Actuator for generating drive movements, in particular oscillatory drive movements

Abstract

The invention relates to an actuator for generating drive movements, in particular oscillatory drive movements, comprising a slide assembly (2) for outputting the drive movements, wherein the actuator (1) comprises a support assembly (3) and a guide assembly (4) and the drive movements of the slide assembly (2) are linearly guided by means of the guide assembly (4) relative to the support assembly (3) in a drive direction (X), and wherein the actuator (1) forms a closed magnetic drive circuit (5) for generating the drive movements, said magnetic drive circuit extending through the support assembly (3) and the slide (6). It is proposed that the magnetic drive circuit (5) comprises at least two offset magnetic gaps (7) between the support assembly (3) and the slide assembly (2) with identical gap orientation (A) perpendicular to the drive direction (X), and that at least part of the guide assembly (4) is designed to guide the slide assembly (2) in a plane perpendicular to the gap orientation (A) such that the slide assembly floats.

Description

[0001] Actuator for generating particularly oscillating drive movements

[0002] The present invention relates to an actuator for generating, in particular, oscillating drive movements according to the preamble of claim 1, a method for assembling an actuator according to the preamble of claim 30, a method for assembling an actuator according to the preamble of claim 31, a medical applicator system for introducing mechanical vibrations into a body part according to the preamble of claim 32, a use of an actuator for generating vibrations within the scope of a vibration treatment according to claim 33 and a use of an actuator for generating pressure waves within the scope of a radial, unfocused and / or dispersive pressure wave treatment according to claim 34.

[0003] Such actuators convert an electrical signal into mechanical movements, particularly oscillating movements. Such actuators have a wide range of applications. For example, actuators are used in medical applicator systems for vibration treatment. In addition to generating oscillating drive movements, actuators are also used as actuators to trigger targeted actuating movements for the precise positioning of a control element. In this respect, the term "actuator" is to be understood broadly and encompasses any drive-related component that converts an electrical signal into mechanical movements.

[0004] The known prior art (EP 2 433 350 B1), from which the invention is based, relates to an actuator designed to generate oscillating drive movements with a slide assembly for transmitting the drive movements. The actuator has a support assembly and a guide assembly. The drive movements of the slide assembly are guided linearly along a drive direction relative to the support assembly via the guide assembly, with the actuator forming a magnetic drive circuit for generating the drive movements, which runs across the support assembly and the slide.

[0005] The known actuator has a simple design. However, it has been shown that the carriage assembly can become jammed uncontrollably relative to the support assembly, which can impede or completely block the discharge of the drive movements. This occurs particularly in particularly efficient actuators that have only a very small air gap, which must also be designed with particular precision in order to keep the magnetic resistance generated by the air gap as small as possible. Even small deviations of the air gap from the target value cause increasingly asymmetric forces in the magnetic circuit, which in turn generate frictional forces in the bearing points and can lead to tilting and / or jamming of the carriage assembly relative to the support assembly.For this reason, particularly precisely designed bearings are used to support the carriage arrangement, which on the one hand lead to high manufacturing costs and on the other hand increase the moving mass of the actuator.

[0006] The invention is based on the problem of designing and developing the known actuator in such a way that a uniform drive movement is ensured at all times in a cost-effective manner.

[0007] The above problem is solved in an actuator according to the preamble of claim 1 by the features of the characterizing part of claim 1.

[0008] A key consideration is to provide at least two offset magnetic gaps between the carriage assembly and the support assembly, which are aligned transversely to the drive direction. A further key consideration is to mount the carriage assembly in a floating manner relative to the support assembly, transversely to the magnetic gap alignment. This prevents jamming and / or catching of the carriage assembly, since the floating guide transversely to the gap alignment means that the carriage assembly has play relative to the support assembly in this direction. The carriage assembly can then perform compensating movements transversely to the gap alignment, ensuring consistent guidance of the carriage assembly in the drive direction at all times.It has been shown that with a suitable floating bearing for the slide assembly, the position of the slide assembly in the direction of the gap alignment can be maintained with sufficient precision. At the same time, such a bearing can be implemented particularly cost-effectively.

[0009] In detail, it is proposed that the magnetic drive circuit has at least two offset magnetic gaps between the support arrangement and the carriage arrangement with identical gap orientation transverse to the drive direction and that at least part of the guide arrangement is designed to provide the guide of the carriage arrangement in a floating manner in a plane transverse to the gap orientation.

[0010] According to the further embodiment according to claim 2, the carriage arrangement is guided in a floating manner transversely to the drive direction, whereby a particularly good smooth running of the actuator is achieved.

[0011] Claims 3 to 7 relate to preferred structural embodiments of the guide arrangement for implementing the floating guidance of the carriage arrangement relative to the support unit. Claim 6 is particularly preferred, according to which the carriage arrangement is guided on both sides relative to a center line along the drive direction by one of two partial guide units, thereby achieving symmetrical guidance.

[0012] According to the preferred embodiment according to claim 8, the guide counter element can be inserted into a guide counter element receptacle assigned to the carriage assembly in an assembly movement, thereby enabling particularly simple assembly of the guide counter element, which can also be automated. For example, for insertion into the guide counter element receptacle, it is conceivable that the assembly movement takes place transversely to the geometric center axis of the guide counter element or parallel to the geometric center axis of the guide counter element.

[0013] Claim 9 relates to a particularly preferred structural design of the guide counter element holder.

[0014] According to the further embodiment according to claim 10, the magnetic drive circuit for accelerating the carriage assembly comprises a coil assembly and a drive permanent magnet assembly interacting with the coil assembly. The drive permanent magnet assembly comprises at least one drive permanent magnet that interacts with the coil assembly to accelerate the carriage assembly (claim 11).

[0015] According to the preferred embodiment according to claim 12, a permanent drive magnet receptacle of the slide assembly is assigned to the permanent drive magnet. The permanent drive magnet can be inserted into the permanent drive magnet receptacle assigned to the slide assembly in an assembly movement, thereby enabling particularly simple assembly of the permanent drive magnet, which can also be automated. For example, for insertion into the permanent drive magnet receptacle, it is conceivable that the assembly movement takes place transversely to the north-south axis of the permanent drive magnet or parallel to the north-south axis of the permanent drive magnet.

[0016] In order to direct the magnetic field induced by the coil arrangement to the drive permanent magnet arrangement in a targeted manner and with as little energy loss as possible, a yoke arrangement is provided according to claim 13, which extends across the magnetic gaps to the drive permanent magnet arrangement transversely to the drive direction. Claims 14 to 22 define particularly preferred embodiments of the yoke arrangement.

[0017] A particularly loss-free interaction between the magnetic field induced by the coil arrangement and the drive permanent magnet arrangement is achieved according to the preferred embodiment according to claim 23 in that the yoke arrangement and the drive permanent magnet arrangement form the magnetic gaps in at least one position of the carriage arrangement.

[0018] According to the further embodiment according to claim 24, a permanent brake magnet arrangement is provided. The optional permanent brake magnet arrangement interacts magnetically with the drive permanent magnet arrangement to generate a braking effect, provided there is sufficient proximity between the permanent brake magnet arrangement and the drive permanent magnet arrangement.

[0019] Claims 25 to 27 relate to particularly preferred embodiments of the brake permanent magnet arrangement.

[0020] According to the preferred embodiment according to claim 28, the actuator has two brake permanent magnet assemblies spaced apart from one another in the drive direction, which are arranged essentially in front of and behind the drive permanent magnet assembly in the drive direction, whereby a uniform braking effect can be achieved in both directions of movement. According to the further preferred embodiment according to claim 29, the support assembly has a guide element receptacle for the guide element. The guide element is inserted into the associated guide element receptacle in an assembly movement during assembly of the actuator. If necessary, the counter guide element and / or the slide assembly can be inserted together with the guide element. In this way, a particularly simple assembly of the guide element is enabled, which in particular can also be automated.

[0021] According to a further teaching according to claim 30, which has independent significance, a method for assembling an actuator according to the proposal is claimed.

[0022] It is essential that the guide arrangement has at least one guide element, in particular a guide rod, and at least one guide counter-element in guide engagement therewith, in particular a guide sleeve, and that the guide counter-element, optionally together with the guide element, is inserted into a guide counter-element receptacle of the slide arrangement in a first assembly movement with a first assembly direction and that the slide arrangement is inserted into the support arrangement in a second assembly movement with a second assembly direction which is transverse to the first assembly direction.

[0023] In this respect, reference may be made to all statements concerning the proposed actuator.

[0024] According to a further teaching according to claim 31, which has independent significance, a method for assembling an actuator according to the proposal is claimed.

[0025] It is essential that the magnetic drive circuit has a permanent drive magnet arrangement with at least one permanent drive magnet, and that the at least one permanent drive magnet is inserted into a permanent drive magnet receptacle of the carriage assembly in an assembly movement with a magnet assembly direction, preferably with the magnet assembly direction oriented transversely to the gap alignment and / or transversely to the drive direction. Reference may be made in this regard to all statements regarding the proposed actuator and the proposed method according to the second teaching.

[0026] According to a further teaching according to claim 32, which also has independent significance, a medical applicator system for introducing mechanical vibrations into a body part with an applicator for vibration-transmitting contact with the body part is claimed.

[0027] It is essential that the applicator system has a proposed actuator that is coupled to the applicator for generating the mechanical vibrations.

[0028] In this respect, reference may be made to all statements concerning the proposed actuator and the proposed method according to the second teaching and according to the third teaching.

[0029] According to a further teaching according to claim 33, which has independent significance, a use of an applicator according to the proposal for generating vibrations in the context of a vibration treatment, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and / or organs, is claimed.

[0030] In this respect, reference may be made to all statements concerning the proposed actuator, the proposed method according to the second teaching and the third teaching, as well as the proposed applicator system.

[0031] According to a further teaching according to claim 34, which has independent significance, a use of an applicator according to the proposal for generating pressure waves in the context of a radial, unfocused and / or dispersive pressure wave treatment is claimed.

[0032] In this respect, reference may be made to all statements regarding the proposed actuator, the proposed method according to the second teaching and the third teaching, the proposed applicator system, and the proposed use according to the fifth teaching. The invention is explained in more detail below with reference to a drawing that merely illustrates exemplary embodiments. The drawing shows

[0033] Fig. 1 shows a proposed medical applicator system with a proposed actuator in a schematic representation,

[0034] Fig. 2 shows the actuator according to Fig. 1 in an exploded view,

[0035] Fig. 3 shows the magnetic drive circuit as an essential component of the actuator according to Fig. 1 in a side view with a cross-section of the slide of the slide arrangement a) in a first end position of the slide arrangement, b) in an intermediate position and c) in a second end position of the slide arrangement,

[0036] Fig. 4 shows the coil arrangement, the carriage arrangement and the guide arrangement of the actuator according to Fig. 1 a) in a frontal view in the drive direction with one housing half and a detailed view of the guide arrangement and b) in a further perspective view and a further detailed view of the guide arrangement,

[0037] Fig. 5 shows the coil arrangement, the carriage arrangement and the guide arrangement according to a further embodiment of a proposed medical applicator system with a proposed actuator in a perspective view and a sectional view,

[0038] Fig. 6 shows the coil arrangement, the carriage arrangement and the guide arrangement according to yet another embodiment of a proposed medical applicator system with a proposed actuator in a perspective view and

[0039] Fig. 7 shows a schematic representation of the coil arrangement and the carriage arrangement a) of the actuator according to the embodiment in Fig. 1, b) of the actuator according to the embodiment in Fig. 5, c) of the actuator according to the embodiment in Fig. 6, d) of the actuator according to a further embodiment and e) of the actuator according to yet a further embodiment. The actuator 1 shown in the figures is designed to generate oscillating drive movements. With the aid of the actuator 1, not only oscillating drive movements but also non-oscillating drive movements, such as linear actuating movements for adjusting an actuating element, can be generated. The actuator 1 has a carriage arrangement 2, via which the drive movements are transmitted. In addition, the actuator 1 has a support arrangement 3 and a guide arrangement 4.The drive movements of the carriage arrangement 2 are guided linearly along a drive direction X via the guide arrangement 4, so that a relative movement is possible between the carriage arrangement 2 and the support arrangement 3.

[0040] The actuator 1 is preferably driven electromagnetically. For this purpose, the actuator 1 forms a closed magnetic drive circuit 5, via which the drive movements are generated. The magnetic drive circuit 5 runs over the support assembly 3 and the carriage 6 of the carriage assembly 2, as most clearly shown in Fig. 2 and Fig. 3.

[0041] It is now essential that the magnetic drive circuit 5 has at least two offset magnetic gaps 7 between the support arrangement 3 and the carriage arrangement 2 with identical gap orientation A transverse to the drive direction X and that at least part of the guide arrangement 4 is designed to provide the guidance of the carriage arrangement 2 in a floating manner in a plane transverse to the gap orientation A.

[0042] The term "offset" in this context means that the two magnetic gaps 7 are not formed by a single magnetic gap, but are formed independently, i.e., separately, from one another and spaced apart from one another, particularly in gap orientation A. The gap orientation A is the thickness direction of the gap, i.e., the extension direction between the support assembly 3 and the carriage assembly 2, or between the surfaces of the support assembly 3 and the carriage assembly 2 that delimit the magnetic gap.

[0043] In this case, a "floating guide of the carriage arrangement in a plane transverse to the gap alignment" is to be understood as meaning that the carriage arrangement 2 has play relative to the support arrangement 3 transverse to the gap alignment A. It has been shown that a floating guide of the carriage arrangement 2 in the plane transverse to the gap alignment A enables particularly smooth and quiet running of the carriage arrangement 2 and at the same time effectively prevents tilting and / or jamming of the carriage arrangement 2. In this way, even mechanical or thermal changes in length can be accommodated without the guide of the carriage arrangement 2 becoming tense and a drive movement of the carriage arrangement 2 being blocked or inhibited. At the same time, the floating guide of the carriage arrangement 2 can be designed particularly cost-effectively.

[0044] For example, within the scope of transition fits and / or tolerances, it is possible that play may or may not be present depending on the manufacturing process. Such non-reproducible play and / or fits are not covered by the present invention. Rather, the floating guide of the slide assembly 2 represents an explicitly provided play that is always present.

[0045] The specific manner in which and at what location the floating guide of the slide assembly 2 is implemented is irrelevant in this case. Within the scope of the present invention, it is only crucial that at least part of the guide assembly 4 is designed to provide the guide of the slide assembly 2 in a floating manner in a plane transverse to the gap alignment A.

[0046] It has proven particularly effective if the floating guide of the carriage arrangement 2 has a play of 50 to 150 pm and / or of 5% to 100% of the extent of the magnetic gap 7 in a plane transverse to the gap alignment A, preferably of 20% to 100%, more preferably of 40% to 100%.

[0047] Here, and preferably, the extent of the magnetic gaps 7 in gap orientation A is equal to or less than 400 pm, preferably equal to or less than 300 pm, more preferably equal to or less than 250 pm. It has been shown that a particularly efficient actuator 1 can be obtained with a corresponding extent of the magnetic gaps 7. Due to the at least two offset magnetic gaps 7 between the support arrangement 3 and the carriage arrangement 2, a particularly uniform magnetic force can be realized between the support arrangement 3 and the carriage arrangement 2, as will be explained below.

[0048] Furthermore, it is preferably provided that at least part of the guide arrangement 4 is designed to provide the guidance of the carriage arrangement 2 in a floating manner transversely to the drive direction X. In the present case, a “floating guidance of the carriage arrangement transversely to the drive direction” is to be understood as meaning that the carriage arrangement 2 has a play transversely to the drive direction X relative to the support arrangement 3. Thus, the floating guidance of the carriage arrangement 2 is provided in a particularly advantageous manner directly by the guide arrangement 4 itself, whereby a particularly simple construction of the floating guide and the actuator 1 can be achieved. At the same time, the carriage arrangement 2 is guided in a floating manner transversely to the drive direction X, whereby a particularly advantageous smooth running when the drive movements are transmitted by the carriage arrangement 2.

[0049] A further simplified design of the floating guide can be achieved if the guide arrangement 4 has at least one guide element 8, in particular a guide rod, and at least one guide counter-element 9, in particular a guide sleeve, in guiding engagement therewith. The floating guide can compensate for any out-of-roundness, i.e., a certain eccentricity, of the guide element 8 and / or the guide counter-element 9. For example, an out-of-roundness of a guide counter-element 9 designed as a guide sleeve can be compensated for by the floating guide, thereby ensuring smooth and uninterrupted operation of the actuator 1.

[0050] In the embodiment shown in the figures and thus preferred, the guide element 8 is designed as a guide rod and the guide counter element 9, which is in guiding engagement with the guide rod, is designed as a guide sleeve. The slide assembly 2 is guided linearly in the drive direction X by the guide element 8 and the guide counter element 9, as shown in Fig. 2 and Fig. 4. In this way, a particularly cost-effective floating guide for the slide assembly 2 can be provided with a particularly simple structure. If, for example, the guide element 8 designed as a guide rod has an unintentional curvature, this can be compensated for by the floating guide of the slide assembly 2, thereby ensuring smooth operation of the actuator 1 and preventing tilting and / or jamming of the slide assembly 2.

[0051] It is also possible for the guide element 8 to be designed, for example, as a guide groove and the guide counter-element 9 as a guide pin, or vice versa. Other designs of the guide element 8 and / or the guide counter-element 9 are also possible. For example, in a particularly simple design, the guide element 8 or the guide counter-element 9 can be designed as a coating.

[0052] The floating guide of the carriage arrangement 2 can be designed to be structurally simple and yet particularly reliable if the guide arrangement 4 has a first partial guide unit 10 and a second partial guide unit 11, each of which provides linear guidance of the carriage arrangement 2 relative to the support arrangement 3 along the drive direction X (Fig. 2), wherein only one of the first partial guide unit 10 and the second partial guide unit 11 provides the floating guide of the carriage arrangement 2. Interestingly, it has been recognized that for reliable mobility of the carriage 6 of the carriage arrangement 2, it is sufficient if only one of the two partial guide units 10, 11 provides the floating guide of the carriage arrangement 2.This applies in particular if the first partial guide unit 10 and the second partial guide unit 11 each have exactly one guide element 8 and exactly one guide counter element 9 in guide engagement therewith.

[0053] By floatingly guiding the slide assembly 2 in a plane perpendicular to the gap alignment A, a distance deviation between the two partial guide units 10, 11 can be compensated. In this way, tilting and / or jamming of the slide assembly 2 can be effectively prevented, even in the event of corresponding deviations between the two partial guide units 10, 11.

[0054] The two partial guide units 10, 11 are here and preferably aligned parallel to each other in the drive direction X. The floating guide of the slide assembly 2 is able to compensate for an unwanted angular offset between the two partial guide units 10, 11 and thus prevent tilting and / or jamming of the slide assembly 2.

[0055] In the embodiment shown in the figures and thus preferred, the first partial guide unit 10 and the second partial guide unit 11 each have at least one guide element 8, in particular a guide rod, and at least one counter-guide element 9, in particular a guide sleeve, in guiding engagement therewith. Thus, it is preferably provided here that the first partial guide unit 10 and the second partial guide unit 11 have a substantially identical structure. In this way, assembly can be simplified and the number of different components of the actuator 1 can be reduced overall, thereby achieving further cost savings.

[0056] A particularly uniform guidance of the carriage arrangement 2 can be achieved if the first partial guide unit 10 and the second partial guide unit 11 are arranged on opposite sides of the carriage arrangement 2 with respect to a center line B running along the drive direction X, as shown in Fig. 2 and Fig. 4. This creates a symmetrical guidance of the carriage arrangement 2 with respect to the center line B, whereby a uniform load on the first partial guide unit 10 and the second partial guide unit 11 can be achieved. In this way, the wear on the carriage arrangement 2 and the guide arrangement 4 can be minimized and a particularly uniform discharge of the drive movements with particularly good smooth running can be achieved.

[0057] Furthermore, it is preferably provided that the at least one guide element 8 is / are assigned to the support arrangement 3 and that the at least one guide counter element 9 is / are assigned to the carriage arrangement 2. The guide arrangement 4 is thus advantageously formed in terms of drive technology between the support arrangement 3 and the carriage arrangement 2, whereby a particularly compact design is realized. Here and preferably, the first partial guide unit 10 and the second partial guide unit 11 each have two guide counter elements 9, which are arranged one behind the other along the drive direction X, in particular at a distance from one another. As Fig. 2 and Fig. 4 show, the support arrangement 3 has two guide elements 8, which in the figures and in this respect are each preferably designed as a guide rod. Two guide counter elements 9, which in the figures are designed as guide sleeves, are in guiding engagement with each guide element 8.The guide counter elements 9 are assigned to the slide assembly 2. The slide assembly 2 is thus in guiding engagement with the two guide elements 8 via the total of four guide counter elements 9, so that the slide assembly 2 is linearly guided in four bearing areas along the guide elements 8 in the drive direction X. The guide assembly 4 thus allows precise guidance of the slide assembly 2, with the floating guide transverse to the gap alignment A achieving particularly high reliability and smooth running.

[0058] For example, it is possible for the floating guide to compensate for misalignments between two guide counter elements 9 assigned to the same guide element 8, thereby preventing tilting and / or jamming of the carriage assembly 2 and simultaneously ensuring safe and smooth operation of the actuator 1. As already described above, the floating guide can also compensate for distance deviations between the two guide elements 8.

[0059] As Fig. 4 shows, it is further preferably provided that the guide counter element 9 is assigned a guide counter element receptacle 12 in the slide assembly 2 and that, during the assembly of the actuator 1, the guide counter element 9 is inserted into the assigned guide counter element receptacle 12 in an assembly movement. In this way, the assembly of the guide counter element 9 can be implemented with particularly simple movements if the assembly essentially involves assembly of the guide counter element 9. Such a movement can be easily implemented in an automated manner. Here and preferably, the guide counter element 9 is already in guiding engagement with the assigned guide element 8 during the assembly movement, which further simplifies assembly.

[0060] In the embodiment shown in Fig. 4 and preferred in this respect, it is provided that the guide counter element receptacle 12 is designed in a cross-section transverse to the drive direction X essentially U-shaped with two U-legs 13. In this way, the two U-legs 13 serve as a guide for the guide counter element 9 during assembly, whereby a self-centering arrangement between the guide counter element receptacle

[0061] 12 and the guide counter element 9. Assembly is then particularly easy.

[0062] If a positional deviation of the guide counter element 9 in the guide counter element receptacle 12 occurs during operation of the actuator 1, particularly transversely to the gap alignment A, this positional deviation can be compensated for by the floating guide of the slide assembly 2, thereby ensuring safe and smooth operation of the actuator. Tilting and / or jamming of the slide assembly 2 can thus be prevented.

[0063] Here and preferably, the guide counter element 9 is held axially fixed in the guide counter element holder 12 in its final assembly position.

[0064] It is particularly advantageous if the slide arrangement 2, and in particular the slide 6, is made at least partially of plastic, in particular a thermoplastic. The slide arrangement 2 can then be made particularly lightweight, whereby the moving mass can be kept low. At the same time, it is possible to produce the slide arrangement 2, and in particular the slide 6, in an injection molding process, whereby particularly cost-effective production can be achieved even with high volumes. In the embodiment shown in the figures and thus preferred, the slide 6 is made essentially entirely of plastic. It is then possible for the slide 6 to form at least one guide counter-element 9 designed as a sliding surface. The use of a separate guide counter-element 9 designed as a guide sleeve can then be dispensed with.

[0065] The forces required to generate the drive movements of the slide assembly 2 in the drive direction X act on the slide 6 of the slide assembly 2, as will be explained in more detail below. This causes the slide assembly 2 to displace the guide counterbearings 9 along the guide bearing 8 during the drive movements. The guide counterbearings 9 follow the course of the respective associated guide bearing 8. If the corresponding guide bearing 8 is not aligned exactly parallel to the drive direction X and, for example, has a curvature and / or an angular offset from the drive direction X, such a deviation from the target value can be compensated for by the floating guide.The floating guidance of the slide arrangement 2 is made possible by the fact that the drive forces for generating the drive movements act exclusively in the drive direction X and no forces act on the slide arrangement 2 in a direction transverse to the drive direction X and transverse to the gap orientation A when the actuator 1 is used as intended.

[0066] To generate the drive movements, it is preferably provided that the magnetic drive circuit 5 has a coil arrangement 14 and a drive permanent magnet arrangement 15, which interact with one another to accelerate the carriage arrangement 2. As shown in the figures, it is preferably provided here that the drive permanent magnet arrangement 15 is assigned to the carriage arrangement 2. By appropriately energizing the coil arrangement 14, an attractive and / or repulsive magnetic force can be provided between the drive permanent magnet arrangement 15 and the coil arrangement 14 to initiate the drive movements, whereby the carriage arrangement 2 can be moved relative to the support arrangement 3 in the drive direction X. Alternatively, it is also possible for the drive permanent magnet arrangement 15 to be assigned to the support arrangement 3 and the coil arrangement 14 to be assigned to the carriage arrangement 2.

[0067] A particularly simple design of the actuator 1 can be realized if the drive permanent magnet arrangement 15 has at least one drive permanent magnet 16. In order to generate a particularly high magnetic force between the drive permanent magnet arrangement 15 and the coil arrangement 14, it is preferably provided here that the magnetic field of the drive permanent magnet 16 exits the drive permanent magnet 16 transversely to the drive direction X. The closed magnet drive circuit 5 then makes it possible to generate a magnetic field via the coil arrangement 14 that simultaneously produces an attractive or repulsive effect on both poles of the drive permanent magnet arrangement 15 (Fig. 3a) and Fig. 3c)), whereby a particularly efficient actuator 1 can be created, as will be explained below.

[0068] A particularly simple assembly of the actuator 1 can be achieved if, during the assembly of the actuator 1, the at least one drive permanent magnet 16 is inserted into a drive permanent magnet receptacle of the slide assembly 2 in an assembly movement. Here and preferably, the assembly movement takes place transversely to the drive direction X and / or transversely to the gap orientation A. In this way, the assembly of the drive permanent magnet 16 in the slide assembly 2 can be implemented with particularly simple movements. Such a movement can also be easily implemented automatically. In the assembled state of the actuator 1, the at least one drive permanent magnet 16 is fixed to the slide assembly 2, preferably in the drive direction X and / or along the gap orientation A.

[0069] Furthermore, it is preferably provided here that the magnetic drive circuit 5 has a yoke arrangement 17 which extends transversely to the drive direction X via the magnetic gaps 7 to the drive permanent magnet arrangement 15 and which is magnetically coupled to the coil arrangement 14. In this way, the inductively generated magnetic field of the coil arrangement 14 can be directed to the drive permanent magnet arrangement 15 with particularly low energy losses, thereby enabling particularly precisely adjustable power transmission to the drive permanent magnet arrangement 15 using the magnetic field generated by the coil arrangement 14. The yoke arrangement 17 extends, as shown by way of example in Fig. 3, via the magnetic gaps 7 to the drive permanent magnet arrangement 15, whereby the magnetic field generated by the coil arrangement 14 interacts with the drive permanent magnet arrangement 15 in a particularly loss-free manner.The carriage arrangement 2 can then be moved in a particularly energy-saving manner.

[0070] In the following, various preferred embodiments of a yoke arrangement 17 and their respective preferred geometric orientation within a proposed actuator 1, in particular relative to the drive direction X and gap orientation A, will be described.

[0071] Thus, it is fundamentally conceivable that the yoke arrangement 17 is formed either from a single yoke 18 or from at least two, in particular exactly two, partial yokes 18, 19. The terms yoke and partial yoke refer to the same component, whereby in the present context the term "yoke" is used when the yoke arrangement 17 is formed by only one yoke 18, and whereby the term "partial yoke" is used when the yoke arrangement 17 is formed by several, here for example two, yokes 18, 19. An exemplary embodiment with several yokes 18, 19 (the so-called partial yokes) is shown in detail in Figures 1 to 4 and schematically in Fig. 7a). However, the functional principle of this embodiment is fundamentally also applicable to a variant (not shown here) in which one of the two partial yokes 18, 19 shown is omitted and which therefore has only one yoke 18.Accordingly, all statements regarding a yoke arrangement 17 with several partial yokes 18, 19 apply equally to a yoke arrangement 17 with only one yoke 18.

[0072] Exemplary embodiments with only one yoke 18 are shown in detail in Figures 5 and 6 and schematically in Figures 7b) to 7e). However, the respective functional principle of these embodiments is also fundamentally applicable to variants (not shown here) that have multiple sub-yokes, preferably of identical design and geometric alignment within the actuator 1. Accordingly, all statements regarding a yoke arrangement 17 with only one yoke 18 apply equally to a yoke arrangement 17 with multiple sub-yokes 18, 19.

[0073] As shown in Figures 1 to 4, it can be provided that, with respect to the gap orientation A, a partial yoke 18, 19 is arranged on each side of the carriage arrangement 2. Here and preferably, it is provided that, with respect to the gap orientation A, on both sides of the carriage arrangement 2, at least or exactly two magnetic gaps 7 are formed between the respective partial yoke 18, 19 and the carriage arrangement 2. In a variant in which one of the two partial yokes 18, 19 shown is omitted, i.e. in which only one yoke 18 is arranged on only one side of the carriage arrangement 2 with respect to the gap orientation A, it is then preferably the case that, with respect to the gap orientation A, at least or exactly two magnetic gaps 7 are formed between the yoke 18 and the carriage arrangement 2 on only one side of the carriage arrangement 2.

[0074] The respective yoke 18 or partial yoke 18, 19 can be designed in different ways.

[0075] Thus, it is conceivable, as also provided in Figures 1 to 4 and 7a), that the respective yoke 18 or partial yoke 18, 19 is designed as a beam 29 extending in a beam extension direction EB. A beam is referred to here as a substantially straight component.

[0076] According to Fig. 7a), the beam extension direction EB runs here and preferably parallel to the drive direction X and in particular transverse to the gap orientation A.

[0077] The beam 29 has, as schematically shown in Fig. 7a, a material thickening 30 at one or both ends, which preferably protrudes toward the carriage assembly 2 or the magnetic gap 7, i.e., parallel to the gap orientation A. This thickening forms, in particular, a pole piece. The surface of the material thickening 30 facing the carriage assembly 2 delimits the magnetic gap 7 toward the respective partial yoke 18, 19.

[0078] Instead of the above beam shape, it is also conceivable, as is also provided in Figures 5, 6 and 7b) to 7e), that the respective yoke 18 or partial yoke 18, 19 laterally encompasses the carriage arrangement 2, so that a section of the yoke 18 or partial yoke 18, 19 is arranged on one side with respect to the gap orientation A and another section of the yoke 18 or partial yoke 18, 19 is arranged on the other side of the carriage arrangement 2 with respect to the gap orientation A.

[0079] Here and preferably it is provided that, with respect to the gap orientation A, on each side of the carriage arrangement 2, exactly one magnetic gap 7 is formed between the respective yoke 18 or partial yoke 18, 19 and the carriage arrangement 2.

[0080] Particularly preferably, the respective yoke 18 or partial yoke 18, 19 has two yoke arms 31 extending substantially parallel in an arm extension direction EA, which are connected to one another via a connecting section 32 of the yoke 18 or partial yoke 18, 19 extending transversely thereto in a connecting section extension direction Ev. The respective yoke 18 or partial yoke 18, 19 therefore has, here and preferably, a substantially U-shape.

[0081] In this case, too, the yoke arms 31, as schematically shown in Figures 6, 7b) to 7e), for example, can have a material thickening 30 at their end facing away from the connecting section 32, which here and preferably protrudes toward the carriage assembly 2 or the magnetic gap 7, i.e., parallel to the gap orientation A. This forms, in particular, a pole piece. The surface of the material thickening 30 facing the carriage assembly 2 here delimits the magnetic gap 7 toward the respective yoke arm 31.

[0082] Here and preferably, the arm extension direction EA runs parallel or transversely to the drive direction X and in particular transversely to the gap orientation A and / or that the connecting section extension direction Ev runs transversely to the drive direction X and in particular parallel to the gap orientation A.

[0083] A variant, as shown in a detailed view in Figures 5, 7b) and e), in which the respective yoke 18 laterally surrounds the carriage arrangement 2, can be designed such that the dimensions and also the weight of the actuator 1 are particularly small. This allows in particular a design of the actuator 1 in which it can no longer necessarily be held by a handle extending from the actuator head, but preferably by the actuator head itself. The actuator 1 is then so small that it can be ergonomically comfortably grasped by the user. The vibrations are thus no longer introduced directly into the user's hand, but are almost completely decoupled in a kind of shearing movement between the vibrating device and the fingers.This makes the device easier to hold and reduces the strain on the hand used to hold the device, which can be a decisive advantage, especially for therapists who use the device very frequently and for long periods of time.

[0084] In the latter variants, in which the respective yoke 18 or partial yoke 18, 19 laterally encompasses the carriage arrangement 2, it can be provided that at least or exactly one coil 20, 21 of the coil arrangement 14 extends along a yoke arm 31, in particular around the yoke arm 31 (Figures 6, 7c) and d)). The longitudinal extent of the yoke arm 31 runs in particular parallel to the geometric coil axis G of the respective coil 20, 21. In this case, it is also possible, for example, to pre-wind the respective coil 20, 21 and, during assembly, to slide it in the pre-wound state onto the core or the yoke arm 31 and to fix it, in particular via a holder.Alternatively, it is also conceivable for at least or exactly one coil 20, 21 of the coil arrangement 14 to extend along the connecting section 32 of the yoke 18 or partial yoke 18, 19, in particular around the connecting section 32 of the yoke 18 or partial yoke 18, 19 (Figures 5, 7b) and e)). The longitudinal extent of the connecting section 32 runs in particular parallel to the geometric coil axis G of the respective coil 20, 21.

[0085] In all variants shown, but here only for the variants shown in Figures 6, 7c) and 7d), it is conceivable that several, in particular two, coils 20, 21 of the coil arrangement 14 are assigned to the respective yoke 18 or partial yoke 18, 19. Here and preferably it is provided that the geometric coil axis G of the respective coil 20, 21 runs parallel to the arm extension direction EA. In the variants shown in Figures 5, 7b) and 7e), however, only one coil 20 is shown per yoke 18 or partial yoke 18, 19. Here and preferably it is provided that the geometric coil axis G of the respective coil 20, 21 runs parallel to the connecting section extension direction Ev.

[0086] As the schematic representations in Fig. 7 also show, the courses of the geometric coil axis G relative to the drive direction X and to the gap orientation A also differ here. In Fig. 7a), the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 preferably runs parallel to the drive direction X and / or transversely to the gap orientation A. In Fig. 7b), the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 preferably runs transversely to the drive direction X and / or parallel to the gap orientation A. In Fig. 7c), it is again preferably the case that the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 runs parallel to the drive direction X and / or transversely to the gap orientation A. In Fig.In Fig. 7d), on the other hand, it is preferably the case that the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 runs transversely to the drive direction X and / or transversely to the gap orientation A. Finally, in Fig. 7e), it is preferably the case that the geometric coil axis G of the respective coil 20, 21 of the coil arrangement 14 runs transversely to the drive direction X and / or parallel to the gap orientation A.

[0087] In the following, the functional principle of the proposed actuator 1 will be explained in more detail using the exemplary embodiment shown in Figures 1 to 4. However, the functional principle also applies equally to the other variants, in particular also to the exemplary embodiments in Figures 5 and 6. Here and preferably, the yoke arrangement 17 has a first partial yoke 18 and a second partial yoke 19, as shown in particular in Fig. 3. In the embodiment shown in the figures and thus preferred, it is provided that the first partial yoke 18 and the second partial yoke 19 reach the drive permanent magnet arrangement 15 in opposite directions, each via two magnetic gaps 7.In this way, a magnetic north pole and a magnetic south pole generated by the coil arrangement 14 can be guided simultaneously via the corresponding partial yoke 18, 19 to the drive permanent magnet arrangement 15 and interact with it, thereby improving the efficiency of the actuator 1. Alternatively, it is also possible for the first partial yoke 18 and the second partial yoke 19 to each only reach the drive permanent magnet arrangement 15 via a magnetic gap 7. This is particularly the case when the first partial yoke 18 and the second partial yoke 19 reach the drive permanent magnet arrangement 15 in opposite directions only in the area of ​​one of their material thickenings 30 or pole shoes and in the area of ​​the other of their material thickenings 30 or pole shoes.Pole shoes between the first partial yoke 18 and the second partial yoke 19 only a free air gap (the first partial yoke 18 and the second partial yoke 19 are spaced from each other here) or a joint (the first partial yoke 18 and the second partial yoke 19 are in contact with each other here) is provided. In the area of ​​the joint, the first partial yoke 18 and the second partial yoke 19, if they consist of several sheet metal layers, can be connected to each other during assembly, in particular by alternately overlapping individual sheet metal layers of the first partial hole 18 with individual sheet metal layers of the second partial hole 19. Additionally or alternatively, the first partial yoke 18 and the second partial yoke 19 can be connected to each other in the area of ​​the joint during assembly in a force-fitting and / or form-fitting and / or material-fitting manner, in particular by producing the material bond using the same material as the partial yokes 18, 19.This construction allows, for example, direct winding of the core or partial yoke 18, 19.

[0088] The floating guidance of the carriage arrangement 2 ensures particularly quiet, reliable, and consistent operation of the actuator 1. Interestingly, it has been recognized that here, and preferably for efficient operation of the actuator 1, a deviation of up to 20% in the extent of the magnetic gap 7 in gap orientation A can be tolerated. If, as shown in the figures and preferred in this respect, a first partial yoke 18 and a second partial yoke 19 are provided, which each reach the drive permanent magnet arrangement 15 in opposite directions via a magnetic gap 7, a deviation of 20% means that the extent of the magnetic gap 7 relative to the first partial yoke 18 can be reduced by up to 20%. Reducing the extent of the magnetic gap 7 relative to the first partial yoke 18 by up to 20% leads to a corresponding increase in the extent of the magnetic gap 7 relative to the second partial yoke 19, and vice versa.

[0089] It is possible to design the first partial yoke 18 and the second partial yoke 19 identically as identical parts, thereby reducing the number of different components of the actuator 1. Alternatively, it is also possible to design the first partial yoke 18 and the second partial yoke 19 with different geometric shapes. It is then particularly advantageous if the first partial yoke 18 and the second partial yoke 19 act magnetically identically on the drive permanent magnet arrangement 15 during operation of the actuator 1. The term "act magnetically identically" is to be understood here that the magnetic force acting from the first partial yoke 18 on the drive permanent magnet arrangement 15 has the same magnitude as the magnetic force acting from the second partial yoke 19 on the drive permanent magnet arrangement 15.

[0090] Furthermore, it is preferably provided that the coil arrangement 14 has a first coil 20, which is assigned to the first partial yoke 18, and a second coil 21, which is assigned to the second partial yoke 19. It is possible to connect the first coil 20 and the second coil 21 in series, whereby the current supply directions and current intensities of the first coil 20 and the second coil 21 are coordinated with one another. Here and preferably, the first coil 20 and the second coil 21 are connected in parallel to one another, whereby a particularly low total inductance is achieved. In this way, a particularly high acceleration of the carriage 6 can be achieved.

[0091] Alternatively, it is also possible for the first partial yoke 18 to be assigned the first coil 20 and for the second partial yoke 19 to have no coil. Conversely, it is also possible for the first partial yoke 18 to have no coil and for the second partial yoke 19 to have the second coil 21. As shown in particular in Fig. 3, it is preferably provided that in at least one position of the carriage arrangement 2, the yoke arrangement 17 and the drive permanent magnet arrangement 15 form the magnetic gaps 7. The yoke arrangement 17 thus conducts the magnetic field induced by the coil arrangement 14 via the magnetic gap 7 to the drive permanent magnet arrangement 15, whereby the magnetic field can interact with the drive permanent magnet arrangement 15 with particularly little loss.

[0092] In the preferred embodiment shown in the figures, the yoke arrangement 17 and the drive permanent magnet arrangement 15 form a total of four magnetic gaps 7, with one magnetic gap 7 of the first partial yoke 18 and one magnetic gap 7 of the second partial yoke 19 being arranged on opposite sides of the carriage 6 and forming a magnetic gap pair. At least one drive permanent magnet 16 is preferably assigned to each magnetic gap pair. As shown in Fig. 3, it is particularly advantageous if two drive permanent magnets 16 are assigned to each magnetic gap pair. The term "assigned" is understood here to mean that the yoke arrangement 17 interacts essentially exclusively with the two drive permanent magnets 16 in the region of the magnetic gap pair.

[0093] It is also possible for the magnetic drive circuit 5 to have more than four offset magnetic gaps 7 between the support arrangement 3 and the carriage arrangement 2 with identical gap orientation A transverse to the drive direction X, for example six or more magnetic gaps 7. In this way, different positions, for example, with six magnetic gaps 7, three magnetic gap pairs can be formed and thus, for example, three positions of the carriage arrangement 2 can be specifically controlled.

[0094] It is particularly advantageous if the two drive permanent magnets 16 assigned to a magnetic gap pair are spaced apart from one another in the drive direction X and the poles of one drive permanent magnet 16 and the other drive permanent magnet 16 are aligned opposite to one another. Here and preferably, the distance between the two drive permanent magnets 16 in the drive direction X corresponds to at least a quarter, preferably at least a third, more preferably at least half, of the extension of the drive permanent magnets 16 in the gap orientation A of the magnetic gap 7. It is particularly advantageous if the distance between the two drive permanent magnets 16 in the drive direction X corresponds to at least three times, preferably at least four times, more preferably at least five times, the extension of a magnetic gap 7 in gap orientation A.The extension of the magnetic gap 7 in the drive direction X corresponds here and preferably at least to the extension of a drive permanent magnet 16 in the drive direction X plus the distance between the two drive permanent magnets 16. In this way, a particularly robust construction of the actuator 1 can be achieved, which can be operated particularly efficiently in terms of energy.

[0095] As further shown by way of example in Fig. 3a), a repulsive force acts simultaneously between the two poles of the drive permanent magnet 16 (on the left in Fig. 3a) and the magnetic field induced by the coil arrangement 14. In contrast, an attractive magnetic force acts between the two poles of the drive permanent magnet 16 (shown second from the left in Fig. 3a) and the magnetic field induced by the coil arrangement 14. As shown in Fig. 3b), an opposite current flowing through the coil arrangement 14 leads to a reversal of the polarity of the induced magnetic field. In this way, an attractive force acts between the drive permanent magnet 16 (on the left in Fig. 3b) and the magnetic field induced by the coil arrangement 14. At the same time, an attractive force acts between the two poles of the drive permanent magnet 16 (shown second from the left in Fig.3b) as the second drive permanent magnet 16 arranged from the left and the magnetic field induced by the coil arrangement 14, a repulsive magnetic force, so that the carriage 6 experiences a drive movement directed to the right in Fig. 3b) via both drive permanent magnets 16.

[0096] The coil arrangement 14 can be supplied with a linear, alternating voltage, i.e., a direct voltage with reversed polarity. Alternatively, it is also possible to control the coil arrangement 14 using a sinusoidal voltage, which allows for particularly simple control. The sinusoidal voltage can also be generated digitally using pulse width modulation. It is also possible to supply the coil arrangement 14 with a rectangular pulse with a positive voltage, which, after an optional pause, is followed by an opposite, rectangular pulse with a negative voltage. For a rapid current increase, it is conceivable to supply the coil arrangement 14 with a pulse with an excessive voltage until the current has reached a predetermined target value. The current can then be kept constant for a predetermined period of time, for example, using pulse width modulation.All of the aforementioned loadings of the coil arrangement 14 are to be understood merely as examples and can be combined and / or alternated as needed. The proposed actuator 1 is thus particularly suitable for a wide variety of applications.

[0097] Particularly reliable braking of the carriage assembly 2 can be achieved if the magnetic drive circuit 5 has a brake permanent magnet assembly 22, which magnetically interacts with the drive permanent magnet assembly 15 to generate a braking effect on the carriage assembly 2. When the brake permanent magnet assembly 22 and the drive permanent magnet assembly 15 approach each other, like poles interact, generating a magnetic force on the carriage assembly 2 that is directed counter to the movement of the carriage assembly 2.

[0098] By using a permanent magnet brake assembly 22, the use of mechanical springs arranged between the carriage assembly 2 and the support assembly 3 can be eliminated. The accelerated mass of the actuator 1 can be reduced in this way, resulting in lower energy consumption of the actuator 1. At the same time, a higher acceleration of the carriage assembly 2 can be achieved. Furthermore, a more uniform movement of the carriage assembly 2 is enabled, and the adjustment path of the actuator 1 can also be configured more variably.

[0099] Here, and preferably, the brake permanent magnet arrangement 22 is assigned to the support arrangement 3. As shown in Fig. 3a) and Fig. 3c), when the drive movements are transmitted, the drive permanent magnet arrangement 15 can be moved relative to the brake permanent magnet arrangement 22 such that like poles of the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 interact such that a repulsive magnetic force acts on the drive permanent magnet arrangement 15 that opposes the movement of the carriage arrangement 2, thereby achieving a braking effect. Consequently, in Fig. 3a), a rightward force acts from the brake permanent magnet arrangement 22 on the drive permanent magnet arrangement 15, and in Fig. 3c), a leftward force acts from the brake permanent magnet arrangement 22. In this way, the carriage arrangement 2 is initially braked.Subsequently, the repulsive magnetic force between the drive permanent magnet assembly 15 and the brake permanent magnet assembly 22 acts to accelerate the carriage assembly 2 in the opposite direction. In this way, the brake permanent magnet assembly 22 serves not only to decelerate, but also to subsequently accelerate the carriage assembly 2 in the opposite direction.

[0100] Thus, in the end positions shown in Fig. 3a) and Fig. 3c), a preload of the carriage assembly 2 in a drive direction X can be realized. This preload is achieved by moving the drive permanent magnet assembly 15 against the braking force of the brake permanent magnet assembly 22 and acts here and preferably only in the region of the end positions of the carriage assembly 2. In at least one region between the two end positions, it is preferably provided that no preload acts on the carriage assembly 2. The term "end position" in the present case does not mean a mechanical limitation of the drive movement of the carriage assembly 2 in the drive direction X, but rather a limitation that is achieved by control technology. Depending on the control of the actuator 1, different end positions can thus be defined.

[0101] Furthermore, it is preferably provided that the permanent brake magnet arrangement 22 has at least one permanent brake magnet 23, as shown by way of example in Fig. 3. By using a permanent magnet, a particularly reliable braking effect can be achieved that is independent of an applied voltage supply, thereby achieving a particularly high level of safety for the actuator 1.

[0102] Here, and preferably, the magnetic field of the brake permanent magnet 23 exits the brake permanent magnet 23 transversely to the drive direction X. The magnetic field of the brake permanent magnet 23, like the magnetic field of the drive permanent magnet 16, is thus also oriented transversely to the drive direction X. In this way, identical poles of the drive permanent magnet 16 and the at least one brake permanent magnet 23 can be arranged relative to one another such that they interact with one another and generate a braking effect. To provide a particularly advantageous braking effect, it is preferably provided that the arrangement of the brake permanent magnet arrangement 22 and the drive permanent magnet arrangement 15 is designed such that the approach of the carriage arrangement 2 to one of its end positions causes an increasing braking effect, which is due to the interaction of the brake permanent magnet arrangement 22 with the drive permanent magnet arrangement 15.If the carriage 6 is moved from the position shown in Fig. 3b) towards the position shown in Fig. 3c), the distance between the brake permanent magnet arrangement 22 on the right in Fig. 3 and the drive permanent magnet arrangement 15 on the right in Fig. 3 is reduced. The braking effect is increased at least in sections towards the end position of the carriage arrangement 2, since the field lines of the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 are deflected more strongly with increasing approach. Thus, the braking effect is greater in the end position shown in Fig. 3c) than in the intermediate position of the carriage arrangement 2 shown in Fig. 3b). In this way, an energetically and kinematically advantageous braking of the carriage 6 can be achieved.

[0103] Here and preferably, the carriage arrangement 2 can be moved at least partially in the drive direction X without a braking effect acting between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22.

[0104] Here, and preferably, especially with active and continuous energization, at least one permanent drive magnet 16 is located in the respective end position of the slide assembly 2 via at least one of the magnetic gaps 7 in the magnetic drive circuit 5, as shown in Fig. 3a) and Fig. 3c). In this way, the slide assembly 2 can be held in the end positions via the magnetic drive circuit 5, whereby the actuator 1 can also be held in a defined stroke position in order to hold an actuating element in a defined, predetermined position.

[0105] It is possible for one, in particular exactly one, permanent brake magnet arrangement 22 to be provided and arranged between two pairs of magnetic gaps in the drive direction X. In this way, the permanent brake magnet arrangement 22 can be used to brake the carriage arrangement 2 in both drive directions X, whereby a particularly compact design of the actuator 1 can be achieved.

[0106] In the embodiment shown in the figures and thus preferred, the brake permanent magnet arrangement 22 comprises at least two brake permanent magnets 23, which are spaced apart from one another transversely to the drive direction X in such a way that at least one drive permanent magnet 16 assigned to the drive permanent magnet arrangement 15 can be inserted at least partially between the two brake permanent magnets 23. In this way, at least one magnetic north pole and at least one magnetic south pole of the drive permanent magnet arrangement 15 can simultaneously interact in a braking manner with a magnetic north pole of one brake permanent magnet 23 and with a magnetic south pole of the other brake permanent magnet 23, whereby a particularly high braking force can be generated.

[0107] Interestingly, it has been recognized that with such an arrangement, when the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 approach each other, an attractive magnetic force initially acts between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22. Preferably, the distance between the two brake permanent magnets 23 corresponds to the extension of the drive permanent magnet 16 in the direction of the magnetic gap 7 plus twice the extension of the magnetic gap 7. A braking force is only achieved from a predetermined, defined distance between the brake permanent magnet arrangement 22 and the drive permanent magnet arrangement 15 in the drive direction X.This is due to the fact that at a greater distance, the magnetic field lines of the drive permanent magnet 16 partially close with an opposite pole of a brake permanent magnet 23, thereby initially creating an attractive force between the drive permanent magnet 16 and the brake permanent magnet 23. From the specified distance, the magnetic field lines of the drive permanent magnet 16 close exclusively with the opposite pole of the drive permanent magnet 16. At the same time, the magnetic field lines of both the drive permanent magnet 16 and the brake permanent magnet 23 are increasingly bent, thereby achieving an increasing braking effect.As shown in the figures, it is preferably provided that the actuator 1 has two brake permanent magnet assemblies 22, that the two brake permanent magnet assemblies 22 are spaced apart from one another in the drive direction X and are arranged substantially in front of and behind the drive permanent magnet assemblies 15 in the drive direction X. In this way, a braking effect on the carriage assembly 2 can be realized in both directions of the drive movements.

[0108] To determine and position the carriage 6 relative to the support arrangement 3, the actuator 1 can have a position sensor, such as a Hall sensor, which interacts with the drive permanent magnet arrangement 5.

[0109] The assembly of the actuator 1 can be carried out in a particularly simple manner, as already described above. The assembly can be further simplified if the guide element 8 is assigned a guide element receptacle 24 in the support assembly 3 and, during the assembly of the actuator 1, the guide element 8 is inserted into the assigned guide element receptacle 24 in one assembly movement, optionally together with the counter guide element 9 and / or the slide assembly 2. In this way, the assembly of the guide element 8 in the support assembly 3 can be implemented with particularly simple movements if the assembly essentially involves assembling the guide element 8. Such a movement can also be easily implemented in an automated manner.

[0110] As can be seen from Fig. 1, it is preferably provided that the actuator 1 has an actuator housing 25, which provides the guide element receptacle 24, so that the guide element 8 can be directly connected to the actuator housing 25. It is particularly advantageous if the actuator housing 25 has two housing halves 26. Here and preferably, the two housing halves 26 are designed as identical parts, thereby reducing the number of different components of the actuator 1 and allowing cost savings to be achieved.

[0111] According to a further teaching, which is of independent importance, a method for assembling an actuator 1 according to the proposal is proposed. What is essential is that the guide arrangement 4 has at least one guide element 8, in particular a guide rod, and at least one counter guide element 9, in particular a guide sleeve, which is in guiding engagement therewith, and that the counter guide element 9, optionally together with the guide element 8, is inserted into a counter guide element receptacle 12 of the slide arrangement 2 in a first assembly movement with a first assembly direction Y, and that the slide arrangement 2 is inserted into the support arrangement 3 in a second assembly movement with a second assembly direction Z, which is transverse to the first assembly direction Y.

[0112] The second assembly movement occurs transversely to the first assembly movement, whereby the guide counter element 9 is held captively following the second assembly movement. In particular, the guide counter element 9 can only be removed when the carriage assembly 2 is disassembled from the support assembly 3.

[0113] In this respect, reference may be made to all statements relating to the proposed actuator 1.

[0114] According to a further teaching, which is of independent importance, a method for assembling a proposed actuator 1 is proposed.

[0115] What is essential is that the magnetic drive circuit 5 has a permanent drive magnet arrangement 15 with at least one permanent drive magnet 16, and that the at least one permanent drive magnet 16 is inserted into a permanent drive magnet receptacle of the carriage assembly 2 in an assembly movement with a magnet assembly direction M (Fig. 2). Here, and preferably, it is provided that the magnet assembly direction M is oriented transversely to the gap orientation A and / or transversely to the drive direction X.

[0116] In this respect, reference may be made to all statements concerning the proposed actuator 1 and the proposed method according to the second teaching.

[0117] According to a further teaching, which has independent significance, a medical applicator system 27 (Fig. 1) for introducing mechanical vibrations into a body part is proposed, comprising an applicator 28 for vibration-transmitting contact with the body part.

[0118] It is now essential that the applicator system 27 has a proposed actuator 1, which is drive-coupled to the applicator 28 for generating the mechanical vibrations.

[0119] In this respect, reference may be made to all statements concerning the proposed actuator 1 and the proposed method according to the second teaching and according to the third teaching.

[0120] According to a further teaching of independent significance, the use of a proposed applicator 1 for generating vibrations within the scope of a vibration treatment, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels, and / or organs, is proposed. Furthermore, it is also possible to use the proposed actuator within the scope of a vibration treatment of skin and / or fatty tissue. In this respect, the present list is not intended to be exhaustive.

[0121] In this respect, reference may be made to all statements relating to the proposed actuator 1, the proposed method according to the second teaching and according to the third teaching, as well as the proposed applicator system 27.

[0122] It is particularly advantageous if a particularly uniform oscillation of the actuator 1 can be set between 10 Hz and 300 Hz, preferably between 30 Hz and 300 Hz, more preferably between 50 Hz and 300 Hz, more preferably between 70 Hz and 300 Hz. It is also possible for the oscillation of the actuator 1 to be between 50 Hz and 150 Hz. Alternatively or additionally, an amplitude of 0.05 mm to 15 mm, preferably from 0.2 mm to 10 mm, more preferably from 0.3 mm to 5 mm, can be generated here.

[0123] According to a further teaching, which is of independent importance, a use of a proposed applicator 1 for generating pressure waves in the context of a radial, unfocused and / or dispersive pressure wave treatment is proposed.

[0124] In this respect, reference may be made to all statements concerning the proposed actuator 1, the proposed method according to the second teaching and according to the third teaching, the proposed applicator system 27 and the proposed use according to the fifth teaching

[0125] It is particularly advantageous if, within the scope of the pressure wave treatment, individual pulses with a pulse duration of 0.08 ms to 10 ms, preferably 0.08 ms to 7.5 ms, more preferably 0.1 ms to 5 ms, can be generated. Furthermore, it is preferably provided that a pressure of 0.05 MPa to 2 MPa, preferably 0.075 MPa to 1.5 MPa, more preferably 0.1 MPa to 1 MPa, can be generated.

[0126] To generate a pressure wave, the coil arrangement 14 can be subjected to a direct voltage such that the drive permanent magnet arrangement 15 is moved relative to the brake permanent magnet arrangement 22 such that an opposing force acts between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22, as shown in Fig. 3a), thereby prestressing the carriage arrangement 2. If the coil arrangement 14 is subsequently subjected to a strong, opposing current pulse, the carriage arrangement 2 is accelerated to such an extent due to the prestress between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22, as well as due to the force acting between the drive permanent magnet arrangement 15 and the coil arrangement 14, that a pressure wave can be generated as part of a radial, unfocused and / or dispersive pressure wave treatment.For the seamless transition of the pressure wave into the tissue, a special applicator 28, for example a water-filled applicator 28, can be used. List of reference symbols.

[0127] 1 Actuator Slide assembly Support assembly Guide assembly Magnetic drive circuit Slide

[0128] 7 Magnetic gap

[0129] 8 Guide element

[0130] 9 Guide counter element

[0131] 10 first partial management unit

[0132] 11 second partial control unit

[0133] 12 Guide counter element holder

[0134] 13 U-legs

[0135] 14 Coil arrangement

[0136] 15 Drive permanent magnet arrangement

[0137] 16 Drive permanent magnet

[0138] 17 yoke arrangement

[0139] 18 yoke or first partial yoke 19 second partial yoke

[0140] 20 first coil

[0141] 21 second coil

[0142] 22 Brake permanent magnet arrangement

[0143] 23 Brake permanent magnet

[0144] 24 Guide element holder

[0145] 25 actuator housing

[0146] 26 housing halves

[0147] 27 Applicator system

[0148] 28 Applicator

[0149] 29 bars

[0150] 30 Material thickening

[0151] 31 yoke arms

[0152] 32 connecting section

[0153] X Drive direction

[0154] A gap alignment

[0155] B Center line

[0156] Y first mounting direction

[0157] Z second mounting direction M magnet mounting direction

[0158] G geometric coil axis EB beam extension direction

[0159] EA arm extension direction

[0160] Ev connection section extension direction

Claims

Patent claims 1.Actuator for generating, in particular, oscillating drive movements, with a slide arrangement (2) for transmitting the drive movements, wherein the actuator (1) has a support arrangement (3) and a guide arrangement (4), and the drive movements of the slide arrangement (2) are guided linearly via the guide arrangement (4) relative to the support arrangement (3) along a drive direction (X), wherein the actuator (1) forms a closed magnetic drive circuit (5) for generating the drive movements, which runs via the support arrangement (3) and the slide (6), characterized in that the magnetic drive circuit (5) has at least two offset magnetic gaps (7) between the support arrangement (3) and the slide arrangement (2) with identical gap orientation (A) transverse to the drive direction (X), and in that at least a part of the guide arrangement (4) is designed to provide the guidance of the slide arrangement (2) in a floating manner in a plane transverse to the gap orientation (A).

2. Actuator according to claim 1, characterized in that at least a part of the guide arrangement (4) is designed to provide the guidance of the carriage arrangement (2) in a floating manner transversely to the drive direction (X).

3. Actuator according to claim 1 or 2, characterized in that the guide arrangement (4) has at least one guide element (8), in particular a guide rod, and at least one guide counter element (9), in particular a guide sleeve, in guide engagement therewith.

4. Actuator according to claim 1 or 2, characterized in that the guide arrangement (4) has a first partial guide unit (10) and a second partial guide unit (11), each of which provides a linear guide of the carriage arrangement (2) relative to the support arrangement (3) along the drive direction (X), wherein only one of the first partial guide unit (10) and the second partial guide unit (11) provides the floating guide of the carriage arrangement (2).

5. Actuator according to one of the preceding claims, characterized in that the first partial guide unit (10) and the second partial guide unit (11) each comprise at least one guide element (8), in particular a Guide rod, and at least one guide counter element (9) in guide engagement therewith, in particular a guide sleeve.

6. Actuator according to one of the preceding claims, characterized in that the first partial guide unit (10) and the second partial guide unit (11) are arranged on opposite sides of the carriage arrangement (2) with respect to a center line (B) running along the drive direction (X).

7. Actuator according to one of the preceding claims, characterized in that the at least one guide element (8) is or are assigned to the support arrangement (3) and that the at least one guide counter element (9) is or are assigned to the carriage arrangement (2), preferably that the first partial guide unit (10) and the second partial guide unit (11) each have two guide counter elements (9) which are arranged one behind the other along the drive direction (X), in particular spaced apart from one another.

8. Actuator according to one of the preceding claims, characterized in that the guide counter element (9) is assigned a guide counter element receptacle (12) in the slide arrangement (2) and that during the assembly of the actuator (1) the guide counter element (9) is inserted into the assigned guide counter element receptacle (12) in an assembly movement, preferably that the guide counter element (9) is already in leading engagement with the assigned guide element (8) during the assembly movement.

9. Actuator according to one of the preceding claims, characterized in that the guide counter element receptacle (12) is designed in cross section transverse to the drive direction (X) substantially U-shaped with two U-legs (13).

10. Actuator according to one of the preceding claims, characterized in that the magnetic drive circuit (5) has a coil arrangement (14), in particular with one or more coils (20, 21) extending along a geometric coil axis (G), and a drive permanent magnet arrangement (15) which interact with one another to accelerate the carriage arrangement (2), preferably in that the drive permanent magnet arrangement (15) is assigned to the carriage arrangement (2).

11. Actuator according to one of the preceding claims, characterized in that the drive permanent magnet arrangement (15) has at least one drive permanent magnet (16), preferably that the magnetic field of the drive permanent magnet (16) emerges from the drive permanent magnet (16) transversely to the drive direction (X).

12. Actuator according to one of the preceding claims, characterized in that the drive permanent magnet (16) is assigned a drive permanent magnet receptacle of the slide arrangement (2) and that during the assembly of the actuator (1) the at least one drive permanent magnet (16) is inserted into the drive permanent magnet receptacle of the slide arrangement (2) in an assembly movement, preferably that the assembly movement takes place transversely to the gap orientation (A) and / or transversely to the drive direction (X).

13. Actuator according to one of the preceding claims, characterized in that the magnetic drive circuit (5) has a yoke arrangement (17) which extends transversely to the drive direction (X) via the magnetic gaps (7) to the drive permanent magnet arrangement (15) and which is magnetically coupled to the coil arrangement (14).

14. Actuator according to claim 13, characterized in that the yoke arrangement (17) is formed from a single yoke (18) or at least two, in particular exactly two, partial yokes (18, 19).

15. Actuator according to claim 14, characterized in that a partial yoke (18, 19) is arranged on each side of the slide arrangement (2) with respect to the gap orientation (A), or that only one yoke (18) is arranged on only one side of the slide arrangement (2) with respect to the gap orientation (A).

16. Actuator according to claim 14 or 15, characterized in that the respective yoke (18) or partial yoke (18, 19) is designed as a beam (29) extending in a beam extension direction (EB), preferably that the beam extension direction (EB) runs parallel to the drive direction (X) and in particular transversely to the gap orientation (A).

17. Actuator according to claim 14, characterized in that the respective yoke (18) or partial yoke (18, 19) laterally surrounds the carriage arrangement (2), so that a section of the yoke (18) or partial yoke (18, 19) is arranged on one side of the carriage arrangement (2) with respect to the gap orientation (A) and another section of the yoke (18) or partial yoke (18, 19) is arranged on the other side of the carriage arrangement (2) with respect to the gap orientation (A), preferably that, with respect to the gap orientation (A), on each side of the carriage arrangement (2) exactly one magnetic gap (7) is formed between the respective yoke (18) or partial yoke (18, 19) and the carriage arrangement (2).

18. Actuator according to claim 14 or 17, characterized in that the respective yoke (18) or partial yoke (18, 19) has two yoke arms (31) extending substantially parallel in an arm extension direction (EA), which are connected to one another via a connecting section (32) of the yoke (18) or partial yoke (18, 19) extending transversely thereto in a connecting section extension direction (Ev), preferably in that the arm extension direction (EA) runs parallel or transversely to the drive direction (X) and in particular transversely to the gap orientation (A) and / or in that the connecting section extension direction (Ev) runs transversely to the drive direction (X) and in particular parallel to the gap orientation (A).

19. Actuator according to claim 18, characterized in that at least or exactly one coil (20, 21) of the coil arrangement (14) extends along a yoke arm (31), in particular around the yoke arm (31), or that at least or exactly one coil (20, 21) of the coil arrangement (14) extends along the connecting section (32) of the yoke (18) or partial yoke (18, 19), in particular around the connecting section (32) of the yoke (18) or partial yoke (18, 19).

20. Actuator according to one of claims 14 to 19, characterized in that one or more, in particular two, coils (20, 21) of the coil arrangement (14) are assigned to the respective yoke (18) or partial yoke (18, 19), preferably that the geometric coil axis (G) of the respective coil (20, 21) runs parallel to the arm extension direction (EA) or parallel to the connecting section extension direction (Ev).

21. Actuator according to one of the preceding claims, characterized in that the geometric coil axis (G) of the respective coil (20, 21) of the coil arrangement (14) runs parallel or transversely to the drive direction (X) and / or parallel or transversely to the gap orientation (A).

22. Actuator according to one of claims 13 to 21, characterized in that the yoke arrangement (17) has a first partial yoke (18) and a second partial yoke (19), preferably that the first partial yoke (18) and the second partial yoke (19) reach the drive permanent magnet arrangement (15) in opposite directions, each via two magnetic gaps (7), further preferably that the coil arrangement (14) has a first coil (20) which is connected to the first partial yoke (18) and has a second coil (21) which is assigned to the second partial yoke (19).

23. Actuator according to one of the preceding claims, characterized in that in at least one position of the carriage arrangement (2) the yoke arrangement (17) and the drive permanent magnet arrangement (15) form the magnetic gaps (7).

24. Actuator according to one of the preceding claims, characterized in that the magnetic drive circuit (5) has a brake permanent magnet arrangement (22) which interacts magnetically with the drive permanent magnet arrangement (15) to generate a braking effect on the carriage arrangement (2), preferably that the brake permanent magnet arrangement (22) is assigned to the support arrangement (3).

25. Actuator according to one of the preceding claims, characterized in that the brake permanent magnet arrangement (22) has at least one brake permanent magnet (23), preferably that the magnetic field of the brake permanent magnet (23) emerges from the brake permanent magnet (23) transversely to the drive direction (X).

26. Actuator according to one of the preceding claims, characterized in that the arrangement of the brake permanent magnet arrangement (22) and the drive permanent magnet arrangement (15) is designed such that the approach of the carriage arrangement (2) to one of its end positions causes an increasing braking effect which is due to the interaction of the brake permanent magnet arrangement (22) with the drive permanent magnet arrangement (15), preferably that in the relevant end position of the carriage arrangement (2) at least one drive permanent magnet (16) lies over at least one of the magnet gaps (7) in the magnet drive circuit (5).

27. Actuator according to one of the preceding claims, characterized in that the brake permanent magnet arrangement (22) has at least two brake permanent magnets (23) which are spaced apart from one another transversely to the drive direction (X) in such a way that at least one drive permanent magnet (16) assigned to the drive permanent magnet arrangement (15) can be inserted at least in sections between the two brake permanent magnets (23).

28. Actuator according to one of the preceding claims, characterized in that the actuator (1) has two brake permanent magnet arrangements (22), that the two brake permanent magnet arrangements (22) are spaced apart from one another in the drive direction (X) and are arranged in the drive direction (X) substantially in front of and behind the drive permanent magnet arrangement (15).

29. Actuator according to one of the preceding claims, characterized in that the guide element (8) is assigned a guide element receptacle (24) in the support arrangement (3) and that during the assembly of the actuator (1) the guide element (8) is inserted into the assigned guide element receptacle (24) in an assembly movement, optionally together with the counter guide element (9) and / or the slide arrangement (2), preferably that the actuator (1) has an actuator housing (25) which provides the guide element receptacle (24), further preferably that the actuator housing (25) has two housing halves (26), further preferably that the two housing halves (26) are designed as identical parts.

30. Method for assembling an actuator (1) according to one of the preceding claims, characterized in that the guide arrangement (4) has at least one guide element (8), in particular a guide rod, and at least one guide counter-element (9), in particular a guide sleeve, which is in guide engagement therewith, and in that the guide counter-element (9), optionally together with the guide element (8), is inserted into a guide counter-element receptacle (12) of the slide arrangement (2) in a first assembly movement with a first assembly direction (Y) and in that the slide arrangement (2) is inserted into the support arrangement (3) in a second assembly movement with a second assembly direction (Z), which is transverse to the first assembly direction (Y).

31. Method for assembling an actuator (1) according to one of claims 1 to 29, characterized in that the magnetic drive circuit (5) has a drive permanent magnet arrangement (15) with at least one drive permanent magnet (16) and that the at least one drive permanent magnet (16) is inserted into a drive permanent magnet receptacle of the carriage arrangement (2) in an assembly movement with a magnet assembly direction (M), preferably that the magnet assembly direction (M) is oriented transversely to the gap alignment (A) and / or transversely to the drive direction (X).

32. Medical applicator system for introducing mechanical vibrations into a body part, comprising an applicator (28) for vibration-transmitting contact with the body part, characterized in that the applicator system (27) comprises an actuator (1) according to one of claims 1 to 29, which is drive-coupled to the applicator (28) for generating the mechanical vibrations.

33. Use of an applicator (1) according to one of claims 1 to 29 for generating vibrations in the context of a vibration treatment, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and / or organs.

34. Use of an applicator (1) according to one of claims 1 to 29 for generating pressure waves in the context of a radial, unfocused and / or dispersive pressure wave treatment.

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