Drive device and method for operating such a drive device - Patents.com

Abstract

The present invention relates to a drive device (1) comprising at least one drive unit (2) having at least one first and second drive element (20), and a runner (3) moved in a drive direction by the drive unit (2), wherein each drive element (20) comprises a base element (210) and at least three actuators (200) arranged on the base element (210) adjacent to each other in an arrangement direction transverse to the drive direction, and at least one of the actuators (200) of the drive element (20) is an actuator The actuators (200) of the drive element (20) have a shear section (220) for shearing movements in a direction transverse to the direction of arrangement of the actuators (200) and along the drive direction of the runners (3), at least one of the actuators (200) of the drive element (20) has a stroke section (240) for stroking movements in a direction transverse to the direction of arrangement of the actuators (200) and along the drive direction of the runners (3), and at least two drive units (2) are arranged so as to be located side by side along the drive direction of the runners (3). Furthermore, the invention relates to a method for operating a drive device (1) of this type.

Description

[Technical field]

[0001] The present invention relates to a drive arrangement according to claim 1 as well as to a method for operating such a drive arrangement according to claims 11 and 12. [Background technology]

[0002] From the applicant's patent application WO 2005 / 023636 a so-called stepper drive is known, which in an exemplary embodiment according to Fig. 1 and Fig. 3 discloses a drive module having a total of four piezoelectric actuators arranged adjacent to one another on a substrate or arranged in a row. Each actuator is configured as a hybrid actuator and comprises a stroke section adjacent to the substrate and at least one shear section adjacent to the stroke section in a direction along the extension direction of the actuator. The four actuators comprise a linear arrangement relative to one another, which in this case forms a corresponding arrangement direction coinciding with the drive direction of the driven element.

[0003] By suitable simultaneous electrical actuation of the two sections of each actuator, a constant trajectory of the freely movable end section of the individual actuator, preferably including a circular or elliptical shape, can be achieved based on the superposition of the stroke motion of the stroke section and the shear motion of the shear section, such that the individual actuator momentarily contacts the driven element and causes a single actuation step during the corresponding contact or actuation phase.

[0004] The four actuators of the drive unit can be divided into two groups of two actuators each, such that there are two distinct actuator pairs. The actuators of one or the same actuator pair are controlled in phase, while the actuators of the different actuator pairs are controlled in a phase-shifted manner with respect to each other. As a result of the phase-shifted control of the two pairs of actuators, a time-sequential contact between the actuators of the two pairs and the driven element can be realized in the phase-shifted control of the two pairs of actuators. In other words, the two pairs of actuators ensure a drive phase, i.e. a drive step, of the driven element, and by corresponding repetition a sequence of individual drive steps occurs, which finally results in a substantially continuous movement of the driven element.

[0005] After undergoing or completing the drive phase as described above, the actuator pair undergoes a return movement or return phase to a position where a new drive phase can be initiated, in which the actuator pair moves substantially away from the runner, thereby achieving lift-off or release from contact with the runner.

[0006] Particularly for small drives, against the background that the stroke section can only perform a minimum stroke movement that is within the range of manufacturing tolerances with respect to the intended actuator height (desired height), it is necessary to press the substrate, and thus also the actuators attached to the substrate, with a certain force in the direction of the driven element for a reliable contact of the individual actuators with the driven element at least during the drive phase. This is usually done by means of spring elements that engage with the substrate (not shown in the '15 patent). However, in the case of large deviations from the target height of the actuators, even a high spring force may not be sufficient for all actuators to adequately engage with the driven element. On the other hand, a high spring force may, under certain circumstances, result in individual or all actuators not lifting off or only insufficiently lifting off from the driven element during the return phase, which may lead to increased wear of the drive or reduced drive force.

[0007] Furthermore, the stepper drive of US Pat. No. 5,399,633 has some drawbacks for applications where small dimensions are required, particularly with regard to height, due to the inherent height of the actuator. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] European Patent No. 1267478 Summary of the Invention [Problem to be solved by the invention]

[0009] The object of the present invention is therefore to provide a drive device which can be constructed very compactly, in particular with regard to its height, and which, due to its structure, makes it possible to achieve a reliable and constant state of contact between the drive actuator and the driven element. [Means for solving the problem]

[0010] This object is achieved by a drive device according to claim 1, at least expedient developments of which are the subject matter of the dependent claims. The drive according to the invention comprises at least one base, at least one drive unit arranged on or connected to the base, and a runner driven by the drive unit along a movement direction, which preferably extends along a straight line, so that the drive can be provided linearly, but also movement directions along curved lines are contemplated, for example in the case of a rotary drive.

[0011] The drive unit comprises at least two drive elements, where each drive element comprises a separate base element belonging to it and at least two actuators arranged side by side on the base element along an arrangement direction oriented transverse to the direction of movement of the runner and preferably arranged side by side along a direction transverse to the direction of movement of the runner, preferably arranged overlapping each other, the dimensions of the actuators being variable by electric control, at least one of the actuators forming a contact actuator provided for frictional contact with the runner. The base element of each drive element is arranged opposite and spaced apart from the base, and the actuator is arranged between the respective base element and the base.

[0012] The term "dimension-variable actuator" means an actuator in which at least one dimension, eg, height, length, width, thickness, etc., can be varied, at least in part, by electrical control.

[0013] At least one of the actuators of the drive element comprises a shear section for performing a shear movement transverse to the direction of arrangement of the actuators and along or parallel to the direction of movement of the runner. Here, for example, it is contemplated that the actuator is configured as a stack including a section for generating a lifting movement and a section for generating a shear movement. It is also contemplated that the actuator of the drive element has, in addition to the stroke section, two different shear sections, in which case the shear movements of the two shear sections are different from each other. Preferably, the shear section concerns the entire actuator, so that the actuator constitutes a shear actuator.

[0014] Furthermore, at least one of the actuators of the drive element includes a stroke section for performing an upward movement in a direction transverse to the direction of alignment of the actuators and transverse to the direction of movement of the runner. Here too, it is contemplated that the corresponding actuator includes at least one shear section in addition to the stroke section. The stroke section preferably relates to the entire actuator such that the actuator constitutes a stroke actuator.

[0015] In the case of a drive device having two or more drive units, the two or more drive units are arranged in a line along the direction of movement or drive of the runner, preferably arranged one above the other.

[0016] Due to the parallel linear arrangement of the actuators of the drive unit and due to the possibility of distributing the stroke and shear functions to the individual actuators or actuator sections, each of the actuators can have a relatively small height, so that the drive unit, and thus the entire drive, can be realized in a very compact manner, in particular with regard to their height range.

[0017] In addition, the distribution of the stroke and shear functions to the corresponding actuators of the drive units makes it possible, in the case of several drive units, to apply a separate pretensioning force to each individual drive unit of the drive units arranged in a row along the movement or drive direction of the runner, which pretensioning force presses the individual drive unit against or towards the runner with a clearly defined force. In this case, the pretensioning force should be large on the one hand so that the actuator provided for contact with the runner, i.e. the contact actuator, is in reliable contact with the runner during the drive phase, even in the case of relatively large deviations from a certain height, and on the other hand so that a constant lift of the contact actuator is guaranteed during the return phase or return movement.

[0018] It may be advantageous if at least three actuators are arranged on the base element along a row or in a straight line, two actuators of each drive element which are located on the outside with respect to the arrangement direction comprise a stroke section or are configured as stroke actuators, and at least one contact actuator arranged between the outer actuators comprises a shear section or is configured as a shear actuator, in which case the actuator with a stroke section or the stroke actuator ensures, by a corresponding dimensional change, that at least one shear actuator or at least one actuator with a shear section is lifted from the driven element or that at least one actuator with a shear section is brought into contact with the driven element.

[0019] In addition, it is contemplated that in the case of at least three actuators arranged on the base element, two actuators located on the outside with respect to the arrangement direction include shear sections or are formed as shear actuators, and at least one actuator arranged between the outer actuators includes a stroke section or is formed as a stroke actuator, in which case the actuator or the stroke actuator including the stroke section independently ensures, by corresponding dimensional changes, the lift-off from or contact with the driven element of the two actuators including shear sections or formed as shear actuators.

[0020] In addition, it may be advantageous for the actuator to comprise or consist of an electromechanical material, preferably a piezoelectric material, particularly preferably a piezoelectric ceramic material, which can be operated with very high dynamics and is particularly suitable for applications in which drives with magnetic or magnetizable parts are not suitable.

[0021] Furthermore, it may be advantageous for the actuators to be in the form of columns having substantially the same height and preferably the same cross-sectional shape. The cross-section of the columns is preferably square, although circular or rectangular cross-sections are also contemplated. Furthermore, it is contemplated that the actuators are configured in the form of hollow cylinders. All of this allows for relatively simple manufacture and assembly, while at the same time allowing for optimized or maximized actuator operation.

[0022] It may further be advantageous for the drive to comprise a pretensioning device by which each drive element is pressed in the direction of the runner towards or against the runner, so that the contact actuators of the individual drive elements come into contact with the runner in the electrically deactivated state, i.e. in the inactive or passive state of all actuators of this drive element, so that in the electrically deactivated state of the drive a self-locking is produced, on the basis of which the runner is kept stable in the last approached position, which is particularly advantageous when the drive is arranged vertically.

[0023] In this case, it may be advantageous if the pretensioning device is configured to be able to apply a separate, independent, constant compression force to each of the drive elements, by which the drive elements are pressed towards or against the runner. In this case, it is possible to apply different high pressure forces to the individual drive elements depending on the conditions and the application. In this case, it may be particularly advantageous for the drive device to comprise several separately existing prestressing elements corresponding to the multiple drive elements, a prestressing element, for example a compression spring, being assigned to each drive element, in this case the compression spring being supported on a superordinate structure. However, it is also contemplated that several prestressing elements act on each drive element. It is also contemplated that a different number of prestressing elements act on different drive elements.

[0024] As a result of the provision of separate pretensioning elements as described above, each pretensioning element being assigned to a single drive element and thus acting on each individual drive element as described above and providing a clearly defined pretensioning force, each drive element is able to move the contact actuator(s) by individually activating one or more stroke actuators in a direction substantially opposite to the direction of the pushing or compressive force generated by the individual pretensioning element, which in particular facilitates the assembly of the drive device, since the driven element can be easily inserted or pushed in.

[0025] Furthermore, it may be advantageous for the drive unit to be arranged on the base such that at least one of the actuators of the drive element is fixedly connected to the base and the contact actuator is arranged facing the runner. In this case, it may be particularly advantageous for a bearing device to be arranged on or in the base, via which the runner is mounted so as to be movable at least in or along the direction of movement. Such a construction is particularly compact and relatively easy to assemble.

[0026] In addition, it may be advantageous if the drive comprises two drive units arranged on either side or on separate sides of the base, with the runner being arranged between the two drive units. A very large number of drive actuators or contact actuators can thus act on the runner, which act on or from both sides, so that a larger drive force can be realized. The bearings of the runner are also simplified, as a result of which the bearing forces are reduced.

[0027] The invention also relates to a method for operating the above-mentioned drive device with at least two drive element groups, where each drive element group comprises at least one drive element. In this case, the individual actuators of the first and second drive element groups are electrically controlled in a phase-shifted manner relative to one another, so that their contact actuators are in frictional contact with the runner in a time-offset manner, thereby ensuring a drive movement of the runner in a time-sequential manner. This allows a so-called step drive to be realized, which, when executed repeatedly, allows a quasi-continuous movement of the runner. It is provided for the phase offset to be set in such a way that the contact of the contact actuators of the drive elements of a drive element group is only made after the occurrence of a contact release of the contact actuator of the drive element of another drive element. In contrast, it may be advantageous for the phase offset to be set in such a way that there is a time overlap of the contact phases of the contact actuators of the different drive element groups, where a very short time overlap is particularly advantageous.

[0028] The invention also relates alternatively to a method for operating the above-mentioned drive with at least two drive element groups, each including at least one drive element, in which the individual actuators of the first and second drive element groups are electrically controlled such that their contact actuators, when there is frictional contact with the runner, perform movements in the same direction, thereby simultaneously ensuring a drive movement of the runner. By this type of control, particularly when piezoelectric actuators are used, a minimal and highly accurate drive movement of the runner can be achieved. [Brief description of the drawings]

[0029] [Figure 1] FIG. 2 is a perspective view of a drive device according to the present invention; [Diagram 2] 4 is a perspective view of a further drive device according to the invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a drive device according to the present invention will be described with reference to the corresponding drawings, in which the same reference numbers refer to similar components in different drawings. FIG. 1 shows a first embodiment of a drive device 1 according to the invention. Four identically constructed drive elements 20 are arranged adjacent to one another or in a row on a base 100, one above the other. Each of the four drive elements 20 comprises three piezoelectric actuators 200 in the form of columns with a square cross section, where the columns have substantially the same geometric shape, in particular the same height. The three actuators of each drive element 20 are respectively arranged on a common plate-like base element 210, the length of which is significantly greater than its width or its height or its thickness. Each drive element (20) thus comprises its own separate base element (210), which is arranged on the opposite side of and spaced apart from the base 100, such that the three actuators 200 are located between the separate base elements 210 and the base 100.

[0031] Along the longitudinal extension direction of the base element 210, the three actuators 200 are arranged adjacent to one another or in a row, linearly or in series, mutually overlapping with respect to one another, such that the actuators configured as shear actuators 220 are located between the two outer actuators configured as stroke actuators 240. In this case, the corresponding arrangement of the actuators defines an arrangement direction AR that is arranged parallel to or coincides with the longitudinal extension direction of the plate-like base element 210.

[0032] The shear actuators 220 of the four driving elements 20 are each arranged opposite a driven element 3 in the form of an elongated plate, the direction in which the shear actuators 220 are arranged in a row or next to each other being parallel to the longitudinal extension direction of the driven element 3. The driven element 3 is mounted so as to be linearly movable along the movement direction BR by means of a bearing device 4 arranged in or integrated with a base 100.

[0033] Each driving element 20 is pressed separately or individually in the direction of the driven element 3 or in the direction of the base 4 (indicated by the force arrow F in FIG. 1) by means of prestressing elements of a pretensioning device, not shown in FIG. 1. A total of four separately present prestressing elements thus press the individual driving elements 20 with a constant force in the direction of the driven element 3, so that contact of the individual shear actuators 220 with the driven element 3 is ensured at least in the non-actuated actuator state of the driving elements 20.

[0034] In the operating mode of the drive 1 according to Fig. 1, the drive elements 20 are controlled or actuated in in-phase pairs, i.e. the actuator 200 of the front drive element 20 of Fig. 1 and the actuator 200 of the third drive element 20 as seen from the front (wherein the term "front" refers to the side of the drive 1 in Fig. 1 on which the bearing device 4 or the driven element 3 can be seen) forming a first drive element group are controlled in phase, i.e. with the same electric signal, so that the actuators of this pair of drive elements move in exactly the same way and at the same time. Similarly, the actuator 200 of the second drive element 20 as seen from the front and the actuator 200 of the rearmost drive element 20 forming a second drive element group are controlled in phase, but by electric signals which have a phase shift with respect to the electric signals with which the actuators of the first drive element group are controlled.

[0035] Starting from a state in which all actuators of the drive device 1 are not activated or are not controlled, the actuators of the drive elements are controlled for the first (or second) drive element group such that the outer stroke actuator 240 performs a longitudinal extension and extends in a direction transverse to the drive direction or movement direction BR of the driven element 3. As a result, the base element 210 and therewith the shear actuator 220 arranged between the two stroke actuators and fixedly connected to the base element 210 move away from the driven element 3 or away from the base 100, in which case the stroke actuator 240 overcomes the pressing force of the individual pretensioning element of the pretensioning device. As a result, the individual shear actuator 220 is lifted off from the driven element 3.

[0036] As a result of the phase-shifted actuation of the actuators of the second (or first) driving element group, their shear actuators 220 start to perform a shear deformation or shear movement extending parallel to or coinciding with the driving direction or movement direction BR of the driven element at the latest upon the lifting of the shear actuators 330 of the respective other driving element group, which, by coming into contact with the driven element 3, cause their shear movement or shear deformation to result in a driving movement or driving step of the driven element.

[0037] In the state of maximum possible shear deformation or already before this point, the associated lift actuators 240 of the individual drive elements 20 are controlled in such a way that they perform a linear extension, thereby resulting in the lifting off of the deformed shear actuators 220 located between them. In the raised state, the shear actuators 220 are controlled in such a way that they undergo a shear return deformation or in the direction opposite to the drive direction BR or in the direction opposite to the movement direction BR.

[0038] During the corresponding return or contraction phase of the shear actuators of the drive element group, the shear actuators of the respective other drive element group are controlled in a similar manner such that they perform a shear deformation or movement in the drive or movement direction BR. Since the shear actuators of this drive element group are meanwhile (i.e. after the first lift-off phase) again in contact with the driven element 3 due to the return deformation of the longitudinal deformation of the stroke actuator, the shear movement of the shear actuators of this drive element group in turn causes a drive movement or drive step of the driven element.

[0039] Thus, the two pairs of drive elements or the drive elements of the two groups of drive elements alternate with each other in exerting drive movements or drive steps as a result of the phase-shifted actuation of their actuators, and the successive sequence of individual drive steps results in a substantially continuous movement that is limited only by the length of the driven element.

[0040] In this case it is possible to operate with different phase offsets. A control method is preferred in which there is an overlap of the drive movements caused by the shear actuators of the two drive element groups. This means that the shear actuators of a drive element group that has just finished a return or contraction movement come into contact with the driven element while the drive step of the shear actuators of the respective other drive element group has not yet been completed. In this way, an uninterrupted drive of the driven element is guaranteed. In this case the duration of the overlap can be changed and adapted to the specific application case.

[0041] Due to the successive sequence of individual drive steps by the two drive element groups, which is similar to the movement of living organisms by a pair of legs, such drive is also referred to as step drive and / or the corresponding operating mode of step mode.

[0042] A drive device with two drive element groups, each with only one drive element 20, is also possible. Moreover, in the case of two drive element groups, it is contemplated that these each include more than two drive elements. Regardless of the number of drive elements per drive element group, the above-mentioned phase shift and two-phase control are advantageous in the case of two drive element groups. Furthermore, it is conceivable to provide two or more drive element groups, each with at least one drive element, and in the case of three drive element groups, it is contemplated to apply, for example, a three-phase control of their respective actuators. Finally, it is contemplated to form a drive device with only one drive element.

[0043] In a further operating mode of the drive device 1 according to Fig. 1, the actuators of all drive elements 20 are controlled in phase, so that during the drive phase, all four shear actuators 220 are in contact with the driven element 3 and perform a movement in the same direction of analogue action such that they drive the driven element together and simultaneously, in which case only a single and common drive step with a very small step width but very high resolution can be realised. This operating mode is also called analogue mode.

[0044] Any combination of the two operating modes outlined above is contemplated, for example it is contemplated to initially apply the step mode to the driven element at a position far away from the intended position (set point position) or far away from the intended adjustment movement, and then switch to analog mode when a position close to the set point position is reached.

[0045] Figure 2 shows a further embodiment of the drive device 1 according to the invention. This embodiment essentially differs from the embodiment according to Figure 1 in that in this case two drive units are provided, the drive units 2 being as described in Figure 1. The construction or structure thereof was described in detail in the first embodiment and will not be described in detail here.

[0046] The two drive units 2 are located opposite each other in a mirror-symmetric arrangement, and the driven element 3 is arranged between them. Also, a plate-shaped base 100, to which the stroke actuators 240 of the drive elements 20 are respectively connected, is arranged between the two drive units 2. The flat-bar-shaped driven element 3 is arranged opposite the shear actuators 220, and a bearing device 4 on the outside of the base 100 ensures the linear mobility of the driven element 3 along or in the movement direction BR. In this case, the thickness of the driven element 3 substantially corresponds to the thickness of the plate-shaped base 100, and the driven element 3 is arranged between and spaced apart from the two sections of the base 100. [Explanation of symbols]

[0047] 1: Drive unit 2: Drive unit 3: Driven element 4: Bearing device 20: Drive element (of drive unit 2) 100: Bass 200: Actuator (of driving element 20) 202: Contact actuator (of driving element 20) 210: Base element (of driving element 20) 220: Shear section (of actuator 200) 240: Stroke section (of actuator 200) BR: Direction of movement (of driven element 3) AR: Array direction (with respect to the actuator 200)

Claims

1. A drive device (1) comprising a base (100), at least one drive unit (2) arranged on the base (100) and including at least two drive elements (20), and a runner (3) driven and movably supported by the drive unit (2) along a movement direction (BR), each drive element (20) being: a separate base element (210) located opposite said base (100) and spaced apart from said base (100); At least two actuators (200) arranged in line on the base element (210) along an arrangement direction (AR) oriented transversely to the movement direction (BR), the actuators having variable dimensions; At least one actuator (200) of the at least two actuators (200) is provided for frictional contact with the runner (3) and corresponds to a contact actuator (202); one of the at least two actuators (200) of the drive element (20) comprises a shear section (220) for performing a shear movement transversely to the arrangement direction (AR) of the actuators (200) and along or parallel to the movement direction (BR) of the runner (3), Another one of the at least two actuators (200) of the drive element (20) includes a stroke section (240) for performing a stroke movement in a direction transverse to the arrangement direction (AR) of the actuators (200) and in a direction transverse to the movement direction (BR) of the runner (3), The drive unit (2) is arranged on the base (100) such that at least one of the at least two actuators (200) of the drive element (20) is fixedly connected to the base (100) and the contact actuator (202) is arranged opposite the runner (3).

2. 2. The drive device (1) of claim 1, wherein at least three actuators (200) are arranged on the base element (210), two outer actuators (200) of each drive element (20) include a stroke section (240), and at least one contact actuator (202) arranged between the two outer actuators (200) includes a shear section (220).

3. The drive device (1) according to claim 1 or 2, wherein the actuator (200) is made of electromechanical material.

4. The drive device (1) according to any one of the preceding claims, wherein the actuators (200) have the shape of columns having substantially the same height.

5. 5. The drive device (1) according to claim 1, further comprising a pretensioning device for pressing the drive element (20) towards the runner (3) so that the contact actuators (202) of the drive element (20) are in contact with the runner (3) in an electrically inactivated state with all actuators (200) of the drive element (20).

6. 6. The drive device (1) according to claim 5, wherein the drive device (1) comprises a plurality of drive elements (20), and the pretensioning device is configured to be able to apply a separate constant compressive force to each of the plurality of drive elements (20), the compressive force pressing the plurality of drive elements (20) against the runner (3).

7. 7. The drive device (1) according to claim 6, wherein the pretensioning device comprises a number of pretensioning members corresponding to the number of the drive elements, a pretensioning member being assigned to each drive element (20).

8. The drive device (1) according to any one of claims 1 to 7, wherein a bearing device (4) is arranged on the base (100), and the runner (3) is supported via the bearing device so as to be movable at least along the movement direction (BR).

9. The drive device (1) according to any one of claims 1 to 8, wherein the drive device (1) comprises two drive units (2) arranged on either side of the base (100), and the runner (3) is arranged between the two drive units (2).

10. A method for operating a drive device (1), comprising at least one drive unit (2) arranged on the base (100) and comprising at least two drive elements (20), and a runner (3) driven and movably supported by the drive unit (2) along a movement direction (BR), each drive element (20) comprising at least two actuators (200) of variable dimensions arranged in a row along an arrangement direction (AR) oriented transversely to the movement direction (BR), at least one actuator (200) being provided for frictional contact with the runner (3) and corresponding to a contact actuator (202), one of the at least two actuators (200) of the drive element (20) comprises a shear section (220) for performing a shear movement transversely to the arrangement direction (AR) of the actuators (200) and along or parallel to the movement direction (BR) of the runner (3), Another one of the at least two actuators (200) of the drive element (20) includes a stroke section (240) for performing a stroke movement in a direction transverse to the arrangement direction (AR) of the actuators (200) and in a direction transverse to the movement direction (BR) of the runner (3), the drive unit (2) is arranged on the base (100) such that at least one of the at least two actuators (200) of the drive element (20) is fixedly connected to the base (100) and the contact actuator (202) is arranged facing the runner (3); The drive device (1) comprises at least two drive element groups each including at least one drive element (20), and individual actuators (200) of the first and second drive element groups are electrically driven in a phase-shifted manner relative to each other such that contact actuators of the first and second drive element groups are in frictional contact with the runner (3) in a time-offset manner, thereby ensuring a drive movement of the runner in a time-sequential manner.

11. A method for operating a drive device (1), comprising at least one drive unit (2) arranged on the base (100) and comprising at least two drive elements (20), and a runner (3) driven and movably supported by the drive unit (2) along a movement direction (BR), each drive element (20) comprising at least two actuators (200) of variable dimensions arranged in a row along an arrangement direction (AR) oriented transversely to the movement direction (BR), at least one actuator (200) being provided for frictional contact with the runner (3) and corresponding to a contact actuator (202), one of the at least two actuators (200) of the drive element (20) comprises a shear section (220) for performing a shear movement transversely to the arrangement direction (AR) of the actuators (200) and along or parallel to the movement direction (BR) of the runner (3), Another one of the at least two actuators (200) of the drive element (20) includes a stroke section (240) for performing a stroke movement in a direction transverse to the arrangement direction (AR) of the actuators (200) and in a direction transverse to the movement direction (BR) of the runner (3), the drive unit (2) is arranged on the base (100) such that at least one of the at least two actuators (200) of the drive element (20) is fixedly connected to the base (100) and the contact actuator (202) is arranged facing the runner (3); The drive device (1) comprises at least two drive element groups each including at least one drive element (20), and the individual actuators (200) of the first and second drive element groups are electrically controlled such that the contact actuators of the first and second drive element groups perform movements in the same direction when frictional contact with the runner is present, thereby simultaneously ensuring a drive movement of the runner.

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