted in a bearing device 5 .

[0209] Fig. 22 The embodiment of the drive system S according to the present invention is shown, in which three drive devices AV, AV1, AV2, AV3 are integrated. Figure 23 to Figure 28 Referring to Figure 23 to Figure 28 In each embodiment of the drive device described, at least one actuator device is integrated. Each actuator device provided for this purpose is formed according to one of the embodiments of the actuator device, which are described above in this document and are assigned the reference numeral "10" or the reference numeral "20" in this document.

[0210] In addition, refer to Figure 23 to Figure 28 Each embodiment of the driving device described above may include a control device, which is electrically connected to each of the corresponding driving devices and sends a periodic driving signal to the corresponding driving device in an activated state.

[0211] according to Fig.23 The drive device, which is hereinafter provided with the reference numeral 501 , has a frame device 30 which, together with at least one further drive device, can form a drive system S. At least one actuator device is integrated into each of these drive devices.

[0212] The frame device 30 is implemented as a drive housing 530 having a housing wall 533, which releases a housing interior space 536 surrounded by the housing wall 533 and formed in the housing wall 533. The frame device 30 can also be implemented in other ways. The actuating member structure 40 provided according to the present invention is arranged in the housing interior space 536. Fig.23 In the embodiment of the drive device 501, the reference numeral 540 is assigned. The actuating member structure 40 has:

[0213] - an actuating spindle nut 541, the interior of which defines a spindle space 539, the spindle space 539 having a spindle receiving axis AA centered through the spindle space 539, and the actuating spindle nut 541 has a spindle nut outer surface 541a and an internal thread 542, the internal thread 542 abutting against the spindle contact point 91 of the rotation of the spindle 90; and

[0214] A follower device 550 , with which the actuating spindle nut 541 is set in rotation as a result of an actuation of at least one actuator device.

[0215] The internal thread 542 or the inner surface of the actuating spindle nut 541 constituting the internal thread 542 is referred to herein as Figure 23 to Figure 28 In the embodiment of the drive device, an actuating surface segment 543 is formed, which abuts against the external thread or spindle surface 90a of the spindle 90 received by the spindle space 539, and when the corresponding drive device is controlled by a control signal transmitted from the control device to the corresponding drive device, the actuating surface segment 543 causes the rotational movement of the spindle 90 under the interaction with the spindle 90 inserted into the spindle space 539. In particular, a time sequence of a sliding state and a friction state between the actuating surface segment 543 and the spindle 90 can be achieved when a corresponding control signal is received. Fig.18 and Fig.19 Such control signals are described.

[0216] Optionally, the actuating member arrangement 540 has a resetting device 560 which provides a resetting force against the rotation of the actuating spindle nut 540 due to actuation of at least one actuator device.

[0217] Thus, the actuating spindle nut 541 or the internal thread 542 defines a spindle space 539 having a spindle receiving axis AA, the position and orientation of which are identical or substantially identical to the spindle axis A90 of the spindle 39 inserted into the spindle space 539 and to be driven by the drive device 501 and which is assigned reference numeral 539a herein. To further describe the drive device 501 having such an actuating spindle nut, two circumferential directions extending in mutually opposite directions are defined, each of which coincides with a circumferential direction of a virtual cylindrical jacket surface against the internal thread 542. The circumferential directions are the respective movement directions of a virtual point of the actuating spindle nut 542 when the actuating spindle nut 541 is rotated. With these circumferential directions, radial directions resulting from respective radii on the cylindrical jacket surface are also defined.

[0218] In this article, refer to Fig.23 When the embodiment of the drive device 501 is structurally integrated into the drive system S together with at least one other drive device, the spindle 90 is screwed into the actuating spindle nut 541, as shown in FIG. Fig. 22 shown. Fig. 22 The drive system S according to the present invention is shown. The drive system S has three Fig.23 The drive devices 501 and the spindle 39 screwed into the three drive devices 501.

[0219] The cross-sectional shapes obtained from the drive housing 530 are each produced when viewed in the direction of the spindle receiving axis 539b, and each has a substantially constant shape in the illustrated embodiment due to the different cross sections along the spindle receiving axis 539b. In a variant of this embodiment, the drive housing 530 can also be implemented differently and in particular have a non-constant cross-sectional shape.

[0220] The drive housing 530 of the drive device 501 has a revolving housing wall 533, which has a housing outer surface 531. The housing outer surface 531 basically has the shape of a cylindrical surface when viewed in the direction of the spindle storage axis AA according to the illustrated embodiment of the drive housing 530 and is formed by four cylindrical segments 531a, 531b, 531c, 531d and four straight face segments 532a, 532b, 532c, 532d in this case. The four cylindrical segments 531a, 531b, 531c, 531d and the four straight face segments 532a, 532b, 532c, 532d are arranged alternately in succession above the housing outer surface 531 in the circumferential direction. In the embodiment shown, the straight surface sections 532 a , 532 b , 532 c , 532 d are arranged as abutment surfaces so that the coupling device K of the drive system S can be mounted on the housing 530 and in particular on the bearing device 5 .

[0221] The drive housing 530 and in particular its housing outer surface 531 can each have a shape that is expedient or advantageous for integration into a drive system S together with at least another drive device and a coupling device K, in particular with regard to efficient production and operational use of the drive device 501. In particular, the drive housing 530 does not have to be realized in a circumferential manner, i.e. its outer side can also be formed by a plurality of outer surfaces, i.e. in an interrupted or discontinuous manner in the circumferential direction.

[0222] according to Figure 23 to Figure 28 The actuating spindle nut 541 of the embodiment of the drive device of is formed to be substantially cylindrical. Alternatively, the actuating spindle nut 541 can have any other shape that is expedient or advantageous for the efficient manufacture and operation of the drive device 501.

[0223] The follower device 550 is generally implemented as at least one abutment surface segment of the actuating spindle nut 541. Here, the abutment surface segment can be the surface of a component part of the actuating spindle nut 541. The corresponding abutment surface segment is oriented along the circumferential direction of the spindle nut. The abutment surface segment or the follower device 550 abuts against the corresponding outer end formed in the longitudinal direction of at least one actuator device when viewed from the spindle receiving axis 539a and transmits any deformation of the at least one actuator device in its corresponding longitudinal direction to the actuating spindle nut 541 and thereby puts the actuating spindle nut 541 into rotation.

[0224] At least one actuator device 610 is respectively arranged between at least one follower device 550 and the drive housing 530, wherein the longitudinal direction L610 of the respective actuator device 610 extends along the circumferential direction and in particular transversely to the longitudinal extension of the respective abutment surface section of the follower device 550 or the longitudinal extension of the respective follower device 550. The actuator device 610 has an actuator 613 or is identical to the actuator 613. Each of the at least one actuator device 610 or each of the at least one actuator 613 is electrically connected to a control device, which sends a control signal to a respective actuator device of the at least one actuator device, and the respective actuator device expands or contracts according to the control signal. When the actuator device 610 expands or retracts in the longitudinal direction L610 due to the respective control signal, the actuating spindle nut 541 rotates relative to the drive housing 530 in each of two circumferential directions opposite to each other.

[0225] exist Fig.23 The embodiment of the drive device 501 shown in FIG. 5 has a single actuator device, which is here assigned the reference numeral 610. Figure 23 to Figure 28 For each of the at least one actuator device of an embodiment of the present invention, the longitudinal direction of the respective actuator device is defined such that the respective actuator device expands or contracts along the longitudinal direction due to the respective command signal.

[0226] Furthermore, the embodiment of the drive device 501 according to the invention has two followers 550 which are arranged at Figure 23 to Figure 28 In the drawings, reference numerals 551 and 552 are also specifically assigned. Generally, each follower device 550 provided according to the present invention can be configured as a support or a radially extending arm. Figure 23 to Figure 28In the embodiment of the drive device 501 shown, the first follower 551 is implemented as a first arm or a first follower strut 555 and the second follower 552 is implemented as a second arm or a second follower strut 556. The follower struts 555, 556 are each connected to the spindle nut 540 at a connection point 555a or 556a opposite to the spindle receiving axis AA of the spindle nut 540 and extend radially and in mutually opposite directions outwards from the outer surface 540a of the spindle nut 540 in their longitudinal direction. The longitudinal direction of the respective follower 550 or follower strut or generally the extension of the respective abutment surface section of the actuating spindle nut 541 extends transversely to the longitudinal direction L610 of the respective actuator device 610 and transversely to the circumferential direction of the spindle nut 540. The outer end 555a of the first follower strut 555 is arranged at a distance from the housing 530 or from the inner surface section 533a of the housing wall 533 in the radial direction of the spindle nut 540 and facing the spindle nut 540 when viewed from the spindle nut 540. The outer end 556a of the second follower strut 556 is also arranged at a distance from the housing 530 or from the inner surface section 533b of the housing wall 533 in the radial direction of the spindle nut 540 and facing the spindle nut 540 when viewed from the spindle nut 540. In this way, the follower struts 555, 556 can move relative to the drive housing 530 in the circumferential direction together with the actuating spindle nut 541. The drive housing 530 may have two recesses 545, 546, each of which partially extends in the two recesses 545, 546. Here, the first follower strut 555 extends in the first recess 545 such that the outer end 555 a is disposed in the first recess 545 , and the second follower strut 556 extends in the second recess 546 such that the outer end 556 a is disposed in the second recess 546 .

[0227] The two follower struts 555, 556 are designed as parts or component parts of the spindle nut 540 and can be made or realized in one piece with the spindle nut 540 as shown. As an alternative to this, one of the follower struts 555, 556 or two of the follower struts 555, 556 can each be realized as a separate part, which is fastened to the base of the spindle nut 540, which has an internal thread 542. The illustrated embodiment of the drive device 501 has a first follower strut 555 and a second follower strut 556, which are each realized as a dimensionally stable strut or a dimensionally stable beam.

[0228] This article refers to Figure 23 to Figure 28The described embodiment of the drive device 501 can also be realized without the first follower strut 555 or without the second follower strut 556, or without the first follower strut 555 or the second follower strut 556. In each of these cases, the actuating spindle nut 541 has at least one abutment surface section 555c extending in the radial direction, which is generally oriented in the circumferential direction, and the housing wall 533 has at least one abutment surface section 545c. In this context, the term "shape-stable" means that the actuating spindle nut 541 has at least one abutment surface section 555c extending in the radial direction, which is generally oriented in the circumferential direction, and the housing wall 533 has at least one abutment surface section 545c. Figure 23 to Figure 28 The forces and torques generated in the operational use of each of the corresponding drive devices by actuating at least one actuator device of the corresponding drive device may cause deformations of the first support strut 555 and the second support strut 556, which are small or negligible relative to the deformation and movement of the corresponding actuator device when it is actuated or controlled and relative to the driving movement of the actuating spindle nut 541 caused thereby.

[0229] This article refers to Figure 23 to Figure 28 The embodiment of the drive device 501 described has an actuator device 610, which is arranged between the first follower strut 555, typically the abutment surface section 555c and the housing wall 533 and is supported by the abutment surface section 555c and the housing wall 533 in such a way that the longitudinal direction L610 of the actuator device 610 extends along the circumferential direction. Here, the actuator device 610 abuts on the one hand against the abutment surface section 555c extending in the radial direction of the first follower strut 555 or the actuating spindle nut 541 or against the abutment surface section of a component part arranged on the actuating spindle nut 541 or connected to the actuating spindle nut 541, and on the other hand against the abutment surface section 545c extending in the radial direction of the housing wall 533. The actuator device 610 is according to the present invention, in particular with reference to Fig.16 The actuator device 610 is implemented by one of the actuator devices 10, 20 described above and has an actuator 613 having a longitudinal axis L610 extending in the circumferential direction of the drive device 501, so that when the actuator device 610 expands, the distance between the abutment surface section 555c and the abutment surface section 545c increases, and when the actuator device 610 contracts, the distance decreases. The actuator device 610 can in particular be identical to the actuator 613. Thus, in accordance with Fig.18 or Fig.19 When the actuator device 610 is controlled by a control signal in which the edges of the vibrations have different slopes from each other, a friction sliding effect can be achieved, by which the relative rotation of the spindle 39 inserted in the internal thread 542 of the actuating spindle nut 541 can be achieved.

[0230] In this article, refer to Fig.23 In the embodiment of the driving device, it is also possible to implement the driving device by only using the first follower support 555 without using the second follower support 556 .

[0231] Generally, this article refers to Figure 23 to Figure 28 In the embodiment of the drive device according to the present invention, each actuator device or each actuator abuts against the opposite sides of at least one follower strut or component with its first end relative to its longitudinal direction, and the longitudinal direction of the actuator device or actuator extends transversely to the longitudinal direction of the follower strut or component, wherein the actuator device or actuator abuts against the corresponding surface of the actuator housing with its second end relative to its longitudinal direction. Thereby, the actuator devices or actuators can drive or actuate the actuator devices 540 in pairs, especially when the length increase and length decrease of the corresponding actuator devices or the corresponding actuators are carried out in opposite directions due to the electrical actuation signal. In this way, the actuator device 540 can be actuated in a time-dependent manner in two driving directions. This article refers to Figure 23 to Figure 28 The embodiment of the drive device described also has a reset device 560, by means of which the actuating spindle nut 541 is coupled to the drive housing 530, wherein the reset device 560 allows the actuating spindle nut 541 to rotate about an axis of rotation, which extends along the spindle receiving axis AA. To this end, the reset device 560 can be implemented in a manner suitable for the correspondingly provided operating purpose of the drive device 501.

[0232] Typically, the reset device 560 is only optionally provided, that is, Figure 23 to Figure 28 The driving device described can also be realized without the resetting device 560 .

[0233] Figure 23 to Figure 28 The embodiment of the drive device 501 shown has a reset device 560 which has two connecting elements 563, 564 which are arranged on mutually opposite sides of the spindle nut 540 when viewed on the spindle receiving axis 539a. Figure 23 to Figure 28 The connecting members 563, 564 of the embodiment of the drive device are each realized as a rod. Each connecting member 563, 564 extends from the connecting point 563a or 564a of the actuating spindle nut 541 to the connecting point 563b or 564b of the drive housing 530 in the radial direction. The connecting points 563a and 564a of the actuating spindle nut 541 and the connecting point 563b or 564b of the drive housing 530 are each arranged relative to each other with respect to the spindle storage axis AA. Here, each connecting member 563, 564 is arranged between two follower pillars 555, 556 in the circumferential direction.

[0234] Each connection 563, 564 is preferably realized as an elastic connection of the actuating spindle nut 541 and the drive housing 530. Each connection 563, 564 is preferably realized by an elastic material. Each connection 563, 564 can be realized in a different way than by a rod, such as an elastic band.

[0235] Figure 23 to Figure 28 Embodiments of the drive device 501 may also include only one of the connecting elements 563 , 564 .

[0236] Alternatively, if Figure 23 to Figure 28 As shown, in order to achieve a sufficient length of each correspondingly provided connection element 553, 554, in particular to be realized as an elongated connection element and a connection element, for example, in the form of a rod or a band, a corresponding housing recess 565, 566 can be formed on the inner side of the drive housing 530 facing the actuating spindle nut 541 in the radial direction, in which the corresponding housing recess 565, 566 the corresponding connection element 563, 564 partially extends on the side of the drive housing 530. The greater the length of each correspondingly provided connection element 563, 564, the lower the elasticity of the material of the corresponding connection element 563, 564 will be, so as to cause the same rotation angle of the actuating spindle nut 541 with the same force applied to the actuating spindle nut 541 by at least one actuator device.

[0237] As a basis Figure 23 to Figure 28 As an alternative to the implementation of the drive device 501, the resetting device 560 can also be implemented by a single solid joint or by a plurality of solid joints, ie by at least one solid joint, with or without at least one connecting piece 563, 564.

[0238] Figure 23 to Figure 28 The embodiment of the drive device 501 shown has a solid joint device having two solid joints 561 , 562 , which can each also be referred to as a structural joint.

[0239] In each of the embodiments described herein, the resetting device 560 can be realized in particular as an elastic support of the actuating spindle nut 541 on the drive housing 530. Such an elastic support can be arranged in particular so that from the neutral position of the actuating spindle nut 541 relative to the drive housing 530, a rotational movement in each of the mutually opposite circumferential directions causes a resetting force to the neutral position, the strength of which depends on the size of the rotation angle of the corresponding rotational movement.

[0240] Alternatively or additionally, the reset device 560 can be implemented as a combination of a rotary joint and a spring, such as a coil spring, which can be implemented as a hinge joint. Typically, the reset device 560 provides a rotation around an axis that extends along the spindle receiving axis AA, wherein the reset device 560 provides a reset force that is proportional to the relative rotation angle between the actuating spindle nut 541 and the drive housing 530.

[0241] Typically, an embodiment of the drive device 501 may have a drive housing 530 having a housing wall 533 on which at least one actuating surface segment 545c extending in a radial direction is realized, the actuating surface segment 545c being oriented in a first circumferential direction of the actuating spindle nut 541. The drive device 501 may have an actuating spindle nut 541, which forms a spindle space 539 having a spindle receiving axis 539a and defines a radial direction of the drive device 501, wherein the actuating spindle nut 541 has an abutting surface segment 555c ( Fig.23 ), the abutment surface segment 555c is oriented along a second circumferential direction of the actuating spindle nut 541, which is opposite to the first circumferential direction, wherein the abutment surface segment 555c of the actuating spindle nut 541 and the corresponding abutment surface segment 545c of the housing wall (533) oriented along the second circumferential direction of the actuating spindle nut 541 are arranged facing each other. Here, an embodiment of the drive device 501 has at least one actuator device 610, which abuts against the abutment surface segment 545c of the housing wall 533 with a first end 11 or 611 and abuts against the abutment surface segment 555c of the actuating spindle nut 541 with a second end 12 or 612, wherein the longitudinal direction of the at least one actuator device 610 extends from the first end 11 to the second end 12.

[0242] exist Fig.25 and Fig.26 The drive device is shown in FIG. 701 and is assigned the reference numeral 701 herein. Fig.25 and Fig.26 The drive device and implementation method described herein are based on Fig.23 and Fig.24 The embodiment of the drive device described herein is such that for the purpose of describing Fig.25 and Fig.26 In the described embodiments, identical features and feature combinations are not described in detail and their reference numerals are used.

[0243] This article refers to Fig.25 and Fig.26The drive device and the embodiment described have a frame device 30 which, together with at least one further drive device, can form a drive system S. At least one actuator device is integrated into each of these drive devices.

[0244] Fig.25 and Fig.26 The embodiment of the drive device 701 shown has a first actuator device 610 and a second actuator device 620. The longitudinal axis L610 of the first actuator device 610 and the longitudinal axis L620 of the second actuator device 620 each extend in the circumferential direction and in particular in the circumferential direction.

[0245] As reference Fig.23 As described above, the first actuator device 610 abuts against the abutment surface section 555c of the first follower support 555 with its first end on the one hand, and against the abutment surface section 545c extending in the radial direction of the housing wall 533 with its second end on the other hand. The second actuator device 620 abuts against the abutment surface section 556c extending in the radial direction of the second follower support 556 with its first end on the one hand, and against the abutment surface section 546c extending in the radial direction of the housing wall 533 with its second end on the other hand. Here, the first actuator device 610 and the second actuator device 620 are arranged on the sides of their respective follower supports 555, 556 when viewed on the spindle receiving axis AA, and these follower supports 555, 556 are oriented in the same direction and are arranged opposite to each other relative to the spindle receiving axis AA.

[0246] The actuator devices 610, 620 are according to the present invention, especially with reference to Fig.16 The actuator devices 10, 20 described are implemented in one and each have an actuator 613 or 623, which has a longitudinal axis L610 or L620, which each extends along the circumferential direction of the drive device 501. The actuator 613 or 623 can be implemented as a piezoelectric actuator. The actuator axes L610, L620 extend along each other. When the actuator device 610 expands, the distance between the abutment surface section 555c and the abutment surface section 545c increases, and when the actuator device 610 contracts, the distance decreases. When the actuator device 620 expands, the distance between the abutment surface section 556c and the abutment surface section 546c increases, and when the actuator device 610 contracts, the distance decreases. The actuator devices 610, 620 can in particular be identical to the respective actuators 613, 623.

[0247] In accordance with Fig.18 or Fig.19When the actuator device 610 is controlled by a control signal, in which the edges of the vibration have different slopes from each other, a friction sliding effect can be achieved between the actuating surface segment 543 and the spindle surface 90a of the spindle 90, and the relative rotation of the spindle 39 inserted in the internal thread 542 of the actuating spindle nut 541 can be achieved by utilizing this friction sliding effect.

[0248] Fig.25 and Fig.26 An embodiment of the drive device 701 has a housing wall 533 having at least two actuating surface segments 545c, 546c extending in a radial direction, one of which is oriented along a first circumferential direction of the actuating spindle nut 541 and the other of which is oriented along a second circumferential direction of the actuating spindle nut 541 which is oriented opposite to the first circumferential direction of the actuating spindle nut 541. Here, the actuating spindle nut 541 has at least two abutment surface segments 555c, 556c, one of which is oriented along the second circumferential direction of the actuating spindle nut 541 and the other of which is oriented along the first circumferential direction of the actuating spindle nut 541, wherein at least one abutment surface segment of the actuating spindle nut 541 and a respective one of the abutment surface segments 545c of the housing wall 533 which are oriented along the circumferential direction of the actuating spindle nut 541 are arranged facing each other. In addition, the drive device 701 has a first and a second actuator device 610, 620, which each abuts against a contact surface section 545c, 546c of the shell wall 533 with a first end 11 or 611, 621 and abuts against a corresponding contact surface section 555c, 556c of the actuating spindle nut 541 with a second end 12 or 612, 622, wherein the corresponding contact surface sections 555c, 556c of the actuating spindle nut 541 and the corresponding contact surface sections 545c, 546c of the shell wall 533 against which the corresponding actuator abuts are opposite to each other.

[0249] In particular, here, at least two actuating surface sections 545c, 546c of the housing wall 533 extend in the radial direction and are oriented away from each other with respect to each circumferential direction, wherein the actuating spindle nut 541 has two followers 550, 551, 552, each of which has a contact surface section 555c, 556c, which extends in the radial direction and is oriented away from each other with respect to each circumferential direction. The two actuators 610 are oriented toward each other in the circumferential direction, wherein each actuating surface segment 545c, 546c of the shell wall 533 and each abutting surface segment 555c, 556c of the actuating spindle nut 541 are opposite to each other, wherein the first and second actuator devices 610 respectively abut against the abutting surface segments 555c, 556c of the follower device 550 and the corresponding abutting surface segments 555c, 556c of the actuating spindle nut 541 when viewed in the direction of the spindle receiving axis 539a.

[0250] Instead, Fig. 27 and Fig.28 As shown, at least two actuating surface segments 545c, 546c of the shell wall 533 can extend in the radial direction and be opposite to each other, wherein the actuating spindle nut 541 has a follower device 550, which is at least sectionally arranged between the actuating surface segments 545c, 546c of the shell wall 533 and has two abutting surface segments 555c, 555d oriented opposite to each other, wherein the first and second actuator devices 610 abut against the corresponding abutting surface segments 555c, 555d of the follower device 550 on the sides of the follower device 550 arranged opposite to each other when viewed in the direction of the spindle storage axis 539a.

[0251] For the operation, it can be provided that, using the reference Fig.18 or Fig.19 The driving signal is used to control the first actuator device 610 and the second actuator device 620 so that the first actuator device 610 and the second actuator device 620 are controlled in anti-phase and alternate in anti-phase between the corresponding temporary sliding state and the friction state.

[0252] It can also be provided for the operation that the periodic drive signal is moved in antiphase to the first actuator device 610 and the second actuator device 620 of the pair of actuator devices 610, 620 and alternates in antiphase between the corresponding temporary sliding state and the friction state, wherein the consecutive edge segments of different signs of the same half cycle of the two periodic drive signals cause the first actuator device 610 and the second actuator device 620 to expand and contract in antiphase and thus cause the corresponding actuation of the abutment surface segment 5456c and the abutment surface segment 546c and thus exert a movement of the actuation surface segment 543 in the same circumferential direction of the spindle 90. The movement of the actuation surface segment 543 is carried out in its time sequence so that the friction state occurs between the actuation surface segment 543 and the spindle surface 90a of the spindle 90 in the sliding state and vice versa.

[0253] exist Fig. 27 and Fig.28 The drive device is shown in FIG. 8 , which is assigned the reference numeral 801 herein. Fig.25 and Fig.26 The drive device and implementation method described herein are based on Fig.23 and Fig.24 The embodiment of the drive device described herein is such that for the purpose of describing Fig. 27 and Fig.28 In the described embodiments, identical features and feature combinations are not described in detail and their reference numerals are used.

[0254] This article refers to Fig. 27 and Fig.28 The drive device and embodiment described have a first actuator device 610, a second actuator device 620, a third actuator device 630 and a fourth actuator device 610. The longitudinal axis L610 of the first actuator device 610, the longitudinal axis L620 of the second actuator device 620, the longitudinal axis L630 of the third actuator device 630 and the longitudinal axis L640 of the fourth actuator device 640 each extend in the circumferential direction and in particular in the circumferential direction. In addition to the reference Fig.25 and Fig.26 In addition to arranging the first actuator device 610 and the second actuator device 620 between each follower support 555 or 556 and the corresponding abutment surface section of the housing wall 533, the third actuator device 630 abuts against the second abutment surface section 555d extending in the radial direction of the first follower support 555 on the one hand, and against the abutment surface section 545d extending in the radial direction of the housing wall 533 facing the abutment surface section 555d on the other hand. Here, the third actuator device 630 and the fourth actuator device 630 are arranged on the same side of their corresponding follower support 555, 556 when viewed on the spindle storage axis AA.

[0255] The second abutment surface section 555d of the first follower strut 555 is oriented opposite to the first abutment surface section 555c of the first follower strut 555. Moreover, in addition, the fourth actuator device 640 abuts against the second abutment surface section 556d extending in the radial direction of the second follower strut 556 on the one hand, and against the abutment surface section 546d extending in the radial direction of the housing wall 533 facing the abutment surface section 556d on the other hand. The second abutment surface section 556d of the second follower strut 556 is oriented opposite to the first abutment surface section 556c of the second follower strut 556.

[0256] For the operation, it can be provided in particular that Fig. 27 and Fig.28 The drive device 801 has a control device which is electrically connected to the two pairs of actuator devices. In principle, the two pairs of actuator devices can be formed by any possible combination of two groups of two actuator devices 610, 620, 630, 640:

[0257] The first pair of actuator devices may be a combination of actuator devices 610 and 620 , and the second pair of actuator devices may be a combination of actuator devices 630 and 640 .

[0258] The first pair of actuator devices may be a combination of actuator devices 610 and 620 , and the second pair of actuator devices may be a combination of actuator devices 620 and 640 .

[0259] The first pair of actuator devices may be a combination of actuator devices 610 and 640 , and the second pair of actuator devices may be a combination of actuator devices 620 and 630 .

[0260] What can be particularly stipulated for operational operation is that, in the activated state, the control device sends a periodic drive signal to each first actuator device and each second actuator device in the two pairs of actuator devices 610, 620, 630, 640, respectively, wherein the periodic drive signal has at least one half-cycle continuous edge segments of different signs, the maximum slopes of these edge segments having a minimum difference in quantity from each other, wherein the periodic drive signal moves in antiphase to the corresponding first actuator device and the corresponding second actuator device in the corresponding pair of actuator devices 610, 620, 630, 640 and alternates in antiphase between corresponding temporary sliding states and friction states, wherein the continuous edge segments of different signs in the same half-cycle of the two periodic drive signals apply movement of the actuating surface segment 543 in the same circumferential direction of the spindle 90.

[0261] Here, it can be provided, for example, that the first actuator device 610 and the third actuator device 630 are controlled by the same control signal, and the second actuator device 620 and the fourth actuator device 640 are controlled by the same control signal, wherein, for example, the control signal is controlled according to Fig.18 The first actuator device 610 and the third actuator device 630 are controlled by the driving signal of Fig.19 The second actuator device 620 and the fourth actuator device 640 are controlled by a driving signal of , and vice versa, so that the actuator devices are controlled in pairs in anti-phase and alternate in anti-phase between the corresponding temporary sliding state and friction state. These actuator devices can also be controlled in pairs in other ways.

[0262] This article refers to Figure 23 to Figure 28 The embodiments of the drive device 501, 701, 801 described may generally have an actuator device according to the embodiments described herein. In particular, each actuator device may have an actuator 13 having a first end 11 and a second end 12. The first end 11 may abut against a corresponding abutment surface section of the housing wall 533, and the second end 12 may abut against abutment surface section of the spindle nut 540, and vice versa, wherein its expansion and contraction along the first actuator axis L1 is reversibly variable when controlled, wherein the first end 11 and the second end 12 are oriented relative to each other with respect to the corresponding actuator axis, and wherein the corresponding actuator axis may extend transversely to the spindle receiving axis 539a and along the actuation surface section 543 of the spindle nut 540.

[0263] In each embodiment, the abutment surface section may be realized on the actuating spindle nut 541 instead of on the follower strut.

[0264] Description of reference numerals:

[0265] 1 Driver

[0266] 1a Spindle space

[0267] 1b Spindle storage axis

[0268] 2 Drivers

[0269] 2a Spindle space

[0270] 2b Spindle storage axis

[0271] 3 Drivers

[0272] 5 Bearing device

[0273] 7a Lateral retainer

[0274] 7b Lateral retainer

[0275] 8a Lateral retainer

[0276] 8b Lateral retainer

[0277] 10. First actuator device

[0278] 11 The first end of the first actuator 13

[0279] 12 The second end of the first actuator 13

[0280] 13. First Actuator

[0281] 20 Second actuator device

[0282] 21 The first end of the second actuator 23

[0283] 22 The second end of the second actuator 23

[0284] 23 Second actuator

[0285] 30 Frame device

[0286] 39 Spindle Space

[0287] 40 Actuating member structure

[0288] 51 First actuating surface segment

[0289] 52 second actuation surface segment

[0290] 58 Actuation section

[0291] 58a Actuation section

[0292] 58b Actuation section

[0293] 58c Actuation section

[0294] 68a Actuation section

[0295] 68b Actuation section

[0296] 68c Actuation section

[0297] 70 Coupling Unit

[0298] 71 Coupling unit connector

[0299] 72 Coupling unit connector

[0300] 73a First fastening section

[0301] 73b Second fastening section

[0302] 73c Second fastening section

[0303] 74a First fastening section

[0304] 74b Second fastening section

[0305] 74c Second fastening section

[0306] 75 Spring section

[0307] 75a Spring section

[0308] 75b Spring section

[0309] 76 Spring section

[0310] 76a Spring section

[0311] 76a Spring section

[0312] 77a First U-shaped section

[0313] 77b Second U-shaped section

[0314] 77c Third U-shaped section

[0315] 78a First U-shaped section

[0316] 78b Second U-shaped section

[0317] 78c Second U-shaped section

[0318] 79a First bridging section

[0319] 79b Second bridging section

[0320] 90 Spindle

[0321] 90a Mandrel surface of mandrel 90

[0322] 91 The first spindle contact point of spindle 90

[0323] 92 Second spindle contact point of spindle 90

[0324] 93 first end of the spindle 90

[0325] 94 second end of the spindle 90

[0326] 95 Spindle Actuation Part

[0327] 96 Spindle adjustment part

[0328] 200 Drive motor

[0329] 201 Drive unit

[0330] 230 Frame Device

[0331] 231 first biasing device

[0332] 232 Connection section

[0333] 233 First end section

[0334] 233s connection element

[0335] 234 second end section

[0336] 234s connection element

[0337] 235 Second biasing device

[0338] 236 Connection section

[0339] 237 First end section

[0340] 238 Second end section

[0341] 239 Axis Space

[0342] 240 Actuating member structure

[0343] 250 First actuation structure

[0344] 251 First actuator support part

[0345] 252 First base section of the first actuator support portion 251

[0346] 253 Actuator support section of the first actuator support portion 251

[0347] 254 First actuating surface segment

[0348] 255 First actuator function part

[0349] 256 Fastening section of the first actuator support portion 251

[0350] 257 First connecting section

[0351] 258 First actuation section

[0352] 259 Actuation surface of the first actuator functional part 255

[0353] 260 Second actuation structure

[0354] 261 Second actuator supporting portion

[0355] 262 Second base section of the second actuator support portion 261

[0356] 263 Actuator support section of the second actuator support portion 261

[0357] 264 second actuation surface segment

[0358] 265 Second actuator function part

[0359] 266 Second fastening section

[0360] 267 Second connecting section

[0361] 268 Second actuation section

[0362] 269 ​​Actuation surface of the second actuator functional part 265

[0363] 280 Coupling section

[0364] 281 First end section of the coupling section 280

[0365] 282 Second end section of the coupling section 280

[0366] 283 Connecting section of coupling section 280

[0367] 285 Outer end section of the first actuating section 258

[0368] 286 Outer end section of the second actuation section 268

[0369] 287 First transition section between the first end section 285 and the connecting section 283

[0370] 288 Second transition section between the second end section 286 and the connecting section 283

[0371] 501 Drive unit

[0372] 530 drive housing

[0373] 531 Shell outer surface of shell 530

[0374] 531a Cylindrical section of outer surface 531

[0375] 531b Cylindrical section of outer surface 531

[0376] 531c Cylindrical section of outer surface 531

[0377] 531d cylindrical section of outer surface 531

[0378] 532a Straight segment of outer surface 531

[0379] 532b Straight segment of outer surface 531

[0380] 532c Straight segment of outer surface 531

[0381] 532d straight segment of outer surface 531

[0382] 533 Shell wall

[0383] 533a Inner surface section of housing wall 533

[0384] 533b Inner surface section of housing wall 533

[0385] 533c Abutment surface section of edge section 533

[0386] 533d Abutment surface section of edge section 533

[0387] 536 Shell internal space

[0388] 539 Axis Space

[0389] 540 Actuating member structure

[0390] 541 Actuating spindle nut

[0391] 541a Spindle nut outer surface

[0392] 542 internal thread

[0393] 542a constitutes the inner surface of the internal thread 541

[0394] 543 Actuation surface section of the actuation member structure 540

[0395] 545 first recess of the drive housing 530

[0396] 545c Abutment surface section of housing wall 533

[0397] 545d Abutment surface section of housing wall 533

[0398] 546 The second recess of the driving housing 530

[0399] 546c Abutment surface section of housing wall 533

[0400] 546d Abutment surface section of the housing wall 533

[0401] 550 Follower

[0402] 555 First follower support

[0403] 555a The outer end of the first follower support 545

[0404] 555c Abutment surface section of the first follower support 545

[0405] 556 Second follower support

[0406] 556a The outer end of the second follower support 546

[0407] 560 Reset Device

[0408] 563 Connectors

[0409] 563a connection point

[0410] 563b connection point

[0411] 564 connector

[0412] 564a connection point

[0413] 564b connection point

[0414] 610 Actuator device

[0415] 613 Actuator of actuator device 610

[0416] 620 Actuator device

[0417] 623 Actuator of the actuator device 620

[0418] 630 Actuator device

[0419] 633 Actuator of actuator device 630

[0420] 640 Actuator device

[0421] 643 Actuator of actuator device 640

[0422] A. Adjustment system

[0423] AA spindle storage axis

[0424] AV drive unit

[0425] AV1 drive unit

[0426] AV2 Driver

[0427] AV3 drive unit

[0428] A90 Spindle Axis

[0429] B Matrix

[0430] C Slide

[0431] C1 Slide connection

[0432] C2 Adjustment Wall

[0433] C3 Adjustment wall surface

[0434] D Guide device

[0435] D1 rail assembly

[0436] D2 rail assembly

[0437] D12 Distance

[0438] F Spring device

[0439] F1 Spring Device

[0440] F2 Spring Device

[0441] K coupling device

[0442] K1 coupling device

[0443] K2 coupling device

[0444] L1 First actuator axis or longitudinal direction of the actuator device 10

[0445] L2 Second actuator axis or longitudinal direction of the actuator device 20

[0446] L610 actuator axis or longitudinal direction of actuator device 610

[0447] L620 actuator axis or longitudinal direction of actuator device 620

[0448] L630 actuator axis or longitudinal direction of actuator device 630

[0449] L640 Actuator axis or longitudinal direction of actuator device 640

[0450] M Drive motor

[0451] RS Fig.17 The rotation direction of the spindle 90 in

[0452] S Drive System

[0453] S11 voltage signal

[0454] S12 Voltage signal

[0455] S21 voltage signal

[0456] S22 voltage signal

[0457] T11: The time point of the relative minimum value of the voltage signal S11 and the relative maximum value of the voltage signal S12

[0458] T12: The reference value or zero-crossing time of the voltage signals S11 and S12

[0459] T13: The time point of the relative maximum value of the voltage signal S11 and the relative minimum value of the voltage signal S12

[0460] T14: The reference value or zero-crossing time of the voltage signals S11 and S12

[0461] T15: The time point of the relative minimum value of the voltage signal S11 and the relative maximum value of the voltage signal S12

[0462] T16: The reference value or zero-crossing time of the voltage signals S11 and S12

[0463] T21: The time point of the relative minimum value of the voltage signal S21 and the relative maximum value of the voltage signal S22

[0464] T22: The reference value or zero-crossing time of the voltage signals S21 and S22

[0465] T23: The time point of the relative maximum value of the voltage signal S21 and the relative minimum value of the voltage signal S22

[0466] T24: The reference value or zero-crossing time of the voltage signals S21 and S22

[0467] T25: The time point of the relative minimum value of the voltage signal S21 and the relative maximum value of the voltage signal S22

[0468] T26: The reference value or zero-crossing time of the voltage signals S21 and S22

[0469] S31 Voltage signal

[0470] S32 Voltage signal

[0471] T31: The time point of the relative minimum value of the voltage signal S31 and the relative maximum value of the voltage signal S32

[0472] T32: The reference value or zero-crossing time of the voltage signals S31 and S32

[0473] T33: The time point of the relative maximum value of the voltage signal S31 and the relative minimum value of the voltage signal S32

[0474] T34: The reference value or zero-crossing time of the voltage signals S31 and S32

[0475] T35: The time point of the relative minimum value of the voltage signal S31 and the relative maximum value of the voltage signal S32

[0476] T36: Reference value or zero-crossing time point of voltage signals S31 and S32

Claims

1. A drive system (S), comprising: At least two drive units (1, 2) each for receiving and driving a spindle (90) having a spindle axis (A90), wherein: Each of the drive units (1, 2) for receiving a section of the spindle (90) has a spindle space (1a, 2a), the spindle spaces (1a, 2a) extending on a spindle receiving axis (AA) through each of the drive units (1, 2) extending in the direction of the spindle axis (A90), wherein the at least two drive units (1, 2) stably support the spindle (90); A coupling device (K) which elastically couples the at least two drive units (1, 2) to each other in the direction of the spindle receiving axis (AA), wherein the coupling device (K) has at least one spring device (F) which extends along the spindle receiving axis (AA), Wherein, in a load-free neutral state without the spindle (90) being received in the drive system (S), the at least one spring device (F) each stably maintains the two drive units (1, 2) at a predetermined distance (D12) and each provides a spring travel in opposite directions from the neutral state along the spindle receiving axis (AA).

2. The drive system (S) according to claim 1, wherein: The coupling device (K) has two coupling unit connecting parts (71, 72), each of which has at least one spring section (75, 76), wherein the coupling unit connecting parts (71, 72) are each connected to the at least two drive units (1, 2) on sides of the spindle storage axis (AA) arranged opposite to each other when viewed in a viewing direction extending transversely to the spindle storage axis (AA).

3. The drive system (S) according to claim 2, wherein: The spring sections (75, 76) of the coupling unit connecting parts (71, 72) each have a meandering section for providing a spring travel in mutually opposite directions along the spindle receiving axis (S).

4. A drive system (S) according to claim 2 or 3, in, The at least one coupling device (K) has two coupling units (70), which are each arranged on mutually opposite sides of the spindle receiving axis (S) and extend along each other when viewed in a viewing direction extending transversely to the spindle receiving axis (S), Each of the coupling units (70) has two coupling unit connecting parts (71, 72), the two coupling unit connecting parts (71, 72) are connected to two drive units (1, 2), and the two coupling unit connecting parts (71, 72) have spring sections (75, 76) for providing spring travel in opposite directions. The two coupling units (70) are each transverse to the spindle storage axis (S) and extend along each other.

5. Drive system (S) according to any one of the preceding claims, in, Each drive unit (1, 2, 3) has a drive device (AV, AV1, AV2, 201, 501, 701, 801), wherein the drive device (AV, AV1, AV2, 201, 501, 701, 801) has a spindle space (1a, 2a), Each drive unit (1, 2, 3) has a frame device (30), wherein the respective frame devices (30) are coupled to one another by means of the coupling device (K), wherein the at least one drive device (AV, AV1, AV2, 201, 501, 701, 801) has an actuating member structure (40) for contacting and driving the spindle (90), the actuating member structure (40) partially defining the spindle space (1a, 2a), The at least one driving device (AV, AV1, AV2, 201, 501, 701, 801) has at least one actuator device (10, 20, 610, 620, 630, 640), and the actuator device (10, 20, 610, 620, 630, 640) moves the actuating member structure (40) under corresponding control so that the spindle (90) received by the actuating member structure (40) is drivable (90).

6. The drive system (S) according to claim 5, wherein: The at least one drive device (AV) is an actuator device implemented as an electric motor, and the actuating member structure has a drive spindle nut, which is rotatably supported in the drive device (AV) and is fixed in the direction of the spindle storage axis (AA), wherein the drive spindle nut can be screwed onto the spindle (90) and, under corresponding control of the actuator device, the drive spindle nut is set in rotation and thereby the spindle (90) is set in rotation due to frictional contact with the spindle (90).

7. The drive system (S) according to claim 5, wherein: The at least one drive device (AV) has at least one actuator device (10, 20, 610), the actuator device (10, 20, 610) having at least one actuator (13, 23, 613), the actuator (13, 23, 613) being implemented as a piezoelectric actuator.

8. The drive system (S) according to claim 7, in, The drive system (S) has a control device, which is electrically connected to each of the at least one drive device (AV, AV1, AV2, 201, 501, 701, 801), and the control device sends a periodic drive signal to the corresponding drive device in an activated state, wherein the periodic drive signal has at least one half-period continuous edge segment of different signs, and the maximum gradients of the edge segments have a minimum difference in quantity from each other, these maximum gradients cause the movement of the actuating member structure (40) and through these movements, alternately cause a sliding state and a friction state between the actuating surface segment (254, 264, 543) of the actuating member structure (40) abutting against the spindle and the spindle (90).

9. The drive system (S) according to claim 5, in, The at least one drive device (AV) has at least one pair of actuator devices (10, 20, 610, 620, 630, 640), each of the actuator devices (10, 20, 610, 620, 630, 640) having an actuator (13, 23, 613, 623, 633, 643), the actuator (13, 23, 613, 623, 633, 643) being implemented as a piezoelectric actuator having an actuator axis (L1, L2, L610, L620, L630, L640), wherein the at least one drive device (AV) has an actuating member structure (40) which can be brought into contact with a surface of the spindle (90), Wherein, the actuator axes (L1, L2, L610, L620, L630, L640) extend along each other, and the expansion of each actuator device along its actuator axis (L1, L2, L610, L620, L630, L640) is reversible and variable under corresponding electrical control, and the expansion change of the actuator puts the actuator component structure into motion, and the core shaft (90) received by the actuator component structure can be placed in rotation.

10. The drive system (S) according to claim 9, in, The drive system (S) has a control device, which is electrically connected to each pair of actuator devices (10, 20, 610, 620, 630, 640) of the at least one drive device (AV, AV1, AV2, 201, 701, 801), and the control device sends a periodic drive signal to each of the first actuator device (10, 610) and the second actuator device (20, 620) of the pair of actuator devices (10, 20, 610, 620, 630, 640) in an activated state, wherein the periodic drive signal has at least one half-period continuous edge segment of different signs, and the maximum gradients of the edge segments have a minimum difference in quantity with each other, wherein the actuating member structure (40) has at least one actuating surface segment (254, 264, 543) which is in contact with the spindle (90) and can put the spindle (90) into motion in a circumferential direction when the respective actuator devices of the pair of actuator devices (10, 20, 610, 620, 630, 640) are controlled with the periodic drive signal, wherein the periodic drive signal moves in anti-phase to the first actuator device (10, 610) and the second actuator device (20, 620) in the corresponding pair of actuator devices (10, 20, 610, 620, 630, 640) and alternates in reverse between corresponding temporary sliding states and friction states, wherein continuous edge segments of different signs of the same half cycle of the two periodic drive signals apply movement of at least one actuating surface segment (254, 264, 543) in the same circumferential direction of the spindle (90).

11. The drive system (S) according to claim 10, in, The actuation member structure has a first actuation section (258) and a second actuation section (268), the first actuation section (258) having a first actuation surface section (254), the second actuation section (268) having a second actuation surface section (264), wherein when the first actuator device (10, 610) of the corresponding pair of actuator devices (10, 20, 610, 620, 630, 640) is controlled by a control signal, this places the first actuation surface segment (254) in motion, and when the second actuator device (20, 620) of the corresponding pair of actuator devices (10, 20, 610, 620, 630, 640) is controlled by a control signal, this places the second actuation surface segment (264) in motion.

12. The drive system (S) according to claim 11, in, The first actuating section (258) is connected to one end of the first actuator device (10), and the second actuating section (268) is connected to one end of the second actuator device (20), The actuating surface sections (254, 264) are at least each opposite to each other in a section, defining the corresponding spindle space (1a, 2a), and abutting against the spindle contact point of the spindle (90) received by the actuating member structure to drive the spindle (90).

13. A drive motor (M) having a drive system (S) according to any one of the preceding claims and a spindle (90) having a spindle axis (A90), wherein: The spindle (90) is arranged in each spindle space (1a, 2a) and is coupled to a drive unit (1, 2) for driving the spindle (90).

14. The drive motor (M) according to claim 13, in, At least one driving device (AV, AV1, AV2, 201, 501, 701, 801) has an actuating member structure (40), the actuating member structure (40) partially defines the spindle space (1a, 2a) and contacts the spindle (90) to receive and drive the spindle (90), The at least one driving device (AV, AV1, AV2, 201, 501, 701, 801) has at least one actuator device (10, 20, 610, 620, 630, 640), and the actuator device (10, 20, 610, 620, 630, 640) moves the actuating member structure (40) under corresponding control so that the spindle (90) received by the actuating member structure (40) is driven.

15. An adjustment system (A) having a drive system (S) according to any one of claims 1 to 12 and a carriage coupled to the spindle (90).

16. A driving device (501), comprising: a drive housing (530) having a housing wall (533) on which at least one actuating surface section (545c) extending in a radial direction is realized, the actuating surface section (545c) being oriented in a first circumferential direction of the actuating spindle nut (541); An actuating spindle nut (541), wherein the actuating spindle nut (541) forms a spindle space (539) having a spindle receiving axis (539a) and defines a radial direction of the drive device (501), wherein: The actuating spindle nut (541) has at least one abutment surface segment (555c, 555d, 556c, 556d), and the abutment surface segment (555c, 555d, 556c, 556d) is oriented along a second circumferential direction of the actuating spindle nut (541) which is oriented opposite to the first circumferential direction, wherein the at least one abutment surface segment (555c) of the actuating spindle nut (541) and a corresponding one of the at least one abutment surface segment (545c) of the housing wall (533) oriented along the second circumferential direction of the actuating spindle nut (541) are arranged facing each other; At least one actuator device (610), wherein the actuator device (610) abuts against the abutment surface section (545c) of the shell wall (533) with a first end (11) and abuts against the abutment surface section (555c) of the actuating spindle nut (541) with a second end (12), wherein the longitudinal direction of the at least one actuator device (610) extends from the first end (11) to the second end (12).

17. The drive device (701) according to claim 16, in, The housing wall (533) has at least two actuating surface sections (545c, 546c) extending in radial direction, one of which is oriented along a first circumferential direction of the actuating spindle nut (541) and the other is oriented along a second circumferential direction of the actuating spindle nut (541) which is oriented opposite to the first circumferential direction of the actuating spindle nut (541), wherein the actuating spindle nut (541) has at least two abutment surface segments (555c, 556c), one of which is oriented along the second circumferential direction of the actuating spindle nut (541), and the other is oriented along the first circumferential direction of the actuating spindle nut (541), wherein the at least one abutment surface segment of the actuating spindle nut (541) and a corresponding one of the at least one abutment surface segments (545c) of the housing wall (533) oriented along the circumferential direction of the actuating spindle nut (541) are arranged facing each other, wherein the drive device (501) comprises a first and a second actuator device (610, 620), wherein the first and the second actuator devices (610, 620) each abut against the abutting surface section (545c, 546c) of the shell wall (533) with a first end (11) and abut against the corresponding abutting surface section (555c, 556c) of the actuating spindle nut (541) with a second end (12), wherein the corresponding abutting surface section (555c, 556c) of the actuating spindle nut (541) and the corresponding abutting surface section (545c, 546c) of the shell wall (533) against which the corresponding actuator abuts are opposite to each other.

18. The drive device (501) according to claim 17, in, at least two actuating surface sections (545c, 546c) of the housing wall (533) extend in a radial direction and are oriented away from each other with respect to each of the circumferential directions, wherein the actuating spindle nut (541) has two follower devices (550, 551, 552), each of the follower devices (550, 551, 552) having abutment surface segments (555c, 556c), the abutment surface segments (555c, 556c) extending in a radial direction and oriented facing each other relative to each of the circumferential directions, wherein each actuating surface segment (545c, 546c) of the housing wall (533) and each abutment surface segment (555c, 556c) of the actuating spindle nut (541) are opposite to each other, Wherein, the first and second actuator devices (610) respectively abut against the abutment surface segments (555c, 556c) of the follower device (550) and the corresponding abutment surface segments (555c, 556c) of the actuating spindle nut (541) when viewed in the direction of the spindle storage axis (539a).

19. The driving device (801) according to claim 17, in, At least two actuating surface sections (545c, 546c) of the housing wall (533) extend in a radial direction and are opposite to each other, The actuating spindle nut (541) has a follower device (550), which is at least partially arranged between the actuating surface sections (545c, 546c) of the housing wall (533) and has two abutment surface sections (555c, 555d) oriented opposite to each other, Wherein, the first and second actuator devices (610) abut against corresponding abutment surface sections (555c, 555d) of the follower device (550) on sides of the follower device (550) that are arranged opposite to each other when viewed in the direction of the spindle storage axis (539a).

20. The driving device (501) according to any one of claims 16 to 19, wherein: The drive device (501) has a reset device (560), which enables the rotational movements along each circumferential direction opposite to each other to generate a reset force toward the neutral position from the neutral position of the actuating spindle nut (541) relative to the drive housing (530), and the strength of the reset force depends on the size of the rotation angle of the corresponding rotational movement.

Images