DRIVE DEVICE, DRIVE SYSTEM, ACTUATOR SYSTEM AND DRIVE MOTOR

Description

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

[0002] German patent DE10127444A1 describes a piezoelectric actuator with a threaded spindle, comprising a first row of clamping piezoelectric element stacks and a second row of clamping piezoelectric element stacks. The first row of clamping piezoelectric element stacks is located in a preload cage and presses the threaded spindle against counter-pressure rollers. The second row of clamping piezoelectric element stacks is coupled to a section of the preload cage that rests against the threaded spindle, causing an oscillating motion that imparts a unidirectional rotary motion to the threaded spindle. The first row of clamping piezoelectric element stacks is rigidly mounted within the preload cage.

[0003] US Patent 2008 / 0231970A1 describes a drive system for moving a lens, comprising a drive unit for adjusting the lens along an optical axis. The drive unit has two rails coupled to each other by means of two spring devices. The spring devices connect the two rails and press them against the lens perpendicular to the optical axis. A piezoelectric plate is located on each of the two surfaces of the rails, which are oriented oppositely to each other and spaced apart along the optical axis. When the drive unit is actuated, the piezoelectric plates are deformed such that they bend around an axis of curvature perpendicular to the optical axis, thereby moving a guide element on each rail along the optical axis.Since the guide elements are pressed against the lens by the spring mechanism, a linear movement of the lens along the optical axis is achieved. The two spring mechanisms therefore press the rails with their guide elements against the lens.

[0004] WO2006 / 000118A1 discloses a drive system with a drive unit comprising an actuator and piezoelectric elements for moving a passive element in the direction of motion. The actuator or active element has a connecting section and at least two arms extending along the axis of motion. Each arm has a spring section connecting it to the connecting section, a flat arm section extending along the axis of motion and adjoining the spring section, and a contact section, the spring section and contact section being located at opposite ends of the flat arm section.At least one piezoelectric element is attached to each flat arm section to deform the flat arm section and cause relative movement between the connection area and the contact area that abuts the passive element. DE 199 09 913 A1 describes a drive system comprising two bearing elements, each with a piezoelectric element. The two bearing rings form two sliding bearings that are pressed against the rotor, enabling backlash-free rotation of the rotor. The piezoelectric elements can set the bearing ring in rotation to drive the spindle. The bearing elements are spring-loaded against the rotor. Each bearing ring is mounted on the bearing block via several webs, which form flexural joints.

[0005] EP1396012B2 describes a piezoelectric drive with two piezo elements spaced apart in the axial direction.

[0006] Drive devices with a piezoelectric actuator are known from WO29022 / 248711, JPH08-251950A, DE10260363A1, EP3691110A1, CN106208806A, EP2676361B1 and US10161560B2, published on 01.12.2022.

[0007] From CN 106208806A, DE60110107T2 and US2011 / 0109197A1, a drive system with two actuators is known.

[0008] US10161560B2 describes a linear motor with a piezoelectric actuator. US8059346B2 describes a linear drive system.

[0009] One object of the invention is to provide an alternative to known solutions, a drive system and a motor with such a drive system.

[0010] A further object of the invention is to provide a drive system and a motor with such a drive system that is advantageous in terms of accuracy as well as in terms of manufacturing and assembly.

[0011] This problem is solved by the features of the independent claims. Further embodiments are specified in the dependent claims that refer back to them.

[0012] According to the invention, a drive system is provided which has: at least two drive units each for receiving and driving a spindle with a spindle axis, wherein each of the drive units for receiving a section of the spindle has a spindle space which extends in a spindle receiving axis (AA) through each of the drive units in the direction of the spindle axis, wherein the at least two drive units stably support the spindle, a coupling device which elastically couples the at least two drive units to each other in the direction of the spindle receiving axis, wherein the coupling device has at least a spring device which extends along the spindle receiving axis.

[0013] According to the invention, the at least one spring device is realized in such a way that, in an unloaded neutral state in which no spindle is received in the drive system, it holds the two drive units stably at a predetermined distance and provides a spring travel from the neutral state in opposite directions along the spindle receiving axis.

[0014] The drive units of the drive system function as stators. The use of at least two drive units or stators in the embodiments of the drive system according to the invention has the advantage that the drive units can perform both the function of actuating the spindle and the function of bearing the spindle. Each drive system, in particular, executes coordinated actuating movements, especially of an actuating component structure, to drive the spindle. A separate spindle bearing device would also be in contact with the spindle, so its use would have the disadvantage of frictional losses.

[0015] The embodiments of the drive system according to the invention preferably do not have a separate component that has a bearing function for the spindle and no drive function.

[0016] In each embodiment of the drive system according to the invention with one or more of the other features otherwise described herein, it can be provided that the at least one spring device, in an unloaded neutral state in which no spindle is received in the drive system, holds the two drive units stably at a predetermined distance and provides a spring travel from the neutral state in directions opposite to each other along the spindle receiving axis.

[0017] Each embodiment of the drive device according to the invention with a combination of features described herein can have the feature that the spring device has at least one meandering section which is formed transversely to the spindle receiving axis.

[0018] Each embodiment of the drive system according to the invention with a combination of features described herein can have the feature that the coupling device has two coupling unit connecting pieces, each with at least one spring section, wherein the coupling unit connecting pieces are connected to the at least two drive units on opposite sides of the spindle receiving axis when viewed in a direction transverse to the spindle receiving axis.

[0019] The embodiments of the drive system according to the invention with the spring sections of the coupling unit connecting pieces can be realized in such a way that the spring sections each have a meandering section to provide a spring travel in directions opposite to each other along the spindle receiving axis.

[0020] The embodiments of the drive system according to the invention, comprising a coupling device with two coupling unit connecting pieces and one or more of the other features of the drive system otherwise described herein, can have at least one coupling device with two coupling units, each of which, viewed in a direction transverse to the spindle receiving axis, is located on opposite sides of the spindle receiving axis and extends towards each other. wherein each of the coupling units has two coupling unit connecting pieces which are connected to both drive units and which each have a spring section to provide a spring travel in opposite directions to each other, wherein the two coupling units each extend transversely to the spindle receiving axis and along each other.

[0021] The embodiments of the drive system according to the invention, incorporating one or more of the other features of the drive system otherwise described herein, can be implemented in such a way as: that each drive unit has a drive device with a spindle space, that each drive unit has a frame device, wherein the respective frame devices are coupled to each other by means of the coupling device, that at least one drive device has an actuating component structure for receiving and in particular contacting and driving a spindle, which partially limits the spindle space, that the at least one drive device has at least one actuator device which, when appropriately controlled, moves the actuating component structure in such a way that a spindle received by the actuating component structure can be driven.

[0022] The embodiments of the drive system according to the invention, with an actuating component structure and with one or more of the other features of the drive system described herein, can be realized in such a way that at least one drive device has an actuator device, which is implemented as an electric motor, and the actuating component structure has a drive spindle nut, which is rotatably mounted in the drive device and is fixed in the direction of the spindle receiving axis, wherein the drive spindle nut can be screwed onto the spindle, such that, upon appropriate control of the actuator device, the drive spindle nut and thereby, due to a frictional contact with the spindle, the spindle itself is set into rotation.

[0023] Alternatively, the embodiments of the drive system according to the invention can be realized with an actuating component structure and with one or more of the other features of the drive system otherwise described herein in such a way that at least one drive device has at least one actuator device with at least one actuator which is realized as a piezo actuator.

[0024] In each embodiment of the drive system according to the invention, at least one, and in particular each, drive unit thereof can have a drive device with an actuator that 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 opposing deformations, e.g., a multiple or multiple sequence of length increases and decreases, in order to move the actuating component structure accordingly and to rotate and drive the spindle against which the actuating component structure rests.

[0025] If a drive system according to the invention were implemented with at least one multilayer actuator and if such a drive system had a separate bearing device or drive function with actuating movements that supports the spindle, the respective multilayer actuator would have to be operated at a higher voltage. When a multilayer actuator is controlled with higher voltages, the temperature of the multilayer actuators can increase, which overall results in a decrease in the efficiency of the respective multilayer actuator.

[0026] In each embodiment of the drive system according to the invention, at least one drive unit and in particular each drive unit thereof can have a drive device with an actuator that is implemented in a bulk design.

[0027] The embodiments of the drive system according to the invention, with an actuating component structure and with one or more of the other features of the drive system described herein, can be implemented such that the drive system has a control device that is electrically connected to each of the at least one drive device and which, in an activated state, sends a periodic drive signal to the respective drive device, which has at least one half-period of successive flank sections of different signs, the maximum slopes of which have a minimal difference in magnitude to each other, which cause movements of the actuating component structure and, through this, alternately a slip state and a friction state between an actuating surface section of the actuating component structure, which bears against the spindle, and the spindle.

[0028] The embodiments of the drive system according to the invention with an actuating component structure and with one or more of the other features of the drive system otherwise described herein can be realized in such a way that at least one drive device has at least one pair of actuator devices, each of which has an actuator that is realized as a piezo actuator with an actuator axis, wherein at least one drive device has an actuating component structure that can be brought into contact with the surface of a spindle, wherein the actuator axes run along each other and the extension of each actuator can be reversibly changed along its actuator axis upon appropriate electrical control and the change in extension of the actuators sets the actuating component structure in motion and sets a spindle received by the actuating component structure into rotation.

[0029] The embodiments of the drive system according to the invention, comprising at least one pair of actuator devices and comprising one or more of the other features of the drive system otherwise described herein, can be implemented in such a way as: that the drive system has a control device which is electrically connected to each pair of actuator devices of the at least one drive device and which, in an activated state, sends a periodic drive signal to a first actuator device and a second actuator device of the pair of actuator devices, respectively, which has at least one half-period of successive flank sections of different signs, the maximum slopes of which have a minimal difference in magnitude to each other, that the actuating component structure has at least one actuating surface section which is in contact with the spindle and, when the respective actuator devices of the pair of actuator devices are actuated, can set the spindle in motion in the circumferential direction with the periodic drive signal,that the periodic drive signals to the first actuator device and the second actuator device of the respective pair of actuator devices are out of phase and alternate out of phase between a temporary slip state and a friction state, wherein the successive flank sections of opposite sign of the same half-period of the two periodic drive signals exert movements of at least one actuating surface section in the same circumferential direction of the spindle.

[0030] The embodiments of the drive system according to the invention, comprising at least one pair of actuator devices and comprising one or more of the other features of the drive system otherwise described herein, can be implemented in such a way as: that the actuating component structure has a first actuating section with a first actuating surface section and a second actuating section with a second actuating surface section, that when the first actuator device of the respective pair of actuator devices is controlled with a control signal, this sets the first actuating surface section in motion, and when the second actuator device of the respective pair of actuator devices is controlled with a control signal, this sets the second actuating surface section in motion.

[0031] In these embodiments, it may in particular be provided that that the first actuating section is connected to one end of a first actuator device and the second actuating section is connected to one end of a second actuator device, that the actuating surface sections are at least opposite each other in one section and define the respective spindle space and are in contact with a spindle contact point of a spindle received by the actuating component structure in order to drive it.

[0032] According to another aspect of the invention, a drive motor with a drive system according to an embodiment described herein and a spindle with a spindle axis is provided, wherein the spindle is located in each spindle space and is coupled to the drive units for driving the spindle.

[0033] The embodiments of the drive motor according to the invention, with one or more of the other features of the drive system otherwise described herein, can each be implemented in such a way as: that at least one drive device has an actuating component structure that partially delimits the spindle space and is in contact with the spindle for receiving and driving the spindle, that the at least one drive device has at least one actuator device which, when appropriately controlled, moves the actuating component structure in such a way that it drives the spindle received by the actuating component structure.

[0034] According to another aspect of the invention, an positioning system is comprised of a drive system according to an embodiment thereof described herein and of a slide that is coupled to the spindle.

[0035] A drive device may have: a drive housing with a housing wall on which at least one radially extending actuating surface section is realized, an actuating spindle nut which forms a spindle chamber with a spindle receiving axis and defines a radial direction of the drive device, a drive device which is realized as a contact surface section of the actuating spindle nut or as a contact surface section of a component which is attached to or connected with the actuating spindle nut, wherein the contact surface section of the actuating spindle nut or of the component and the contact surface section of the housing wall are oriented towards each other, at least one actuator device,which is located between one of the following surface sections: between the surface section of the actuating spindle nut or the component and the surface section of the housing wall, wherein the longitudinal direction of at least one actuator device runs along the circumferential direction.

[0036] Such a drive device can have a return mechanism which, from a neutral position of the actuating spindle nut relative to the drive housing, causes a rotational movement in each of the mutually opposite circumferential directions due to a return force to the neutral position, the strength of which depends on the size of the angle of rotation of the respective rotational movement.

[0037] According to a further embodiment of the drive device according to the invention, it has: a drive housing with a housing wall on which at least one radially extending actuating surface section is realized, which is oriented in a first circumferential direction of the actuating spindle nut, an actuating spindle nut which forms a spindle space with a spindle receiving axis and defines a radial direction of the drive device, wherein the actuating spindle nut has at least one contact surface section which is oriented along a second circumferential direction of the actuating spindle nut which is directed opposite to the first circumferential direction, wherein the at least one contact surface section of the actuating spindle nut and a respective contact surface section of the housing wall which is oriented along the second circumferential direction of the actuating spindle nut are located facing each other, at least one actuator device,which rests at one end against the contact surface section of the housing wall and at the other end against the contact surface section of the actuating spindle nut, wherein the longitudinal direction of the at least one actuator device extends from the first end to the second end.

[0038] In particular, this embodiment of the drive device can be implemented in such a way that that the housing wall has at least two radially extending actuating surface sections, one of which is oriented along a first circumferential direction of the actuating spindle nut and another of which is oriented along a second circumferential direction of the actuating spindle nut, which is oriented opposite to the first circumferential direction of the actuating spindle nut, that the actuating spindle nut has at least two contact surface sections, one of which is oriented along the second circumferential direction of the actuating spindle nut and another of which is oriented along the first circumferential direction of the actuating spindle nut, wherein the at least one contact surface section of the actuating spindle nut and a respective contact surface section of the housing wall, which is oriented along the circumferential direction of the actuating spindle nut, are located facing each other,that the drive device comprises a first and a second actuator device, each bearing at a first end against one of the contact surface sections of the housing wall and at a second end against a respective contact surface section of the actuating spindle nut, wherein the respective contact surface section of the actuating spindle nut and the respective contact surface section of the housing wall against which a respective actuator bears are opposite each other.

[0039] The drive device can be implemented in such a way that that at least two actuating surface sections of the housing wall extend in a radial direction and are oriented away from each other with respect to each of the circumferential directions, that the actuating spindle nut has two drive devices, each of which has a contact surface section extending in a radial direction and oriented towards each other with respect to each of the circumferential directions, wherein an actuating surface section of the housing wall and a contact surface section of the actuating spindle nut are opposite each other, that the first and a second actuator device, viewed in the direction of the spindle receiving axis, bear against a contact surface section of the drive devices and against a contact surface section of the actuating spindle nut.

[0040] Alternatively, the drive device can be implemented in such a way that that at least two actuating surface sections of the housing wall extend in a radial direction and are opposite each other, that the actuating spindle nut has a drive device which is located at least partially between the actuating surface sections of the housing wall and which has two contact surface sections which are oriented opposite to each other, that the first and a second actuator device, viewed in the direction of the spindle receiving axis, bear against one of the respective contact surface sections of the drive device on opposite sides of the drive device.

[0041] The term "along" in the context of a direction specification mentioned herein, which may in particular also relate to the course of a contour line or a surface or a direction of a component or structural element such as an axis or a shaft or a central axis thereof, in relation to a reference direction or a reference axis, means that a section of the course or the tangent to a respective contour line or respective surface or the direction in an explicitly or implicitly specified viewing direction deviates locally or sectionally by an angle of at most 45 degrees and in particular by at most 30 degrees from the respective reference direction or reference axis to which the respective direction specification refers.

[0042] The term "transverse" here, in the context of a directional specification mentioned herein, which may in particular also relate to the course of a contour line or a surface or a direction of a component or structural element such as an axis or a shaft or a central axis thereof, with respect to a reference direction or a reference axis, means that a section of the course or the tangent to a respective contour line or respective surface or the direction in an explicitly or implicitly specified viewing direction deviates locally or sectionally from the respective reference direction or reference axis to which the respective directional specification refers by an angle between 45 degrees and 135 degrees, and preferably by an angle between 67 degrees and 113 degrees.

[0043] The term "distance", particularly between two surfaces, is understood here to mean the shortest distance.

[0044] A "longitudinal direction" or other reference direction of a reference line, such as in particular a central axis or a centrally running line or a center line of at least one structural component or part, and in particular a guide track, is defined here in particular as the connecting line of the centroids of the smallest cross-sectional areas of the respective structural component along a determined or specified direction or between two determined or specified ends. In the case that the reference line can be curved or at least partially curved, the reference direction can generally be understood as a local longitudinal direction.However, the reference direction here can also be understood as the direction of a straight-line defined reference line, whereby a line is used to determine the straight-line reference line whose position relative to the curved line results in the smallest overall deviation between these lines or the smallest deviation area. The same applies if a straight-line reference line is to be derived from a curved line.

[0045] The term "elongated" in relation to a component, and in particular to a leaf spring or leaf spring assembly, means that a first length of the component, resulting in a first longitudinal direction, is at least 1.2 times greater than a second length of the component, resulting in a second longitudinal direction perpendicular to the first longitudinal direction and the thickness direction. The first length may, in particular, be the length with the greatest magnitude. The aforementioned lengths may also lie in a reference plane, which may, in particular, be a median plane.

[0046] In this context, a longitudinal direction of a component may in particular be understood to mean the aforementioned first longitudinal direction, and a lateral direction may in particular be understood to mean the aforementioned second longitudinal direction.

[0047] The term "essentially" in relation to a feature or value is understood herein to mean in particular that the feature contains a deviation of 20% and specifically of 10% from the feature or its geometric property or value.

[0048] A "curved profile" of a line, edge, or surface means that, when viewed along a reference direction, the surface has no corner over its entire width perpendicular to the reference direction, i.e., it has a differentiable profile.

[0049] The term "curvature" of a component or a surface of a component along a direction, e.g., along a longitudinal direction, means that the component curves along this direction. The curvature is visible in a viewing direction perpendicular to this direction and can, for example, be visible along a lateral direction of the component.

[0050] In this context, "orientation" with respect to a surface, and in particular a surface, refers to the normal to that surface. If the surface in question is not flat but, for example, curved, the normal to a flat surface of the same size can be used to determine the surface normal, provided that the normal to the flat surface exhibits the smallest overall deviation relative to the curved surface.

[0051] The term "extent" of a surface segment refers to the direction of a planar surface segment that runs along the referenced surface segment and, if the latter has curved sections or sections of different orientations, is positioned such that the sum of the deviations between the two surface segments is minimal. With respect to the length of the extension of a surface segment, this term refers to the length of a hypothetical surface segment of the same size in a direction to be defined, which is positioned relative to the referenced surface segment such that the sum of the deviations between the two surface segments is minimal.

[0052] The term "one-piece" in relation to a part or component means that the part or component is manufactured as a single piece. The part or component may be made up of several pieces or parts that are connected, coupled, or joined together. The term "made from a single piece" in this context means that the part or component is manufactured from a single, original workpiece.

[0053] The term "electromechanical material" is understood here to mean a material which, when subjected to a corresponding electrical voltage, undergoes a change in dimensions; for example, a change in length can be caused in an element made of an electromechanical material by applying a voltage.

[0054] In this context, the logical conjunction "or" in relation to two alternatives is understood to mean exclusively one or the other of the alternatives, unless otherwise specified.

[0055] The following describes embodiments of the invention with reference to the accompanying figures. The description of features or components of embodiments according to the invention is to be understood as meaning that, unless explicitly excluded, an embodiment in question may also include at least one feature of another embodiment, either as an additional feature of that embodiment or as an alternative feature that replaces another feature of that embodiment. The figures show: Figure 1a perspective view of an embodiment of the drive system according to the invention with two drive devices and a spindle received by the latter, which is driven by the drive system, Figure 2 a top view of the embodiment of the drive system of the Figure 1 with the spindle, Figure 3 a perspective view of an embodiment of the drive motor according to the invention with the embodiment of the drive system of the Figure 1 with a spindle taken up by this, with a base body and a slide, Figure 4 a further perspective view of the embodiment of the drive motor according to the invention Figure 3 , where the sled is only partially shown, Figure 5 an exploded view of the embodiment of the drive motor according to the invention Figure 3, wherein the base body, the drive system with the spindle it accommodates, and the slide are shown as separate parts, Figure 6 a top view of the embodiment of the drive motor according to the invention Figure 3 , where the sled is only partially shown, Figure 7 a sectional view of the embodiment of the drive motor according to the invention Figure 3 , where the intersection through the line S7-S7 of the Figure 6 is defined Figure 8 a further sectional view of the embodiment of the drive motor according to the invention Figure 3 , where the intersection through the line S8-S8 of the Figure 6 is defined Figure 9a schematic sectional view of an arrangement consisting of a section of the spindle, a threaded section of the actuating component structure of a first drive device and a threaded section of the actuating component structure of a second drive device of the drive system of the Figure 1 , wherein the threaded sections of the actuating component structures are in contact with the spindle and are arranged by the drive system in a neutral position such that their threaded sections are pushed away from each other relative to the thread of the spindle, Figure 10 the schematic sectional view of the arrangement of Figure 9 , wherein the threaded sections of the actuating component structures are compressed relative to the thread of the spindle, Figure 11 the schematic sectional view of the arrangement of Figure 9 , wherein the threaded sections of the actuating component structures are appropriately positioned in the thread of the spindle, Figure 12the schematic sectional view of the arrangement of Figure 9 , wherein the threaded sections of the actuating component structures according to Figure 10 are compressed against the thread of the spindle, whereby the thread form of the thread sections of the actuating component structures differs from the same according to Figure 10 differentiate, Figure 13 a side view of a further embodiment of the drive system according to the invention, which has three drive devices and an additional position fixing device, Figure 14 a perspective view of an embodiment of the drive system according to the invention for three drive devices, wherein only two drive devices are shown; Figure 15 a front view of an embodiment of the drive motor according to the invention with the embodiment of the drive system of the Figure 14 , Figure 16a further embodiment of the drive device which can be used in a drive system or a drive motor according to the invention, Figure 17 a front view of a further embodiment of the drive device, which can be used in a drive system or a drive motor according to the invention, Figure 18 a representation of an exemplary first electrical control signal for activating the first actuator device of the embodiment of the drive device of the Figure 17 , Figure 19 a representation of an exemplary second electrical control signal for activating the second actuator device of the embodiment of the drive device Figure 17 in the control signal that is in the Figure 18 is shown, whereby the spindle is moved in the first positioning direction, which is shown in the first control signal and simultaneously with the second control signal. Figure 17is shown, is powered, Figure 20 a perspective view of an embodiment of the drive motor according to the invention with two examples of the embodiment of the drive system of the Figure 14 , which are arranged one behind the other in the spindle axis, with a spindle received by it, with part of the base body, but without the slide, Figure 21 a side view of the embodiment of the drive motor according to the invention Figure 20 , where the sled is not shown, Figure 22 a perspective view of a further embodiment of the drive system according to the invention with three drive devices, with a spindle received by it, with a position fixing device that fixes the positions of the two outer of the three drive devices, Figure 23 a perspective view of an embodiment of a drive device according to the invention, which is integrated into the drive system of the Figure 22 usable Figure 24 a front view of the embodiment of the drive device of the Figure 23 , Figure 25 a perspective view of a further embodiment of a drive device according to the invention, which is integrated into the drive system of the Figure 22 usable Figure 26 a front view of the embodiment of the drive device of the Figure 25 , Figure 27 a perspective view of a further embodiment of a drive device according to the invention, which is integrated into the drive system of the Figure 22 usable Figure 28 a front view of the embodiment of the drive device of the Figure 27 .

[0056] According to the invention, a drive system S is generally provided with at least two drive units, each for receiving and driving a spindle 90 with a spindle axis A90. A spindle chamber extends through each of the drive units, each with a spindle receiving axis that coincides so that it can receive the spindle 90. The spindle receiving axes and the spindle axis A90 also coincide. A spindle receiving axis is understood here to be an axis along which a spindle chamber extends, in which a section of a spindle, to be driven by the drive units, can be received. At least two drive units, or two drive units each, are resiliently coupled to one another by at least one coupling device K in the direction of or along the spindle receiving axes.

[0057] To illustrate the invention in the figures, a Cartesian coordinate system is also used in them.

[0058] One embodiment of the drive system S according to the invention is described in the Figures 1 and 2 This drive system S has two drive units 1, 2. Generally, the drive units 1, 2 provided according to the invention each have a drive device, which is generally designated herein by the reference numeral AV, and optionally a bearing device 5 in which the respective drive device AV is received or mounted. The two drive devices, which are in the Figures 1 and 2 The reference symbols AV1 and AV2 are also specifically assigned to the figures shown. A spindle chamber 1a, 2a extends through each of the drive units 1, 2, each with a spindle mounting axis 1b, 2b. The spindle mounting axes 1b, 2b coincide and are subsequently referred to as spindle mounting axis AA, which defines them in combination (see also Figure 8), designated. If a spindle 90 is located in the spindle spaces 1a, 2a, its spindle axis A90 coincides with the spindle mounting axes 1b, 2b or the spindle mounting axis AA. The bearing device 5 can, as in the Figures 1 and 2 The embodiment of the drive system S according to the invention is shown to be formed from lateral supports, between which a respective drive device is arranged and by which the respective drive device is supported. In this respect, the embodiment of the drive system S according to the invention has Figures 1 and 2 on: a first drive unit 1 with two first, lateral supports 7a, 7b in relation to the spindle receiving axis AA, on which a first drive device AV1 is mounted, and a second drive unit 2 with two second, lateral supports 8a, 8b in relation to the spindle receiving axis AA.

[0059] The bearing device 5 can be formed in one piece or manufactured as one piece in any embodiment of the drive unit used according to the invention, wherein, for example, the lateral supports 7a, 7b or 8a, 8b each form a single component, each having a connecting piece that structurally, i.e. rigidly, connects the respective lateral supports 7a and 7b or 8a and 8b.

[0060] The spindle 90 can have a spindle actuating element 95, which, for example, is attached to an end section of the spindle 90 or is shaped as an end section of the spindle 90, in order to allow manual rotation of the spindle 90. The spindle actuating element 95 is suitable for manual operation to manually rotate the spindle. The spindle 90 can also have a spindle positioning element 96, with which the axial position or axial movements of the spindle 90 are transferred to a slide C ( Figure 3), which interacts with the drive system S, can be transmitted. In the representation of the Figures 1 and 2 The spindle adjusting element 96 is shaped as an end piece intended to serve as a stop against a driver or stop surface of the slide C. Instead of being an end piece, the spindle adjusting element 96 can also be implemented in another way, for example as a nut that is rotationally fixed relative to the spindle 90 and connected to the slide C.

[0061] The drive system S according to the invention comprises a coupling device K that couples at least two drive units to one another. The coupling device K thus connects two drive units to each other, with the drive units being arranged one behind the other along the spindle mounting axis AA. According to the invention, the coupling device K can generally be designed as a spring device F. The embodiment of the drive system S according to the Figures 1 and 2The coupling device K has two spring devices F1, F2. The coupling device K or the spring devices F1, F2 is / are, according to the embodiment of the drive system S, according to the Figures 1 and 2 Each coupling unit 70 is designed as at least one single-piece unit, which is essentially plate-shaped. In general, a coupling unit 70 can also be formed from several individual parts.

[0062] In embodiments of the drive system S, in which the drive units each have a drive device and a bearing device that supports the drive device, as in the Figures 1 and 2As shown, the bearing devices of the drive units can be connected to each other by means of the coupling device K. Alternatively, in these cases, the drive devices can be connected to each other by means of the coupling device K, or both the drive devices and their bearing devices can be connected to each other.

[0063] The coupling device K of the embodiments of the drive system S according to the invention has at least one spring device F with which the drive devices AV, which the coupling device K couples, are in a neutral state with respect to each other, in which no external forces or forces negligible with respect to the spring force exerted by the spring device F act on the respective drive devices AV and these drive devices AV assume a neutral state distance with respect to each other, and can assume adjusting states when corresponding external forces act on the drive devices AV.In the adjustment states, the drive devices AV assume distances to each other that differ from the neutral state distance and which, depending on the external forces acting on the respective drive devices AV, can be both adjustment states in which the distances between the respective drive devices AV are smaller than the neutral state distance, and adjustment states in which the distances between the respective drive devices AV are larger than the neutral state distance.

[0064] In particular, the coupling device K provided according to the invention is implemented such that the at least one spring device F thereof can shorten or lengthen in the direction of the spindle receiving axis AA. Thus, the drive devices AV, which the coupling device K couples, move towards or away from each other when the drive devices AV exert corresponding forces on the coupling device K. These forces can therefore be either compressive or tensile forces acting from the drive devices that the coupling device K couples, and in particular on the at least one spring device F, which is provided for supplying the aforementioned spring travel.In other words, the at least one spring device F is designed in such a way that, starting from its neutral state, it allows both an increase and a decrease in the effective spring length between the drive devices that couple the coupling device K.

[0065] In summary, the coupling device K comprises at least one spring device F which, in an unloaded neutral state in which no or negligible external forces act on the drive devices AV, i.e., in particular when no spindle 90 is included in the drive system S, holds each of the two drive units 1, 2 stably at a predetermined distance D12 and provides a spring travel from the neutral state in opposite directions along the spindle mounting axis AA. This respective spring travel occurs in particular when no spindle 90 is included in the drive system S and the drive devices AV exert corresponding forces on the coupling device K.

[0066] In general, each of the drive units of a drive system S provided for according to the invention can also be implemented without a bearing device 5. The drive units 1, 2, or their respective frame devices 30 can be held and supported directly, i.e., without an intervening component, by means of the coupling device K, by being coupled to one another. The respective drive devices are also directly coupled to one another by the coupling device K. Furthermore, as the Figure 1 The frame device 30 is realized in one piece with the bearing device 5. The respective coupling unit 70 is located, viewed in the direction of the spindle mounting axis AA or the spindle axis A90, to the side of the respective spindle space 1a or 1b and to the side of the spindle 90 and generally extends along the spindle mounting axis AA and, in the realization according to Figures 1 and 2additionally transverse to the spindle mounting axis AA. The embodiment of the drive system S according to the invention of the Figures 1 and 2The coupling unit 70 comprises two coupling unit connectors 71, 72, which, viewed in the direction of the spindle mounting axis AA, are each located at one of two opposite ends of the coupling unit 70. The coupling unit connectors 71, 72 each have two fastening sections 73a, 73b and 74a, 74b respectively, arranged one behind the other in the direction of the spindle mounting axis AA. These fastening sections are attached, for example, by means of a connecting device to a frame device 30 of the respective drive device AV, AV1, AV2. The first fastening sections 73a, 74a, which are opposite to each other with respect to the spindle mounting axis AA, are attached to a first drive unit 1, and the fastening sections 73b, 74b, which are opposite to each other with respect to the spindle mounting axis AA, are attached to a second drive unit 2.The two fastening sections 73a, 73b of a first coupling unit connector 71 and the two fastening sections 74a, 74b of each of a second coupling unit connector 71, 72 are connected to each other by a spring section 75 or 76 respectively.

[0067] According to the accounts of Figures 1 and 2 Each spring section 75 or 76 has three U-shaped sections 77a, 77b, 77c or 78a, 78b, 78c or loop sections, respectively, which are arranged one behind the other in the spindle receiving axis AA and are alternately shaped in opposite directions to form a meander shape, so that the spring sections 75 or 76 are also referred to herein as meander sections. In general, each meander section can also have only one loop section or several loop sections. The loops can be angular, paraboloid, triangular, or otherwise shaped, as shown.

[0068] Depending on the number of drive units that the coupling device K is to connect, the coupling device K or spring device has a corresponding number of coupling units 70. In the embodiments of the drive system S of the Figure 22 The coupling device K has a coupling unit 70, each with two coupling unit connecting pieces 71, 72, which, viewed in the direction of the spindle receiving axis AA, are located at one of two opposite ends of the coupling unit 70.

[0069] The coupling unit 70 of the embodiment of the drive system of the Figures 1 and 2The assembly comprises a first bridge section 79a and a second bridge section 79b, each extending transversely to the spindle receiving axis AA and situated one behind the other along the spindle receiving axis AA, with the first bridge section 79a connecting the fastening sections 73a and 74a, and the second bridge section 79b connecting the fastening sections 73b and 74b. Thus, the spring sections 75 and 76 are located between the bridge sections 79a and 79b and can, in particular, connect them to one another.

[0070] Each spring section 75 or 76 can also be shaped such that the respective meander section is connected via an intermediate section extending along the spindle receiving axis AA, on the one hand to the first bridge section 79a or the respective first fastening section 73a, 74a and on the other hand to the second bridge section 79b or the respective second fastening section 73b, 74b, wherein the U-shaped section 77c or 78c is formed transversely to the spindle receiving axis AA.

[0071] Each coupling unit 70, or one of the coupling units 70, can be realized in a different way than essentially in a plate-like form, e.g., as a bar structure, a lattice structure, or as a casting. The coupling unit 70 of the first spring device F1 and the coupling unit 70 of the second spring devices F2 are, in the embodiment of the drive system S, according to the Figures 1 and 2The coupling unit 70 of the first spring device F1 and the coupling unit 70 of the second spring device F2 can be shaped identically to each other. Alternatively, the coupling unit 70 of the first spring device F1 and the coupling unit 70 of the second spring device F2 can be shaped differently to each other.

[0072] Each coupling unit 70, or one of the coupling units 70, can be realized in a multi-part form, and in particular a two-part form, i.e., as a combination of two parts, unlike the forms of coupling unit 70 described above. For example, a first part of the coupling unit 70 and a second part of the coupling unit 70 can each be realized as a coupling unit connector 71 and 72, respectively, so that in this case the respective coupling unit 70 does not have any bridge sections connecting the coupling unit connectors to each other.

[0073] As an alternative to the embodiments of the coupling unit 70 described above, otherwise with the described combinations of features, it can be provided that the coupling unit 70 has only a first spring device F1 and only a second spring device F2.

[0074] The embodiments of the coupling unit 70, otherwise with the described combinations of features of the drive system S, can also have only one coupling unit connector or more than two coupling unit connectors.

[0075] The embodiments of the coupling unit 70, otherwise with the described combinations of features, can be realized in such a way that one or more spring sections are realized as a loop section or as a coil spring section or as a disc spring section or in another way as a spring section.

[0076] The embodiments of the drive system S according to the Figures 1 and 2can have an embodiment of the coupling device K which has only one coupling unit 70 which, viewed in the direction of the spindle receiving axis AA, is located to the side of the spindle 90.

[0077] The embodiments of the coupling device K provided according to the invention ensure that the two drive units 1, 2 are held stably at a predetermined distance D12, even when actuated during operational use, and that the coupling device K, starting from the neutral state in which no external forces act on the coupling device K, particularly in the direction of the spindle receiving axis AA, provides a spring travel in opposite directions along the spindle receiving axis AA.

[0078] The drive system S according to the invention can be used in a drive motor M in which a spindle 90 is inserted into the drive system S.

[0079] One embodiment of the drive motor M according to the invention is described in the Figures 3 to 8 shown. The manufacture of the drive motor M is based on the Figures 1 and 2The illustrated embodiment of the drive system S is inserted into or integrated with a base body B. The base body B can be shaped, as shown, such that the drive system S is embedded or mounted within it. A slide C with a table or a slide connection device C1 is movably mounted on the base body B by means of a guide device D. The guide device D is designed such that the slide C can perform a linear movement relative to the base body B.In the illustrated embodiment, the guide device D is implemented by two guide rail combinations D1 and D2 arranged laterally with respect to the spindle mounting axis AA. A first guide rail component is attached to or formed on the base body B, and a second guide rail component is attached to or formed on the carriage C. Both guide rail components provide a positioning movement of the carriage C relative to the base body B in the direction of the spindle mounting axis AA. The guide device D can also be implemented by only one guide rail combination D1 or D2, or in another manner. Alternatively or additionally, one or both of the guide rail combinations D1 and D2 can be designed as encoders or position sensors, as shown in the [reference to be added]. Figure 5 This is the case for the second guide rail component D2.

[0080] The drive units 1, 2 of the drive motor M can each be actuated by a corresponding electrical control signal, with which an actuating component structure 40 in each drive device of the drive system S can rotate the spindle 90 or bring it into a predetermined rotational position. An actuating component structure 40 is located in contact with the spindle 90 or with a corresponding spindle contact point of the spindle 90 or with several corresponding spindle contact points of the spindle 90.

[0081] In the embodiment of the drive motor M according to the invention Figures 3 to 8The unambiguous conversion of a rotary movement of the spindle 90 into a predetermined linear movement of the slide C is achieved by a stop wall C2 with a stop wall surface C3 facing the spindle 90, and by a preloading device E, which reaches the stop wall C2 and thus the slide C in the direction of the base body B and thus towards the spindle 90. The base body B has a front wall B1, against which a first end 93 of the spindle 90 is located. The slide C has a stop wall C2, which is located at a second end 94 of the spindle 90. The second end 94 of the spindle 90 rests against the stop wall C2. The preloading device E is fixed, in particular at its first end, to the base body B and, in particular, at its second end, to the slide C.

[0082] The pre-tensioning device E of the embodiment of the drive motor M according to the Figures 3 to 8The preloading device E is implemented by two coil springs E1 and E2, and generally by two springs running parallel to each other and along the spindle mounting axis AA. These springs are fixed to the front wall B1 of the base body B and to the actuating wall C2 of the slide C. Alternatively, the preloading device E can be implemented with at least one elastic component that exerts an attractive force that preloads the base body B and the slide C relative to each other. This elastic component can be fixed at one point on the base body B and at one point on the slide C, with these points spaced apart along the spindle mounting axis AA. The elastic component exerts a predetermined minimum attractive force when the spindle is in its retracted position (90°). An advantage of this arrangement is that the movement of the slide C on the base body B is decoupled from the movement of the spindle in the drive devices of the drive system S.In particular, this prevents the spindle from jamming in the drive devices.

[0083] The coupling of the rotary motion of the spindle 90 and a linear motion of the slide C in a unique way can also be realized in other ways, for example by a spindle nut screwed onto the spindle 90, which is rotationally fixed to the slide C relative to the spindle 90.

[0084] The drive units 1, 2 each have a drive device AV with the actuating component structure 40, which is in contact with at least one actuating section or a contact surface section at a respective spindle contact point 91 of the spindle 90, viewed along the spindle mounting axis AA. The respective drive device AV has an electrical connection device through which the 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 component structure 40. The actuating movement is implemented such that it causes a rotary movement of the spindle 90 in accordance with the control signal.

[0085] Each drive device AV also has at least one actuator device with which at least one actuating section 58a, 58b or a contact surface section, each of which contacts a spindle contact point of the spindle 90 and can be moved in the circumferential direction of the spindle 90 in order to rotate and drive the spindle 90.

[0086] The drive device AV can also have two or more than two actuator devices, each having an actuating section 58a, 58b or each having a contact surface section, each contacting a spindle contact point of the spindle 90, wherein the spindle contact points of the spindle 90 contact different spindle contact points of the spindle 90 in the circumferential direction of the spindle 90 and are moved in the circumferential direction of the spindle 90 when the actuator devices are controlled accordingly in order to rotate and drive the spindle 90.

[0087] In this process, two of the at least two actuator devices can be controlled in the same phase or in opposite phase to set the spindle 90 in motion.

[0088] In particular, for the drive of the spindle 90, each of the at least one drive device can be controlled in such a way that a temporal sequence of a slip state and a friction state is created between the respective actuation section 58a, 58b or the respective system surface section and the associated spindle contact point of the spindle 90.

[0089] The accuracy of the positioning of the slide C relative to the base body B depends in part on the accuracy with which at least one corresponding actuating section 58 of the actuating component structure 40 of the respective drive device AV rests on a respective spindle contact point 91 of the spindle 90 with respect to the spindle receiving axis AA.

[0090] For this purpose, the coupling device K can be configured according to one of the embodiments provided for in the invention as shown in the illustration. Figure 9 The actuating sections 58a and 58b of each pair of adjacent drive devices AV are provided in such a way that they establish a neutral position free from external forces, in which the distance between the threaded sections of the respective actuating sections 58a and 58b, when in contact with corresponding spindle contact points of the spindle 90, is a fraction of the size of one thread of the spindle thread larger than would correspond to a perfect match between the threaded sections of the respective actuating sections 58 and the threaded section of a respective spindle contact point 91 of the spindle 90, against which the actuating section 58 is in contact. This condition is in the Figure 9This results in a centering of the threaded sections of the respective actuating sections 58 with the threaded section of a respective spindle contact point 91 of the spindle 90.

[0091] This effect is particularly advantageous if the cross-sectional shape of the threads of the thread sections of the respective actuating sections 58 and the thread sections of the respective spindle contact points 91 of the spindle 90 is triangular or is realized in such a way that their oppositely located outer surfaces run obliquely to each other.

[0092] In the Figure 10 The effect of a coupling device K is shown in which the distance between the thread sections of the respective actuating sections 58a, 58b when in contact with corresponding spindle contact points of the spindle 90 is smaller by a fraction of the size of a thread turn of the spindle thread.

[0093] The Figures 11 and 12This effect of centering the threaded sections of the respective actuating sections 58 with the threaded section of a respective spindle contact point 91 of the spindle 90 is shown instead of by a coupling device K arranged between the drive devices AV by coupling devices K1, K2 which are attached with a first end to an actuating section 58a, 58b of the respective drive device AV and with a second end to the base body B.

[0094] In the Figure 12A further cross-sectional shape of the threads of the actuating section 58 of the respective drive device AV is shown, which causes the thread sections of the respective actuating sections 58 to center with the thread section of a respective spindle contact point 91 of the spindle 90. The cross-sectional shape of the thread sections of the respective actuating sections 58 is trapezoidal, with the mutually oblique surface sections forming part of the side surfaces of the threads.

[0095] The Figure 13This represents a further option for centering the threaded sections of the respective actuating sections 58, 68 or 58a, 58b, 58c or 68a, 68b, 68c with the respective threaded section of a respective spindle contact point 91 of the spindle 90, using a drive system with three drive units 1, 2, 3. The actuating sections 58a, 68a or 58b, 68b or 58c, 68c of at least one of the drive units 1 or 2 or 3 are pressed onto the spindle 90 from one direction, transverse to the spindle mounting axis AA. This measure can also be implemented with only two drive systems, e.g., with the drive system of the Figures 1 and 2, or with more than three drive systems 1, 2, 3. The pressing of at least one of the drive units with its respective actuating section 58 or 68 in the direction of the spindle 90 can be achieved by a position fixing device, e.g. by a clamping device or by an actuator or by an adjusting device, which is integrated with the frame device R of the drive system and the respective actuating section 58a, 58b, 58c or 68a, 68b, 68c or the base body B and the respective actuating section 58a, 58b, 58c or 68a, 68b, 68c for the adjustment of the position of the same relative to each other.

[0096] The Figure 14 Figure 1 shows an embodiment of the drive system S with a coupling device K, which, unlike the one shown on the basis of the Figures 2 and 3The described coupling device K is implemented in such a way that these three drive units can be elastically mounted relative to each other in the spindle mounting axis AA. Figure 14 represents a drive system S with two drive units 1, 2.

[0097] The coupling device K of the embodiment of the drive system S of the Figure 14 For this purpose, spring devices F1, F2 with coupling unit connecting pieces 71, 72 have three fastening sections 73a, 73b, 73c or 74a, 74b, 74c arranged one behind the other in the direction of the spindle receiving axis AA, which can each be attached, for example, by means of a connecting device to a frame device 30 of the respective drive device AV, AV1, AV2, wherein in the illustrated embodiment only two fastening sections 73a, 73c and 74a, 74c are each attached by means of a connecting device to a frame device 30 of the respective drive device AV1 and AV2.

[0098] The spring devices F1, F2 of the embodiment of the drive system S according to the Figure 14 This differs from the spring devices F1, F2 of the embodiment of the drive system S according to the Figure 1 in the form of the coupling unit connecting pieces 71, 72, each having three fastening sections 73a, 73b, 73c or 74a, 74b, 74c, respectively, wherein two fastening sections adjacent in the direction of the spindle receiving axis AA are each connected to one another by a spring section 75a, 75b or 76a, 76b, respectively. In the illustrated embodiment, the spring sections 75a, 75b or 76a, 76b are as shown in the Figure 1 formed from three U-shaped sections. However, the spring sections 75a, 75b and 76a, 76b can also be realized in other ways, particularly as mentioned herein.

[0099] The drive device AV of the at least one drive unit 1, 2 can be designed in various ways.

[0100] An embodiment of a drive device AV, which can be used in at least one drive unit 1, 2, is described in the Figure 16 The frame device 230, shown and designated therein by reference numeral 201, comprises a frame device 230 with a first clamping device 231, a second clamping device 235, a first actuator support part 251, and a second actuator support part 261. The frame device 230 of the drive device AV can be inserted into the base body B of a drive system S.

[0101] The drive device 201 can generally include an actuator 13 or 23, or consist of an actuator 13 or 23. For example, the actuator device 10, 20 can include the actuator 13 or 23 and an outer coating of at least some of the actuator 13 or 23. Alternatively or additionally, the actuator device 10, 20 can include the actuator with or without an outer coating of at least some of the actuator 13 or 23, and a housing that surrounds the actuator 13 or 23 with or without an outer coating of at least some of the actuator 13 or 23. Such a housing can be designed to pre-tension or additionally pre-tension the actuator 13 or 23.

[0102] The actuator 13, 23 is a piezo actuator, i.e., an actuator 13, 23 that consists of, or comprises, piezoelectric and, in particular, piezoceramic material. Actuators made of other electromechanical materials are also conceivable. In general, any type of actuator is conceivable, such as hydraulically or pneumatically operated actuators, or actuators made of a shape-memory material.

[0103] The drive device AV, 201 is designed to drive a spindle 90 with a spindle axis A90. The drive device AV, 201 has a spindle chamber 39 for receiving the spindle 90, which extends along a longitudinal axis of the spindle chamber. For this purpose, embodiments of the drive device AV according to the Figure 16 and 17 on: the first actuator device 10 with a first end 11, with a second end 12 and with a first actuator 13, the extension of which is reversibly variable when controlled along a first actuator axis L 1, wherein the first end 11 and the second end 12 are oriented opposite to each other with respect to the first actuator axis L 1 and wherein the first actuator axis L 1 extends transversely to the spindle axis A90 of a spindle 90, the second actuator device 20 with a first end 21, with a second end 22 and with a second actuator 23, the extension of which is reversibly variable when electrically controlled along a second actuator axis L 2, wherein the first end 21 and the second end 22 are oriented opposite to each other with respect to the first actuator axis L 1 and wherein the first actuator axis L 1 and the second actuator axis L 2 extend along each other, the actuating component structure 40, 240 and the frame device 30,which provides a spindle chamber 39 for receiving the spindle 90.

[0104] The actuating component structure 240 of the drive device 201 comprises: 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 each other and together form a spindle space 239 between them.

[0105] The first actuator device 10 is located between the first actuator support part 251 and the first actuator functional part 255, with the first actuator support part 251 and the first actuator functional part 255 each bearing directly or indirectly via an intermediate component at opposite ends 11 and 12, respectively, of the first actuator device 10. For example, the first end 11 bears against the first actuator support part 251 and the second end 12 against the first actuator functional part 255. The first actuator support part 251, the first actuator functional part 255, and the first actuator device 10 form a first actuation structure 250.

[0106] The second actuator device 20 is located between the second actuator support part 261 and the second actuator functional part 265, with the second actuator support part 261 and the second actuator functional part 265 each bearing directly or indirectly via an intermediate component at opposite ends 21 and 22, respectively, of the second actuator device 20. For example, the first end 21 bears against the second actuator support part 261 and the second end 22 against the second actuator functional part 265. The second actuator support part 261, the second actuator functional part 265, and the second actuator device 20 form a second actuation structure 260.

[0107] The actuating surface sections 254, 264 can have the features of a variant of an actuating surface section described herein and, in particular, be concavely curved when viewed from the spindle space 239. The curvatures are formed in the circumferential direction defined with respect to the spindle axis A90 and are suitable so that they bear in contact with the spindle surface 90a in a planar manner.

[0108] The first actuator support part 251 has a first base section 252 and a subsequent first support section 253. The first actuator functional part 255 has a first fastening section 256 and a first actuating section 258 and a first connecting section 257 connecting them. The first support section 253 is located at the first end 11 of the first actuator device 10, and the first connecting section 257 is located at the second end 12 of the first actuator device 10. The first base section 252 and the first fastening section 256 are attached to a first end section 233 of the clamping device 231 by means of a connecting element 233s.The first actuator support part 251 and the first actuator functional part 255 can be designed such that the first support section 253 exerts pressure on the first end 11 and the first connecting section 257 exerts pressure on the second end 12 in order to compress the first actuator device 10 from both its ends 11, 12. In one variant of the actuating component structure 240, the first fastening section 258 can be omitted and the first connecting section 257 can be attached to the second end 12. A first actuating section 258 extends from the first connecting section 257 along the first actuator axis L1. The first actuating section 258 has a surface section 259 that faces the spindle chamber 239. The first actuating surface section 254 is located in the actuating surface 259.This can generally have features that are described herein with reference to other actuation surface sections, and in particular can be realized as a friction surface in relation to a surface section that surrounds the actuation surface 259.

[0109] Similarly, the second actuator support part 261 has a second base section 262 and a second support section 263 adjoining it. The second actuator functional part 265 has a second mounting section 266 and a second actuating section 268, and a second connecting section 267 connecting them. The second support section 263 is located at the first end 21 and the second connecting section 267 is located at the second end 22 of the second actuator device 20. The second base section 262 and the second mounting section 266 are attached to the second end section 234 of the clamping device 231 by means of a connecting element 234s.The second actuator support part 261 and the second actuator functional part 265 can be designed such that the second support section 263 exerts pressure on the first end 21 and the second connecting section 267 exerts pressure on the second end 12 in order to compress the second actuator device 20 from its two ends 21, 22.

[0110] In one variant of the actuating component structure 240, the second mounting section 266 can be omitted, and the second connecting section 267 can be attached to the second end 22. A 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 facing the spindle chamber 239. The second actuating surface section 264 is located in the actuating surface 269. This surface section can generally have features described herein with reference to other actuating surface sections and, in particular, can be implemented as a friction surface relative to a surface section surrounding the actuating surface 269.

[0111] Surface sections 259 and 269 face each other and are opposite each other. Likewise, actuation surface sections 254 and 264 face each other and are opposite each other.

[0112] The first clamping device 231 clamps the first actuating section 258 and the second actuating section 268 in a spring-like manner from two opposite sides towards the spindle space 239 and towards the spindle 90 respectively.

[0113] Similarly, the second clamping device 235 connects the first base section 252 of the first actuator support part 251 and the second base section 262 of the second actuator support part 261.

[0114] The drive device AV, 201 can also be implemented without the second clamping device 235. The frame device 230 can also be designed differently. The frame device 230 can also be omitted, and the first mounting section 256 and the second mounting section 257 can be directly attached to each other, opposite sections of the base body frame device R with respect to the spindle mounting axis.

[0115] The integration or insertion of the drive device AV, 201 into the base body frame device R can also be carried out in other ways, e.g. by means of the connecting elements 233s, 234s on sections of the base body frame device R opposite each other with respect to the spindle receiving axis.

[0116] In each embodiment of the drive device AV, 201 according to the invention, with all other features described herein and optionally alternative features, the first clamping device 231 and the second clamping device 235 can be attached to one another and thus form a circumferential frame device 230. 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 attached together to at least one of the clamping devices 231, 235. 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 attached together to at least one of the clamping devices 231, 235.

[0117] In the embodiments of the drive device 200 described herein, the frame device 230 with the first clamping device 235 and the second clamping device 235 is thus designed as a structurally continuous component that 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.

[0118] 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. This allows the forces exerted by the second clamping device 235 to (D1) that the first actuator support section 253 presses the first actuator device 10 against the first actuator functional part 255 or the first connecting section 257, thereby pre-tensioning the first actuator device 10 and the first actuator functional part 255 with the first actuating section 258; (D2) that the second actuator support section 263 presses the second actuator device 20 against the second actuator functional part 265 or the second connecting section 267, thereby pre-tensioning the second actuator device 20 and the second actuator functional part 265 with the second actuating section 268.

[0119] In the embodiment of the drive device 1, 201 according to the invention Figure 16The connecting section 257 of the first actuator functional part 255, which abuts the second end 12 of the first actuator device 10, extends laterally towards the spindle chamber 239 and away from the first mounting section 256 of the first actuator support part 251. In the embodiment of the Figure 10 The first actuating section 258 extends from the connecting section 257 along the first actuator axis L1, and the first actuating surface section 254 extends at least partially along the first actuator axis L1. Furthermore, the connecting section 267 of the second actuator functional part 265, which abuts the second end 12 of the second actuator device 20, extends laterally towards the spindle chamber 239 and away from the second mounting section 266 of the second actuator support part 261. In the embodiment of the Figure 10The second actuation section 268 extends from the connecting section 267 along the second actuator axis L2, and the second actuation surface section 264 extends at least partially along the second actuator axis L2. Thus, the first and second actuation surface sections 254, 264 form surface areas located differently from each other when viewed in the direction of the spindle space's longitudinal axis. Likewise, the surface normal directions of points of at least one area of ​​actuation surface sections 254, 264 define an angular range that includes the direction of a vertical of the first actuator axis L1, the second actuator axis L2, or both actuator axes L1, L2.

[0120] In the embodiment of the drive device 1, 201 according to the invention Figure 16The first actuating section 258 and the second actuating section 268 are each designed as a free end of the first mounting section 256 and the second mounting section 266, respectively, which is either fixedly mounted at or connected to the respective connecting section 257 or 267. The first mounting section 256 and the second mounting section 266 can be resiliently mounted at the respective connecting section 257 or 267. The aforementioned features (D1) and (D2) thus cause the first actuating section 258 and the second actuating section 268 to be resiliently pressed against the spindle 90 in order to optimize the driving of the spindle 90.

[0121] Alternatively to these embodiments, the drive device 1, 201 according to the invention can also be implemented in such a way that the actuating sections 258, 268 are mounted on the respective actuator support part 251 or 261, so that the respective actuating surface section 254, 264, depending on the design of the actuating sections 258 and 268, presses less or not resiliently against the spindle 90.

[0122] The second clamping device 235 can, as in the Figure 16The connecting section 236, as shown, can 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 curved or substantially curved. Independently of this, the second clamping device 235 can be plate-shaped or U-shaped overall. In particular, the connecting section 236 has a curvature in the area that does not abut the first end section 237 and the second end section 238. This curvature can be, as shown in the Figure 10 It has been shown that the curvature is uniform, meaning it has no inflection point. The curvature is according to Figure 10The connecting section 236 is concavely curved as viewed from the spindle chamber 239. Alternatively, it can also be convexly curved. In this way, the connecting section 236 springs the first actuating section 258 and the second actuating section 268 from two opposite sides towards the spindle chamber 239 and towards the spindle 90, respectively.

[0123] Actuation of at least one of the actuator devices 10, 20 of the drive motor 200 according to the Figure 16As in the embodiments described above, this causes a relative movement of the first actuating surface section 254 along the first actuator axis L1 or of the second actuating surface section 264 along the second actuator axis L2, or both of these relative movements. Due to the contact of the actuating surface sections 254, 264 with the spindle surface 90a, at least one of the two actuating surface sections 254, 264 drives the spindle 90 in a predetermined direction of rotation controlled according to the control signals. In the case where only one of the actuator devices 10, 20 is actuated, only the actuating surface section 254 or 264 that is functionally connected to the respective actuated actuator device 10 or 20 drives the spindle 90.When the actuator devices 10, 20 are actuated in opposite directions simultaneously, the actuating surface sections 254, 264 drive the spindle 90 in the same direction of rotation in a time interval, corresponding to the circumferential direction in which the actuating surface sections 254 and 264 move the first spindle contact point 91 and the second spindle contact point 92.

[0124] The Figures 14 and 15 and 17 show a variant according to the invention of the herein based on the Figure 16 The embodiments of the drive motor M or 200 according to the invention are described. Figure 17 The illustrated embodiment of the drive motor 200 according to the invention shows the features which can be seen from the Figure 16 are described. Since the features of this embodiment have the same or similar functions as the features of the one described in the Figure 14 The drive motor 200 shown exhibits the respective corresponding characteristics in the Figure 17the same reference symbols as in the Figure 16 used.

[0125] In contrast to the embodiments of the drive motor 200 according to the invention, which is in the Figure 16 As shown, the drive motor 200 has Figure 17 Connecting sections 232 and 236, which are convexly curved as seen from the spindle space 239.

[0126] Furthermore, in contrast to the embodiment of the drive motor M or 200 according to the invention, which is described in the Figure 16 is shown in the Figure 17 In the embodiment of the drive motor M or 200 shown, the first actuator support parts 251, 261 are each formed in a block-like manner.

[0127] The drive devices of the Figure 16 and 17The actuators are designed such that a relatively small deformation of the second end 22 of the second actuator 23 causes a larger displacement or travel amplitude of the second actuating surface section 264, which can be greater than the corresponding movement of the second end 22 of the second actuator 23 by a factor of 1.1 or 1.2. This also applies analogously to the deformation of the second end 12 of the first actuator 13 and the displacement or travel amplitude of the first actuating surface section 254.

[0128] The actuating component structure 240 is manufactured in one piece and includes a coupling section 280. Alternatively, the actuating component structure 240 can also be manufactured in one piece, i.e., without the coupling section 280. The coupling section 280 has a first end section 281, a second end section 282, and a connecting section 283 that connects the first end section 281 and the second end section 282. The first end section 281 is connected to an end section 285 of the first actuating section 258, which is external to the first connecting section 257 or, viewed from the first clamping device 231, is connected via a first transition section 287, in particular rigidly or resiliently.The second end section 282 is connected, in particular rigidly, to an end section 286 of the second actuating section 268 that is outer from the second connecting section 267 or, viewed from the first clamping device 231, via a second transition section 288. In this way, the spindle 90 is located between the connecting section 283 and the first clamping device 231.

[0129] As in the Figure 17 As shown, the cross-sections of the transition sections 287, 288 in the spindle chamber longitudinal axis or the spindle axis A90 are reduced compared to the actuating sections 258, 268 and their end sections 285, 286, and compared to the connecting section 283 of the coupling section 280. This results in the following: Figure 19 In the illustrated embodiment of the drive motor 200, a spring connection of the connecting section 283 with the first actuating section 258 and the second actuating section 268 respectively.

[0130] As in the Figure 17 As shown, the second clamping device 236 is designed to be rigid, so that it does not deform or only deforms insignificantly when the actuators 13, 23 are actuated. In the Figure 22 It has been shown that a spring preload of the actuating sections 258, 268 against the spindle 90 is achieved by the one-piece design of the actuating component structure 240. Thus, the arrangement consisting of the frame device 230 and the actuating component structure 240 also provides a spring preload to the first actuator device 10 along the first actuator axis L1 and the second actuator device 20 along the second actuator axis L2, thereby providing a spring preload to the actuating component structure 240 in the direction of the spindle chamber 239.

[0131] In the Figures 18 and 19 Example voltage signals S31 and S32 are shown, which are used to describe embodiments of the drive motor 200 based on the Figure 16 or 17The described functions can be actuated and spindle 90 can be positioned. The times T31, T32, T33, T34, T35, and T36 are included for illustrative purposes.

[0132] In general, the first voltage signal S31 and the second voltage signal S32 are each periodic and, between two adjacent relative extrema, exhibit a section with a greater absolute slope than the greatest absolute slope occurring between two adjacent relative extrema that precede or follow the aforementioned extrema in time. The respective pairs of relative extrema can be directly adjacent in time. However, the respective pairs of relative extrema need not be directly adjacent in time; several pairs of extrema with greater absolute slopes, preferably with the same sign but also with different signs, can follow each other directly, or be present before or after a pair of relative extrema with less absolute slopes.

[0133] In connection with the signal shapes of the first voltage signal S11 and the second voltage signal S12, "greater slope in magnitude" is understood here to mean a slope in which at least temporary slippage occurs between the first actuating surface section 254 and the first spindle contact point 91 in contact with it, as well as between the second actuating surface section 264 and the second spindle contact point 92 in contact with it, since the movement of the actuating surface sections 254, 264, due to the respective coefficients of friction relative to the respective spindle contact point 91, 92, does not overcome the inertia of the spindle 90, or overcomes it less, than the movements of the actuating surface sections 254, 264 in a section with a "lesser slope in magnitude".

[0134] To cause a positioning movement of the spindle 90 in the direction of rotation DR ( Figure 17The slope of the first voltage signal S31 between a first relative minimum at time T31 and the next subsequent relative maximum at time T33 is greater in absolute value than the slope of the first voltage signal S31 between this relative maximum at time T33 and the next subsequent relative minimum at time T35. The slope between times T31 and T33 can be at least 1.05 times greater than the slope between times T33 and T35.

[0135] At the same time, to cause a positioning movement of the spindle 90 in the direction of rotation DR ( Figure 17) the slope of the second voltage signal S32 between a first relative maximum at time T31 and the next subsequent relative minimum at time T33 is greater in magnitude than the slope of the second voltage signal S32 between this relative minimum at time T33 and the next subsequent relative maximum at time T33.

[0136] The Figures 20 and 21 show an embodiment of the drive system S, which includes two drive systems arranged one behind the other in the spindle mounting axis AA according to the Figure 14 The spring devices F1 and F2 have components mounted on the base body B. The central mounting sections 73b and 74b, respectively, are used to connect them to the base body B. Alternatively, these could also be used to attach a drive device AV.

[0137] The Figure 22Figure 1 shows an embodiment of the drive system S with a coupling device K, which, like the one shown in Figure 2, Figure 14 The described coupling device K is implemented such that these three drive units 1, 2, 3 can be elastically mounted relative to each other in the spindle mounting axis AA. The coupling device K is like the coupling device K of the Figure 14 realized, whereby after the Figure 22 The two coupling unit connecting pieces 71, 72 are implemented as separate components. The coupling device K has two spring sections 75 and 76.

[0138] In contrast to the embodiment of the drive system S according to the Figure 14 The embodiment of the drive system S according to the Figure 22 three drive devices AV1, AV2, AV3, which according to one of the embodiments of the Figures 23 to 28The coupling device K has two spring sections 75, 76. Each spring section 75, 76 has two spring subsections 75a, 75b and 76a, 76b respectively, each subsection being located between two drive devices. The spring sections 75, 76 can be, as shown in the Figure 22 As shown, the coupling device K is realized in one piece, with the three drive devices AV1, AV2, AV3 being attached to the spring section 75 or 76 at locations distributed along the longitudinal direction of the respective spring section 75 or 76, which runs along the spindle mounting axis AA, and in particular at uniformly distributed locations. The coupling device K thus has no bridge section, since its connecting function is performed by the drive devices AV1, AV2, AV3.

[0139] The embodiment of the drive system S according to the Figure 22may have one or two further spring sections which are identical in construction to spring sections 75, 76 and which are each point-symmetrical to spring sections 75 and 76 with respect to axis AA.

[0140] The drive devices AV1, AV2, AV3 are mounted in the bearing device 5.

[0141] The Figure 22 Figure 1 shows an embodiment of the drive system S according to the invention, in which three drive devices AV, AV1, AV2, AV3 are integrated into the Figures 23 to 28 are illustrated. In each of the embodiments of the drive device, which are described below with reference to the Figures 23 to 28 As 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 devices described above and to which reference numeral "10" or reference numeral "20" is assigned.

[0142] Each embodiment of the drive device, which is described below, can also be used. Figures 23 to 28 described, have a control device that is electrically connected to each of the respective drive devices and which, in an activated state, sends a periodic drive signal to the respective drive device.

[0143] The drive device according to the Figure 23 The device , which is referred to below as reference numeral 501, has a frame device 30 which, together with at least one other drive device, can form a drive system S. At least one actuator device is integrated into each of these drive devices.

[0144] The frame device 30 is implemented as a drive housing 530 with a housing wall 533 that provides access to a housing interior 536 surrounded by and formed within it. The frame device 30 can also be implemented in other ways. An actuating component structure 40 according to the invention is arranged in the housing interior 536, which in the embodiment of the drive device 501 of the Figure 23 The reference number 540 is assigned to it. The actuating component structure 540 has the following features: an actuating spindle nut 541, the interior of which defines a spindle space 539 with a spindle receiving axis AA that passes centrally through it and which has a spindle nut outer surface 541a and an internal thread 542 that bears against a circumferential spindle contact point 91 of the spindle 90, and a drive device 550 with which the actuating spindle nut 541 is set in rotation as a result of actuation of the at least one actuator device.

[0145] The internal thread 542 or the inner surface of the actuating spindle nut 541, which forms this, constitutes in the embodiments of the drive devices described herein by reference to the Figures 23 to 28As described, an actuating surface section 543 is provided, which bears against the external thread or the spindle surface 90a of a spindle 90 received by the spindle chamber 539 and which, when the respective drive device is appropriately controlled by control signals transmitted from a control device to the respective drive device, causes a rotary movement of the spindle 90 inserted into the spindle chamber 539. In particular, with appropriate control signals, a temporal sequence of a slip state and a friction state between the actuating surface section 543 and the spindle 90 can be realized. Such control signals are described herein by means of the Figures 18 and 19 described.

[0146] Optionally, the actuating component structure 540 includes a reset device 560 which provides a reset force against rotation of the actuating spindle nut 541 due to the actuation of at least one actuator device.

[0147] The actuating spindle nut 541 or the internal thread 542 thus defines a spindle chamber 539 with a spindle receiving axis AA, the position and orientation of which is identical or substantially identical to a spindle axis A90 of a spindle 39 inserted into the spindle chamber 539 and driven by the drive device 501, and to which the reference numeral 539a is assigned. For the further description of the drive device 501 with such an actuating spindle nut, two circumferential directions extending in opposite directions are defined, each corresponding to the circumferential direction of a fictitious cylindrical surface bearing against the internal thread 542. The circumferential directions are corresponding directions of movement of a fictitious point of the actuating spindle nut 541 when the actuating spindle nut 541 rotates.These circumferential directions also define radial directions, which result from a respective radius on the cylindrical lateral surface.

[0148] In the structural integration of embodiments of the drive device 501, which are described herein by reference to the Figure 23 As described, together with at least one other drive device in a drive system S, the spindle 90 is screwed into the actuating spindle nut 541, as described in the Figure 22 shown. Figure 22 Figure 1 shows a drive system S according to the invention with three drive devices 501 according to the Figure 23 and with a spindle 39 which is screwed into the three drive devices 501.

[0149] The drive housing 530 results in cross-sectional shapes that, viewed in the direction of the spindle mounting axis 539b, have essentially the same shape in the illustrated embodiment due to different sections along the spindle mounting axis 539b. In variants of this embodiment, the drive housing 530 can also be implemented differently and, in particular, may have non-consistent cross-sectional shapes.

[0150] The drive housing 530 of the drive device 501 has a circumferential housing wall 533 with an outer housing surface 531 which, according to the illustrated embodiments of the drive housing 530, viewed in the direction of the spindle mounting axis AA, essentially has the shape of a circular cylindrical surface and is formed from four circular cylindrical sections 531a, 531b, 531c, 531d and four flat sections 532a, 532b, 532c, 532d, which are arranged alternately one behind the other in the circumferential direction over the outer housing surface 531. In the illustrated embodiment, the flat sections 532a, 532b, 532c, 532d are provided as contact surfaces in order to be able to mount a coupling device K of a drive system S and, in particular, a bearing device 5 to the housing 530.

[0151] The drive housing 530, and in particular its outer surface 531, can each have any shape that is suitable or advantageous for integration together with at least one further drive device and a coupling device K into a drive system S, particularly with regard to efficient manufacturing and operational use of the drive device 501. In particular, the drive housing 530 need not be continuous; that is, its outer surface can also consist of several outer surfaces, i.e., be interrupted or discontinuous in the circumferential direction.

[0152] The actuating spindle nut 541 of the embodiments of the drive devices according to the Figures 23 to 28 is essentially cylindrical in shape. Alternatively, the actuating spindle nut 541 can have any other shape that is suitable or advantageous for the efficient manufacture and operational use of the drive device 501.

[0153] The drive device 550 is generally implemented as at least one contact surface section of the actuating spindle nut 541. This contact surface section can be a surface of a component of the actuating spindle nut 541. The respective contact surface section is oriented along the circumferential direction of the spindle nut. The contact surface section or the drive device 550 rests at a respective outer end, formed in the longitudinal direction as viewed from the spindle mounting axis 539a, on the at least one actuator device and transmits any deformation of the at least one actuator device in its respective longitudinal direction to the actuating spindle nut 541, thereby setting it into rotation.

[0154] Between the at least one drive device 550 and the drive housing 530, at least one actuator device 610 is located, wherein the longitudinal direction L610 of the respective actuator device 610 runs along the circumferential directions and, in particular, transversely to the longitudinal extent of a respective system surface section of the drive device 550 or the longitudinal extent of the respective drive device 550. The actuator device 610 includes an actuator 613 or is identical to it. 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 that sends control signals to the respective actuator device, which expands or contracts depending on the control signal.When the actuator device 610 expands or retracts due to a corresponding control signal in the longitudinal direction L610, the actuating spindle nut 541 is rotated relative to the drive housing 530 in one of two mutually opposite circumferential directions.

[0155] The embodiments of the drive device 501, which are described in the Figure 23 As shown, a single actuator device is represented herein by reference numeral 610. For each of the at least one actuator device, which the embodiments according to the Figures 23 to 28 exhibiting a longitudinal direction of the respective actuator device is defined in such a way that the respective actuator device expands or contracts along the longitudinal direction due to corresponding command signals.

[0156] Furthermore, the embodiments of the drive device 501 according to the invention have two drive devices 550, which are located in the Figures 23 to 28also specifically assigned reference numerals 551 and 552. In general, each of the drive devices 550 provided according to the invention can be designed as struts or radially extending arms. The embodiments of the drive device 501, which are described in the Figures 23 to 28As shown, a first drive device 551 is realized as a first arm or a first drive strut 555, and a second drive device 552 as a second arm or a second drive strut 556. The drive struts 555, 556 are connected to the spindle nut 540 by connection points 555a and 556a, respectively, opposite the spindle mounting axis AA. They extend radially from the outer surface 540a of the spindle nut 540 and outwards in opposite directions relative to the spindle mounting axis AA. The longitudinal direction of each drive device 550 or drive strut, or generally the extent of the respective contact surface section of the actuating spindle nut 541, runs transversely to the longitudinal direction L610 of the respective actuator device 610 and transversely to the circumferential directions of the spindle nut 540.The outer end 555a of the first drive strut 555, as seen from the spindle nut 540, is located at a distance from the housing 530 or from an inner surface section 533a of the housing wall 533 that faces radially towards the first drive strut and the spindle nut 540. Likewise, the outer end 556a of the second drive strut 556, as seen from the spindle nut 540, is located at a distance from the housing 530 or from an inner surface section 533b of the housing wall 533 that faces radially towards the second drive strut and the spindle nut 540. In this way, the drive struts 555, 556, together with the actuating spindle nut 541, are movable circumferentially relative to the drive housing 530. The drive housing 530 can have two recesses 545, 546, in each of which one of the drive struts 555, 556 partially extends.The first drive strut 555 extends into a first recess 545, so that the outer end 555a is located in the first recess 545, and the second drive strut 556 extends into a second recess 546, so that the outer end 556a is located in the second recess 546.

[0157] Both drive arms 555, 556 are designed as parts or component parts of the spindle nut 540 and can, as shown, be manufactured or implemented integrally with the spindle nut 540. Alternatively, one or both of the drive arms 555, 556 can be implemented as separate parts that are attached to a base part of the spindle nut 540, which has the internal thread 542. The illustrated embodiments of the drive device 501 have a first drive arm 555 and a second drive arm 556, each implemented as a rigid strut or rigid beam.

[0158] The embodiments of the drive device 501, which are described herein by reference to the Figures 23 to 28 The described configuration can also be implemented without the first drive strut 555, without the second drive strut 556, or without both the first drive strut 555 and the second drive strut 556. In each of these cases, the actuating spindle nut 541 has at least one radially extending contact surface section 555c, which is generally oriented along the circumferential direction, and the housing wall 533 has at least one contact surface section 545c. In this context, the term "rigid" means that the forces and moments that occur during operational use in each of the respective drive devices described herein are not affected by the force and moment. Figures 23 to 28as described, by actuating at least one actuator device of a respective drive device, at most cause deformations of the first support strut 555 and the second support strut 556, which are minor or negligible compared to the deformations and movements of the respective actuator devices during their actuation or control and compared to the drive movements of the actuating spindle nut 541 caused thereby.

[0159] The embodiments of the drive device 501, which are described herein by reference to the Figures 23 to 28As described, the actuator device 610 is located between the first drive strut 555, generally a contact surface section 555c, and the housing wall 533, and is supported by them such that the longitudinal direction L610 of the actuator device 610 extends along the circumferential direction. The actuator device 610 rests, on one side, against a radially extending contact surface section 555c of the first drive strut 555 or the actuating spindle nut 541, or as a contact surface section of a component attached to or connected with the actuating spindle nut 541, and, on the other side, against a radially extending contact surface section 545c of the housing wall 533. The actuator device 610 is, according to one of the descriptions herein, particularly with regard to the Figure 16The described actuator devices 10, 20 are implemented and feature an actuator 613 with a longitudinal axis L610 that runs along the circumferential direction of the drive device 501, such that when the actuator device 610 expands, the distance between the system surface section 555c and the system surface section 545c increases, and when the actuator device 610 contracts, this distance decreases. The actuator device 610 can, in particular, be identical to the actuator 613. Thus, when the actuator device 610 is controlled with a control signal according to Figure 18 or Figure 19 , in which the flanks of an oscillation have different slopes to each other, a friction-slip effect can be achieved, with which a relative rotation of a spindle 39, which is inserted in the internal thread 542 of the actuating spindle nut 541, can be achieved.

[0160] In the embodiments of the drive devices described herein by reference to the Figure 23The features described can also be implemented using only the first drive strut 555 and not the second drive strut 556.

[0161] In general, the embodiments of the drive devices according to the invention, which are described herein with reference to the Figures 23 to 28As described, an actuator device or actuator rests on opposite sides of at least one drive strut or component with its first end relative to its longitudinal direction, the longitudinal direction of which runs transversely to the longitudinal direction of the drive strut or component, wherein the actuator devices or actuators rest at their second end relative to their longitudinal direction on a respective surface of the actuator housing. This allows the actuator devices or actuators to drive or actuate the actuating device 540 in pairs, particularly if the length increase and decrease of the respective actuator device or actuator occurs in opposite directions due to electrical actuation signals. In this way, time-dependent actuation of the actuating device 540 can be achieved in both drive directions. The embodiments of the drive devices described herein are based on the Figures 23 to 28The devices described above further feature a reset device 560 with which the actuating spindle nut 541 is coupled to the drive housing 530, wherein the reset device 560 allows rotation of the actuating spindle nut 541 about an axis of rotation that runs along the spindle mounting axis AA. For this purpose, the reset device 560 can be implemented in any way that is suitable for the respective intended operational use of the drive device 501.

[0162] In general, the reset device 560 is only optional, i.e., the drive devices described herein are optional. Figures 23 to 28 The described options can also be implemented without a reset device 560.

[0163] The embodiments of the drive device 501, which are described in the Figures 23 to 28The illustrated embodiments of the drive devices feature a return device 560 with two connecting pieces 563, 564, which, viewed in the spindle mounting axis 539a, are located on opposite sides of the spindle nut 540. The connecting pieces 563, 564 of the embodiments of the drive devices according to the Figures 23 to 28 Each connecting piece 563, 564 is implemented as a tie bar. Each connecting piece 563, 564 extends radially from a connection point 563a or 564a of the actuating spindle nut 541 to a connection point 563b or 564b of the drive housing 530. The connection points 563a and 564a of the actuating spindle nut 541 and the connection points 563b or 564b of the drive housing 530 are arranged opposite each other with respect to the spindle mounting axis AA. Each of the connecting pieces 563, 564 is arranged circumferentially between two drive struts 555, 556.

[0164] Each connecting element 563, 564 is preferably implemented as an elastic connection between the actuating spindle nut 541 and the drive housing 530. Each connecting element 563, 564 is preferably made of an elastic material. Each connecting element 563, 564 can be implemented in a manner other than by a tie bar, e.g., an elastic band.

[0165] The embodiments of the drive device 501 of the Figures 23 to 28 They may also only have one of the connecting pieces 563, 564.

[0166] Optionally, as stated in the Figures 23 to 28As shown, to achieve a sufficient length for each connecting piece 553, 554, in particular as an elongated connecting piece and, for example, in the form of a beam or a band, a respective housing recess 565, 566 is formed in the radial direction on the inside of the drive housing 530, facing the actuating spindle nut 541, in which the respective connecting piece 563, 564 partially extends on the side of the drive housing 530. The greater the length of each connecting piece 563, 564, the lower the elasticity of the material of the respective connecting piece 563, 564 can be in order to produce the same angle of rotation of the actuating spindle nut 541 with the force exerted on the actuating spindle nut 541 by the at least one actuator device.

[0167] As an alternative to the implementation of the drive device 501 according to the Figures 23 to 28The return device 560, with or without the at least one connecting piece 563, 564, can also be implemented by a single solid-body joint or by several solid-body joints, i.e., by at least one solid-body joint. The embodiments of the drive device 501, which are described in the Figures 23 to 28 The figure shows a solid-body joint device with two solid-body joints 561, 562, each of which can also be referred to as a structural joint.

[0168] The return mechanism 560 can, in any of the embodiments described herein, be implemented in particular as a spring-loaded bearing for the actuating spindle nut 541 on the drive housing 530. This spring-loaded bearing can, in particular, be designed such that, from a 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 return force to the neutral position, the magnitude of which depends on the size of the angle of rotation of the respective rotational movement.

[0169] Alternatively or additionally, the return device 560 can be implemented as a combination of a rotary joint, which can be a hinge joint, and a spring, e.g., a coil spring. Generally, the return device 560 provides rotation about an axis that runs along the spindle mounting axis AA, and the return device 560 provides a return force that is proportional to the relative angle of rotation between the actuating spindle nut 541 and the drive housing 530.

[0170] In general, the embodiment of the drive device 501 can have a drive housing 530 with a housing wall 533, on which at least one radially extending actuating surface section 545c is realized, which is oriented in a first circumferential direction of the actuating spindle nut 541. The drive device 501 can have an actuating spindle nut 541, which forms a spindle chamber 539 with a spindle receiving axis 539a and defines a radial direction of the drive device 501, wherein the actuating spindle nut 541 has a contact surface section 555c ( Figure 23), which is oriented along a second circumferential direction of the actuating spindle nut 541, which is directed opposite to the first circumferential direction, wherein one contact surface section 555c of the actuating spindle nut 541 and a respective contact surface section 545c of the housing wall 533, which is oriented along the second circumferential direction of the actuating spindle nut 541, are facing each other. The embodiment of the drive device 501 has at least one actuator device 610, which bears against the contact surface section 545c of the housing wall 533 with a first end 11 or 611 and against the contact surface section 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.

[0171] In the Figures 25 and 26A drive device is shown, to which reference numeral 701 is assigned herein. This drive device and the embodiments described herein with reference to the Figures 25 and 26 are described, are based on the embodiments of the drive device described herein by reference to the Figures 23 and 24 are described, so that the embodiments described herein are described on the basis of the Figures 25 and 26 The features and combinations of features that are described are not described again separately, and their reference symbols are adopted.

[0172] This drive device and the embodiments described herein with reference to the Figures 25 and 26 The device described has a frame device 30 which, together with at least one other drive device, can form a drive system S. At least one actuator device is integrated into each of these drive devices.

[0173] The embodiment of the drive device 701 of the Figures 25 and 26 The diagram shows 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 run along, and in particular in, the circumferential direction.

[0174] As shown by the Figure 23As described, the first actuator 610 rests at one end against the contact surface section 555c of the first drive strut 555 and at the other end against a radially extending contact surface section 545c of the housing wall 533. The second actuator 620 rests at one end against a radially extending contact surface section 556c of the second drive strut 556 and at the other end against a radially extending contact surface section 546c of the housing wall 533. Viewed along the spindle mounting axis AA, the first actuator 610 and the second actuator 620 are located on sides of their respective drive struts 555 and 556, which are oriented in the same direction, and are arranged opposite each other with respect to the spindle mounting axis AA.

[0175] The actuator devices 610, 620 are, according to one of the herein, particularly with regard to the Figure 16The described actuator devices 10 and 20 are implemented and each has an actuator 613 or 623 with a longitudinal axis L610 or L620, respectively, which run along the circumferential direction of the drive device 501. The actuators 613 and 623 can each be implemented as piezoelectric actuators. The actuator axes L610 and L620 run parallel to each other. When the actuator device 610 expands, the distance between the surface section 555c and the surface section 545c increases, and when the actuator device 610 contracts, this distance decreases. When the actuator device 620 expands, the distance between the surface section 556c and the surface section 546c increases, and when the actuator device 610 contracts, this distance decreases. The actuator devices 610, 620 can in particular be identical to the respective actuator 613, 623.

[0176] When the actuator device 610 or the actuator device 620 is controlled with a control signal according to Figure 18 or Figure 19 , in which the flanks of an oscillation have different slopes to each other, a friction-slip effect can be achieved between the actuating surface section 543 and the spindle surface 90a of the spindle 90, with which a relative rotation of a spindle 39, which is inserted in the internal thread 542 of the actuating spindle nut 541, is achieved.

[0177] The embodiment of the drive device 701 of the Figures 25 and 26The housing wall 533 has at least two actuating surface sections 545c, 546c extending in a radial direction, one of which is oriented along a first circumferential direction of the actuating spindle nut 541 and another 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.The actuating spindle nut 541 has at least two contact surface sections 555c, 556c, one of which is oriented along the second circumferential direction of the actuating spindle nut 541 and another of which is oriented along the first circumferential direction of the actuating spindle nut 541, wherein the at least one contact surface section of the actuating spindle nut 541 and a respective contact surface section 545c of the housing wall 533, which is oriented along the circumferential direction of the actuating spindle nut 541, are located facing each other. Furthermore, the drive device 701 has a first and a second actuator device 610, 620, each with a first end 11 or 611, 621 on one of the system surface sections 545c, 546c of the housing wall 533 and with a second end 12 or 621 on the housing wall 533.612, 622 abut a respective surface section 555c, 556c of the actuating spindle nut 541, wherein the respective surface section 555c, 556c of the actuating spindle nut 541 and the respective surface section 545c, 546c of the housing wall 533, against which a respective actuator abuts, are opposite each other.

[0178] In particular, 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 drive devices 550, 551, 552, each of which has a contact surface section 555c, 556c extending in a radial direction and oriented towards each other with respect to each of the circumferential directions, wherein one actuating surface section 545c, 546c of the housing wall 533 and one contact surface section 555c, 556c of the actuating spindle nut 541 are opposite each other, wherein the first and a second actuator device 610, viewed in the direction of the spindle receiving axis 539a, are each attached to one contact surface section 555c, 556c of the housing wall 533 and the contact surface section 555c, 556c of the housing wall 533 and the contact surface section 555c, 556c of the housing wall 533 and the contact surface section 555c, 556c of the housing wall 533 are opposite each other, and wherein the first and a second actuator device 610, viewed in the direction of the spindle receiving axis 539a, are each attached to one contact surface section 555c, 556c of the housing wall 533 and the ... are opposite each other. The drive devices 550 and the actuating spindle nut 541 are located on each of the respective surface sections 555c, 556c of the system.

[0179] Alternatively, as in the Figures 27 and 28 As shown, the drive device 801 has at least two actuating surface sections 545c, 546c of the housing wall 533 extending in a radial direction and opposite each other, wherein the actuating spindle nut 541 has a drive device 550 which is located at least partially between the actuating surface sections 545c, 546c of the housing wall 533 and which has two contact surface sections 555c, 555d which are oriented opposite to each other, wherein the first and a second actuator device 610, viewed in the direction of the spindle receiving axis 539a, bear against one of the respective contact surface sections 555c, 555d of the drive device 550 on opposite sides of the drive device 550.

[0180] For operational use, it can be provided that the first actuator device 610 and the second actuator device 620 are connected to the drive signals derived from the Figure 18 or Figure 19 as described, are controlled so that they are controlled in opposite phases and alternate in opposite phases between a temporary slip state and a friction state.

[0181] For operational use, it can also be provided that the periodic drive signals to the first actuator device 610 and the second actuator device 620 of the pair of actuator devices 610, 620 are antiphase and alternate antiphase between a temporary slip state and a friction state, wherein the successive flank sections of opposite sign of the same half-period of the two periodic drive signals cause antiphase expansion and contraction of the first actuator device 610 and the second actuator device 620 and thus corresponding actuation of the contact surface section 5456c and the contact surface section 546c and thereby exert movements of the actuating surface section 543 in the same circumferential direction of the spindle 90.The movements of the actuating surface section 543 occur in such a temporal sequence that a slip state is followed by a friction state, or vice versa, between the actuating surface section 543 and the spindle surface 90a of the spindle 90.

[0182] In the Figures 27 and 28 A drive device is shown, to which reference numeral 801 is assigned herein. This drive device and the embodiments described herein with reference to the Figures 25 and 26 are described, are based on the embodiments of the drive device described herein by reference to the Figures 23 and 24 are described, so that the embodiments described herein are described on the basis of the Figures 27 and 28 The descriptions do not require that matching features and combinations of features be described again, and that their reference symbols be adopted.

[0183] This drive device and the embodiments described herein with reference to the Figures 27 and 28The device described comprises a first actuator 610, a second actuator 620, a third actuator 630, and a fourth actuator 640. The longitudinal axis L610 of the first actuator 610, the longitudinal axis L620 of the second actuator 620, the longitudinal axis L630 of the third actuator 630, and the longitudinal axis L640 of the fourth actuator 640 each run along, and in particular in, the circumferential direction. In addition to the arrangement of the first actuator 610 and the second actuator 620 between a drive strut 555 and 556, respectively, and a respective contact surface section of the housing wall 533, as shown in the Figures 25 and 26As described, the third actuator device 630 rests on one side against a radially extending second contact surface section 555d of the first drive strut 555 and on the other side against a radially extending contact surface section 545d of the housing wall 533, which faces the contact surface section 555d. The third actuator device 630 and the fourth actuator device 630, viewed along the spindle mounting axis AA, are located on the same side of their respective drive struts 555, 556.

[0184] The second contact surface section 555d of the first drive strut 555 is oriented opposite to the first contact surface section 555c of the first drive strut 555. Furthermore, the fourth actuator device 640 is additionally located on one side against a radially extending second contact surface section 556d of the second drive strut 556 and on the other side against a radially extending contact surface section 546d of the housing wall 533, which faces the contact surface section 556d. The second contact surface section 556d of the second drive strut 556 is oriented opposite to the first contact surface section 556c of the second drive strut 556.

[0185] For operational purposes, it may be provided in particular that the drive device 801 of the Figures 27 and 28a control device that is electrically connected to two pairs of actuator devices. In principle, the two pairs of actuator devices can be formed from any possible combination of any two groups of two actuator devices 610, 620, 630, 640: A first pair of actuator devices can be a combination of actuator devices 610 and 620, and a second pair of actuator devices can be a combination of actuator devices 630 and 640. A first pair of actuator devices can be a combination of actuator devices 610 and 630, and a second pair of actuator devices can be a combination of actuator devices 620 and 640. A first pair of actuator devices can be a combination of actuator devices 610 and 640, and a second pair of actuator devices can be a combination of actuator devices 620 and 630.

[0186] For operational use, it can be provided in particular that the control device, in an activated state, sends a periodic drive signal to each of the two pairs of actuator devices 610, 620, 630, 640, a first actuator device and a second actuator device, respectively, which has at least one half-period of successive edge sections of opposite sign, the maximum slopes of which have a minimal difference in magnitude to each other, wherein the periodic drive signals to the first actuator devices and the second actuator devices of the respective pairs of actuator devices 610, 620, 630, 640 are out of phase and alternate out of phase between a temporary slip state and a friction state.wherein the successive flank sections of opposite sign of the same half-period of the two periodic drive signals exert movements of the actuating surface section 543 in the same circumferential direction of the spindle 90.

[0187] It can therefore be provided, for example, that the first actuator device 610 and the third actuator device 630 are controlled with the same control signals and the second actuator device 620 and fourth actuator device 640 with the same control signals, wherein, for example, the first actuator device 610 and the third actuator device 630 are controlled with the drive signals according to Figure 18 and the second actuator device 620 and fourth actuator device 640 with the drive signals according to Figure 19or conversely, they can be controlled in pairs in opposite phases, alternating in opposite phases between a temporary slip state and a friction state. They can also be controlled in pairs in other ways.

[0188] The embodiments of the drive devices 501, 701, 801, which are described herein with reference to the Figures 23 to 28As described herein, actuator devices can generally have an embodiment as described herein. In particular, each of the actuator devices can have an actuator 13 with a first end 11 and a second end 12. The first end 11 can bear against a respective contact surface section of the housing wall 533, and the second end 12 can bear against a contact surface section of the spindle nut 540, or vice versa, wherein its extension and contraction can be reversibly changed when actuated along a first actuator axis L1, wherein the first end 11 and the second end 12 are oriented opposite to each other with respect to the respective actuator axis, and wherein the respective actuator axis can run transversely to the spindle receiving axis 539a and along the actuating surface section 543 of the spindle nut 540.

[0189] In each of the embodiments, the surface section of the installation can be realized on the actuating spindle nut 541 instead of on a drive strut. Reference symbol list

[0190] 1 Drive unit 1a Spindle room 1b Spindle mounting axis 2 Drive unit 2a Spindle room 2b Spindle mounting axis 3 Drive unit 5 Bearing device 7a Side bracket 7b Side bracket 8a Side bracket 8b Side bracket 10 First actuator device 11 First end of first actuator 13 12 Second end of first actuator 13 13 First actuator 20 Second actuator device 21 First end of second actuator 23 22 Second end of second actuator 23 23 Second actuator 30 Frame device 39 Spindle room 40 Actuation component structure 51 First actuation surface section 52 Second actuation surface section 58 Actuation section 58a Actuation section 58b Actuation section 58c Actuation section 68a Actuation section 68b Actuating section 68c Actuating section 70 Coupling unit 71 Coupling unit-connector 72 Coupling unit-connector 73a First mounting section 73b Second mounting section 73c Second mounting section 74a First mounting section74b second fastening section 74c second fastening section 75 spring section 75a spring sub-section 75b spring sub-section 76 spring section 76a spring sub-section 76b spring sub-section 77a first U-shaped section 77b second U-shaped section 77c third U-shaped section 78a first U-shaped section 78b second U-shaped section 78c third U-shaped section 79a first bridge section 79b second bridge section 90 spindle 90a spindle surface 90 91 first spindle contact point 90 92 second spindle contact point 90 93 first end of spindle 90 94 second end of spindle 90 95 spindle actuating part 96 spindle adjusting part 200 drive motor 201 Drive device 230 Frame device 231 First clamping device 232 Connecting section 233 First end section 233s Connecting element 234 Second end section 234s Connecting element 235 Second clamping device 236 Connecting section 237 First end section 238 Second end section 239 Spindle room240 Actuating component structure 250 First actuating structure 251 First actuator support part 252 First base section of the first actuator support part 251 253 Actuator support section of the first actuator support part 251 254 First actuating surface section 255 First actuator functional part 256 First mounting section of the first actuator support part 251 257 First connecting section 258 First actuating section 259 Actuating surface of the first actuator functional part 255 260 Second actuating structure 261 Second actuator support part 262 Second base section of the second actuator support part 261 263 Actuator support section of the second actuator support part 261 264 Second actuating surface section 265 Second Actuator functional part 266 Second mounting section 267 Second connecting section 268 Second actuating section 269 Actuating surface of the second actuator functional part 265 280 Coupling section 281 First end section of the coupling section 280 282 Second end section of the coupling section 280283 Connecting section of the coupling section 280 285 Outer end section of the first actuating section 258 286 Outer end section of the second actuating section 268 287 First transition section between the first end section 285 and the connecting section 283 288 Second transition section between the second end section 286 and the connecting section 283 501 Drive device 530 Drive housing 531 Outer surface of the housing 530 531a Circular cylindrical section of the outer surface 531 531b Circular cylindrical section of the outer surface 531 531c Circular cylindrical section of the outer surface 531 531d Circular cylindrical section of the outer surface 531 532a Flat section of the outer surface 531 532b Flat section of the outer surface 531 532c Straight-surface section of the outer surface 531 532d Straight-surface section of the outer surface 531 533 Housing wall 533a Inner surface section of the housing wall 533 533b Inner surface section of the housing wall 533 533c Attachment surface sectionof the edge section 533 533d Surface section of the edge section 533 536 Housing interior 539 Spindle space 540 Actuating component structure 541 Actuating spindle nut 541a Spindle nut outer surface 542 Internal thread 542a Internal surface forming the internal thread 541 543 Actuating surface section of the actuating component structure 540 545 First recess of the drive housing 530 545c Surface section of the housing wall 533 545d Surface section of the housing wall 533 546 Second recess of the drive housing 530 546c Surface section of the housing wall 533 546d Surface section of the housing wall 533 550 Drive device 555 First Drive strut 555a outer end of the first drive strut 555 555c surface section of the first drive strut 555 556 second drive strut 556a outer end of the second drive strut 556 560 return device 563 connector 563a connection point 563b connection point 564 connector 564a connection point564b Connection point 610 Actuator device 613 Actuator of actuator device 610 620 Actuator device 623 Actuator of actuator device 620 630 Actuator device 633 Actuator of actuator device 630 640 Actuator device 643 Actuator of actuator device 640 A Positioning system AA Spindle mounting axis AV Drive device AV1 Drive device AV2 Drive device AV3 Drive device A90 Spindle axis B Base body C Slide C1 Slide connection device C2 Actuator wall C3 Actuator wall surface D Guide device D1 Guide rail combination D2 Guide rail combination D12 Distance F Spring device F1 Spring device F2 Spring device K Coupling device K1 Coupling device K2 Coupling device L 1 First actuator axis or longitudinal direction of the actuator device 10 L 2 Second actuator axis or longitudinal direction of the actuator device 20 L610 Actuator axis or longitudinal direction of the actuator device 610 L620 Actuator axis or longitudinal direction of the actuator device 620 L630 Actuator axis or longitudinal direction of the actuator device 630L640 Actuator axis or longitudinal direction of the actuator device 640 MA Drive motor RS Spindle rotation direction 90 in Figure 17Drive system S11 Voltage signal S12 Voltage signal S21 Voltage signal S22 Voltage signal T11 Time of a relative minimum of the voltage signal S11 and a relative maximum of the voltage signal S12 T12 Time of a reference value or zero crossing of the voltage signal S11 and S12 T13 Time of a relative maximum of the voltage signal S11 and a relative minimum of the voltage signal S12 T14 Time of a reference value or zero crossing of the voltage signal S11 and S12 T15 Time of a relative minimum of the voltage signal S11 and a relative maximum of the voltage signal S12 T16 Time of a reference value or zero crossing of the voltage signal S11 and S12 T21 Time of a relative minimum of the voltage signal S21 and a relative maximum of the voltage signal S22 T22 Time of a reference value or zero crossing of the voltage signal S21 and S22 T23 Time of a relative maximum of the voltage signal S21 and a relative minimum of theVoltage signal S22 T24 Time of a reference value or zero crossing of the voltage signal S21 and S22 T25 Time of a relative minimum of the voltage signal S21 and a relative maximum of the voltage signal S22 T26 Time of a reference value or zero crossing of the voltage signal S21 and S22 S31 Voltage signal S32 Voltage signal T31 Time of a relative minimum of the voltage signal S31 and a relative maximum of the voltage signal S32 T32 Time of a reference value or zero crossing of the voltage signal S31 and S32 T33 Time of a relative maximum of the voltage signal S31 and a relative minimum of the voltage signal S32 T34 Time of a reference value or zero crossing of the voltage signal S31 and S32 T35 Time of a relative minimum of the voltage signal S31 and a relative maximum of the voltage signal S32 T36 Time of a reference value or Zero crossing of the voltage signal S31 and S32

Claims

1. Drive system (S), comprising: at least two drive units (1, 2) each for accommodating and driving a spindle (90) with a spindle axis (A90), wherein each of the drive units (1, 2) for accommodating a respective section of the spindle (90) comprises a respective spindle space (1a, 2a) which extends in a respective spindle accommodating axis (AA) through each of the drive units (1, 2), which runs 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 one another in the direction of the spindle accommodating axis (AA), wherein the at least two drive units (4, 5) are arranged one behind the other along the spindle accommodating axis (AA) and where the coupling device (K) comprises at least one spring device (F) which extends along the spindle accommodating axis (AA), characterized in that the at least one spring device (F) is arranged such that it is in an unstressed neutral state in each case, in which no spindle (90) is accommodated in the drive system (S), keeps the two drive units (1, 2) in each case stable at a predetermined distance (D12) and provides a respective spring travel from the neutral state in mutually opposite directions along the spindle accommodating axis (AA).

2. Drive system (S) according to claim 1, characterized in that the coupling device (K) comprises two coupling unit connecting parts (71, 72) each with 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 opposite sides of the spindle accommodating axis (AA) as viewed in a direction transverse to the spindle accommodating axis (AA).

3. Drive system (S) according to claim 2, characterized in that the spring sections (75, 76) of the coupling unit connection parts (71, 72) each comprise a meander section for providing a spring travel in mutually opposite directions along the spindle accommodating axis (S).

4. Drive system (S) according to claim 2 or 3, characterized in that the at least one coupling device (K) comprises two coupling units (70) which, viewed in a direction transverse to the spindle accommodating axis (S), are each located on opposite sides of the spindle accommodating axis (S) and extend along one another, in that each of the coupling units (70) respectively comprises two coupling unit connection parts (71, 72) which are connected to both drive units (1, 2) and each of which comprise a spring section (75, 76) for providing a spring travel in opposite directions to each other, in that the two coupling units (70) each extend transversely to the spindle accommodating axis (S) and along one another.

5. Drive system (S) according to one of the preceding claims, characterized in that each drive unit (1, 2, 3) comprises a drive device (AV, AV1, AV2, 201, 501, 701, 801) with a spindle space (1a, 2a), in that each drive unit (1, 2, 3) comprises a frame device (30), the respective frame devices (30) being coupled to one another by means of the coupling device (K), in that at least one drive device (AV, AV1, AV2, 201, 501, 701, 801) comprises an actuating component structure (40) for contacting and driving a spindle (90) which partially delimits the spindle space (1a, 2a), in that the at least one drive device (AV, AV1, AV2, 201, 501, 701, 801) comprises at least one actuator device (10, 20, 610, 620, 630, 640) and is configured such that the drive device (AV, AV1, AV2, 201, 501, 701, 801), moves the actuating component structure (40), when actuated appropriately, in such a way that a spindle (90) accommodated by the actuating component structure (40) is driven.

6. Drive system (S) according to claim 5, characterized in that at least one drive device (AV) comprises an actuator device which is implemented as an electric motor, and the actuating component structure comprises a drive spindle nut which is arranged such that it is rotatably mounted in the drive device (AV) and is thereby fixed in the direction of the spindle accommodating axis (AA), wherein the drive spindle nut can be screwed onto the spindle (90) such that, when the actuator device is actuated accordingly, the drive spindle nut and thereby, due to frictional contact with the spindle (90), the spindle (90) are set in rotation.

7. Drive system (S) according to claim 5, characterized in that at least one drive device (AV) comprises at least one actuator device (10, 20, 610) with at least one actuator (13, 23, 613) which is realized as a piezo actuator.

8. Drive system (S) according to claim 7, characterized in that the drive system (S) comprises an control device which is electrically connected to each of the at least one drive device (AV, AV1, AV2, 201, 501, 701, 801) and which is configured such that, in an activated state, it sends to the respective drive device a periodic actuation signal which comprises at least one half-period with successive edge sections of different sign, the maximum gradients of which have a minimum difference according to amount to one another, which causes movements of the actuating component structure (40) and, through this, alternately a slip state and a friction state between an actuating surface section (254, 264, 543) of the actuating component structure (40), which contacts the spindle, and the spindle (90).

9. Drive system (S) according to claim 5, characterized in that at least one drive device (AV) comprises at least one pair of actuator devices (10, 20, 610, 620, 630, 640), each of which comprises an actuator (13, 23, 613, 623, 633, 643) which is realized as a piezo actuator with an actuator axis (L1 , L2 , L610, L620, L630, L640), in that at least one drive device (AV) comprises an actuating component structure (40) which can be brought into contact with the surface of a spindle (90), in that the actuator axes (L1 , L2 , L610, L620, L630, L640) run along one another and are arranged such that the extension of each actuator device can be reversibly changed along its actuator axis (L1 , L2 , L610, L620, L630, L640) with corresponding electrical control and that the change in extension of the actuators sets the actuating component structure in motion and a spindle (90) accommodated by the actuating component structure can be set in rotation.

10. Drive system (S) according to claim 9, characterized in that the drive system (S) comprises a drive 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 which is configured such that, in an activated state, it sends to a first actuator device (10, 610) and a second actuator device (20, 620) of the pair of actuator devices (10, 20, 610, 620, 630, 640) in each case a periodic actuation signal, which comprises at least one half-period with successive edge sections of different edge sections of the pair of actuator devices (10, 20, 610, 620, 630, 640), 620) of the pair of actuator devices (10, 20, 610, 620, 630, 640) a periodic actuation signal which comprises at least one half-period of successive edge sections of different sign, the maximum gradients of which having a minimum difference according to amount from one another, in that the actuating component structure (40) comprises at least one actuating surface section (254, 264, 543) which is in contact with the spindle (90) and, when the respective actuator devices of the pair of actuator devices (10, 20, 610, 620, 630, 640) are actuated, can set the spindle (90) in motion in the circumferential direction in each case with the periodic actuation signal, in that the periodic actuation signals to the first actuator device (10, 610) and the second actuator device (20, 620) of the respective pair of actuator devices (10, 20, 610, 620, 630, 640) run in antiphase and alternate in antiphase between a respective temporary slip state and a friction state, wherein the successive edge sections of different sign of the same half-period of the two periodic actuation signals exert movements of the at least one actuating surface section (254, 264, 543) in the same circumferential direction of the spindle (90).

11. Drive system (S) according to claim 10, characterized in that the actuating component structure comprises a first actuating section (258) comprising a first actuating surface section (254) and a second actuating section (268) comprising a second actuating surface section (264), in that the actuating component structure is arranged such, when the first actuator device (10, 610) of the respective pair of actuator devices (10, 20, 610, 620, 630, 640) is actuated with an actuation signal, it sets the first actuating surface section (254) in motion and, when the second actuator device (20, 620) of the respective pair of actuator devices (10, 20, 610, 620, 630, 640) is actuated with an actuation signal, it sets the second actuating surface section (264) in motion.

12. Drive system (S) according to claim 11, characterized in that the first actuating section (258) is connected to an end of a first actuator device (10) and the second actuating section (268) is connected to an end of a second actuator device (20), in that the actuating surface sections (254, 264) are located opposite one another, in at least one section in each case, and delimit the respective spindle space (1a, 2a) and contact the spindle contact area of a spindle (90) accommodated by the actuating component structure.

13. Drive motor (M) with a drive system (S) according to one of the preceding claims and a spindle (90) with a spindle axis (A90), wherein the spindle (90) is located in each spindle space (1a, 2a) and is coupled to the drive units (1, 2) for driving the spindle (90).

14. Drive motor (M) according to claim 13, characterized in that at least one drive device (AV, AV1, AV2, 201, 501, 701, 801) comprises an actuating component structure (40) which partially delimits the spindle space (1a, 2a) and is in contact with the spindle (90) for receiving and driving the spindle (90), in that the at least one drive device (AV, AV1, AV2, 201, 501, 701, 801) comprises at least one actuator device (10, 20, 610, 620, 630, 640) which is arranged such that, when actuated accordingly, moves the actuating component structure (40) in such a way that it drives the spindle (90) accommodated by the actuating component structure (40).

15. Positioning system (A) with a drive system (S) according to one of claims 1 to 12 and with a slide coupled to the spindle (90).

16. Drive device (501), comprising: a drive housing (530) with a housing wall (533), on which at least one actuating surface section (545c) extending in the radial direction is realized, which is oriented in a first circumferential direction of the actuating spindle nut (541), a actuating spindle nut (541), which forms a spindle space (539) with a spindle accommodating axis (539a) and defines a radial direction of the drive device (501), wherein the actuating spindle nut (541) comprises at least one contact surface section (555c, 555d, 556c, 556d) oriented along a second circumferential direction of the actuating spindle nut (541) which is directed opposite to the first circumferential direction, wherein the at least one contact surface section (555c) of the actuating spindle nut (541) and a respective one of the at least one contact surface section (545c) of the housing wall (533), which is oriented along the second circumferential direction of the actuating spindle nut (541), are located facing each other, characterized in that the drive device (501) comprises at least one actuator device (610), which with a first end (11) contacts the contact surface section (545c) of the housing wall (533) and with a second end (12) contacts the contact surface section (555c) of the actuating spindle nut (541), the longitudinal direction of the at least one actuator device (610) runing from the first end (11) to the second end (12).

17. Drive device (701) according to claim 16, characterized in that the housing wall (533) comprises at least two actuating surface sections (545c, 546c) extending in a radial direction, one of which is oriented along a first circumferential direction of the actuating spindle nut (541) and another 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), in that the actuating spindle nut (541) comprises at least two contact surface sections (555c, 556c), one of which is oriented along the second circumferential direction of the actuating spindle nut (541) and another of which is oriented along the first circumferential direction of the actuating spindle nut (541), wherein the at least one contact surface section of the actuating spindle nut (541) and a respective one of the at least one contact surface section (545c) of the housing wall (533), which is oriented along the circumferential direction of the actuating spindle nut (541), are located facing each other, in that the drive device (501) comprises a first and a second actuator device (610, 620), each of which bears with a first end (11) against one of the contact surface sections (545c, 546c) of the housing wall (533) and with a second end (12) against a respective contact surface section (555c, 556c) of the actuating spindle nut (541), wherein the respective contact surface section (555c, 556c) of the actuating spindle nut (541) and the respective contact surface section (545c, 546c) of the housing wall (533), against which a respective actuator rests, lie opposite one another.

18. Drive device (501) according to claim 17, characterized in that 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, in that the actuating spindle nut (541) comprises two entrainment devices (550, 551, 552) each comprising a contact surface section (555c, 556c) extending in the radial direction and oriented to face each other with respect to each of the circumferential directions, wherein an actuating surface section (545c, 546c) of the housing wall (533) and an contact surface section (555c, 556c) of the actuating spindle nut (541) are opposed to each other, respectively, in that the first and a second actuator device (610), viewed in the direction of the spindle accommodating axis (539a), each abut against a respective contact surface section (555c, 556c) of the entrainment devices (550) and against a respective one of the contact surface sections (555c, 556c) of the actuating spindle nut (541).

19. Drive device (801) according to claim 17, characterized in that at least two actuating surface sections (545c, 546c) of the housing wall (533) extend in a radial direction and lie opposite one another, in that the actuating spindle nut (541) comprises an entrainment device (550) which is located at least in a section between the actuating surface sections (545c, 546c) of the housing wall (533) and which comprises two contact surface sections (555c, 555d) which are oriented in opposite directions to one another, in that the first and a second actuator device (610), as viewed in the direction of the spindle accommodating axis (539a), contact a respective one of the contact surface sections (555c, 555d) of the entrainment device (550) on opposite sides thereof.

20. Drive device (501) according to any one of claims 16 to 19, characterized in that the drive device (501) comprises a restoring device (560) which is arranged such that, from a neutral position of the actuating spindle nut (541) relative to the drive housing (530), it causes a rotational movement in each of the mutually opposite circumferential directions to produce a restoring force to the neutral position, the strength of which depends on the magnitude of the angle of rotation of the respective rotational movement.