Actuator for generating a drive movement, in particular an oscillating drive movement

Abstract

The invention relates to an actuator for generating a drive movement, in particular an oscillating drive movement, wherein: the actuator (1) has a carriage arrangement (3) having a carriage (4) for outputting the drive movement and has a bearing arrangement (5) for supporting the carriage (4); the carriage (4) has a depth in an x-direction, a width in a y-direction and a height in a z-direction; the actuator (1) has an electric magnet arrangement (7) for generating a magnetic field; the electric magnet arrangement (7) has four pole shoes (8) for the directed output of the magnetic field; at least two of the pole shoes (8) are spaced apart from the carriage (4) in the x-direction; two pole shoes (8) in each pair are mutually spaced in the y-direction; the actuator (1) has a permanent magnet arrangement (9) having at least one permanent magnet (10); the permanent magnet (10) is fixedly arranged on the carriage (4) and is arranged with respect to the magnetic field of the electrical magnet arrangement (7) in such a way that the carriage (4) performs a carriage movement (6), in particular an oscillating carriage movement, when the electric magnet arrangement (7) is supplied with current. According to the invention, the bearing arrangement (5) supports the carriage (4) in such a way that the carriage is moved transversely to the x-direction and transversely to the y-direction during the carriage movement (6).

Description

[0001] Actuator for generating a drive movement, especially an oscillating one.

[0002] The present invention relates to an actuator for generating, in particular oscillating, drive motion according to the preamble of claim 1, as well as a method for mounting an actuator according to claim 13, as well as an applicator system for introducing mechanical vibrations into a body part according to claim 15, and a use of an applicator system according to claim 19.

[0003] The actuator in question can generate drive movements, particularly oscillating ones, by converting an electrical signal into a mechanical movement. The actuator's applications are diverse. For example, it can be integrated into medical applicator systems used for vibration or pressure wave therapy. Besides generating oscillating drive movements, the actuator can also be used as a standard actuator. Therefore, the term 'actuator' is to be understood broadly here and encompasses drive technology components that convert an electrical signal into mechanical movements.

[0004] The known prior art (DE 10 2022 126 607 A1) from which the invention is based relates to an actuator according to the preamble of claim 1. The actuator comprises a slide assembly and a bearing assembly. One slide of the slide assembly is mounted by the bearing assembly in the manner of a sliding bearing, and can therefore slide back and forth. The slide, like any body, has a depth, a width, and a height. The depth of the slide can be assigned an x-direction, the width a y-direction, and the height a z-direction.

[0005] The known actuator comprises an electric magnet arrangement by which a magnetic field can be generated. For the directed emission of the magnetic field, the electric magnet arrangement has four pole shoes. In the actuator, the pole shoes are spaced at equal intervals in the x-direction relative to the carriage, with each pair of pole shoes located on a common side of the carriage being spaced apart from each other in the y-direction. In order to also cause movement of the carriage by means of the magnetic field of the electric magnet arrangement, the known actuator comprises a permanent magnet arrangement with several permanent magnets. The permanent magnets are fixed to the carriage in a specific polarity arrangement and are positioned relative to the magnetic field of the electric magnet arrangement such that the carriage performs an oscillating movement when alternating current is applied to the electric magnet arrangement.The actuator's carriage movement occurs in the y-direction, i.e., in the direction orthogonal to the x-direction, in which two of the pole shoes are spaced apart from each other.

[0006] The well-known actuator has proven itself in a wide variety of applications, but its compact design is limited. For example, a relatively large dimension in the y-direction, i.e., a relatively large width, is required to enable the carriage movement at all, or to transmit the actuator's drive motion via the carriage arrangement or the carriage itself. While actuators that allow for a more compact design may exist, generating a satisfactory drive motion with these is often challenging.

[0007] Against this background, the invention is based on the problem of designing and further developing the known actuator in such a way that optimization is achieved with regard to the aforementioned challenges.

[0008] The above problem is solved by the features of the characterizing part of claim 1.

[0009] While in the prior art the carriage movement occurs in the y-direction, i.e., in the direction of the spacing between two of the pole shoes, it is essential for the invention that the carriage, during its movement, moves transversely to the spacing between two of the pole shoes, i.e., in the y-direction, and transversely to the spacing between at least two of the pole shoes and the carriage, i.e., in the x-direction. Because the carriage movement is transverse, and in particular orthogonal, to the x-direction and the y-direction, the actuator can be designed to be comparatively compact, for example, by reducing its width in the y-direction.By providing four pole shoes, at least two of which are spaced apart in the x-direction relative to the carriage and at least two of which are spaced apart in the y-direction, an optimized carriage movement can be achieved, for example with regard to stroke and / or intensity and / or uniformity and / or efficiency, and thus ultimately a satisfactory drive movement of the actuator.

[0010] Specifically, it is proposed that the bearing arrangement supports the slide in such a way that it is moved transversely to the x-direction and transversely to the y-direction, in particular in the z-direction, during the slide movement.

[0011] Claim 2 advantageously specifies the movement of the slide. For example, the slide movement can be linear, in which the slide is moved in a direction transverse to both the x-direction and the y-direction. In the case of oscillating slide movement, the slide is moved back and forth in one direction. The direction of movement of the slide can, in particular, correspond to the z-direction. It is especially advantageous for the slide to perform only linear movement. Alternatively, it is also conceivable that the slide movement is, in particular, exclusively a tilting movement. In this case, the slide is tilted about a tilting axis, or, in the case of oscillating slide movement, tilted back and forth. Due to the various possible configurations regarding the slide movement, the actuator can be used flexibly for a wide variety of applications.

[0012] Claims 3 to 6 advantageously further develop the actuator with respect to the bearing arrangement. A sliding bearing arrangement (claim 3) with a bearing element and a counter-bearing element, which are arranged to slide relative to each other, can be implemented in a structurally simple and equally functional manner. An alternative rolling bearing arrangement (claim 3), in which the bearing element and the counter-bearing element are arranged to move relative to each other, for example via a rolling bearing, can improve the efficiency of the actuator. The bearing element and the counter-bearing element can be designed as a bearing bolt and bolt receptacle in a structurally simple and equally functional manner (claim 4). This is particularly advantageous if the slide movement occurs along one of the principal axes of inertia of the bearing element and / or the counter-bearing element, which preferably runs along one of the principal axes of inertia of the slide.The bearing arrangement of the slide can be improved, for example with regard to potential jamming. To further improve the bearing arrangement of the slide, particularly with regard to friction, the bearing arrangement can include a bearing sleeve (claim 5). The bearing sleeve can also be advantageous from a manufacturing perspective. To further improve the bearing arrangement, particularly with regard to potential jamming, additional bearing elements and counter-bearing elements are possible (claim 6), which can be designed either analogously to or differently from the bearing element and the counter-bearing element.

[0013] Claim 7 relates to an advantageous embodiment with a housing that allows for the creation of a comparatively compact actuator. In particular, by designing two housing parts as identical parts, a cost-effective and easy-to-assemble housing can be created.

[0014] Claims 8 to 10 relate to advantageous embodiments of the actuator with respect to the electric magnet arrangement. An advantageous embodiment according to claim 8 provides that the electric magnet arrangement has two yokes which connect the spaced-apart pole shoes. This allows the magnetic field of the electric magnet arrangement to be improved, for example with regard to efficiency. The use of two yokes in combination with the permanent magnet(s) of the carriage can lead to a closed magnetic circuit, which is comparatively efficient. An advantageous embodiment according to claim 9 provides two U-shaped yokes, which also allow an improved magnetic field to be achieved. Claim 10 provides that the electric magnet arrangement has several coils. A particularly strong magnetic field can be achieved by assigning a coil to each of the pole shoes.To further optimize the movement of the slide, claim 11 provides a spring-magnet arrangement. It is possible that the spring-magnet arrangement provides spring support and / or spring braking for the slide movement. It is possible that the spring-magnet arrangement prevents or at least reduces hard stops of the slide, for example, in one or both end positions to which the slide can move.

[0015] A further advantageous embodiment according to claim 12 provides that the slide has a slide frame in which the permanent magnets of the permanent magnet assembly can be arranged in a particularly assembly-friendly manner. To further optimize the slide movement, one or more damping elements can be provided.

[0016] According to a further teaching as claimed in claim 13, which has independent significance, a method for assembling a proposed actuator is claimed.

[0017] Reference may be made to all statements concerning the proposed actuator.

[0018] The actuator can be mounted in a particularly easy manner using the method according to claim 14.

[0019] According to a further teaching as claimed in claim 15, which is also of independent significance, an applicator system for introducing mechanical vibrations into a body part is claimed, comprising a proposed actuator. Such applicator systems can be used, for example, in the medical field for vibration therapy or pressure wave therapy. However, other areas of application are also conceivable, such as the applicator system providing haptic feedback to a user (e.g., within the framework of a virtual reality application), etc.

[0020] Reference may be made to all details concerning the proposed actuator and the proposed method. According to claim 16, the applicator system can include a control unit by which the actuator can be controlled accordingly. In particular, the current supply to the electrical magnet arrangement can be effected. The current supply can be controlled according to a wide variety of patterns by means of pulse-pause control.

[0021] A further preferred embodiment of the applicator system (claim 17) provides that the carriage movement is detected, in particular by the control unit detecting a voltage induced in the coils. Detecting the carriage movement allows for further optimization, for example, by adjusting and / or adapting the control of the current supply to the electric magnet arrangement based on the detected carriage movement.

[0022] Claim 18 relates to an applicator of the applicator system, through which a vibration-transmitting contact with a body part can be established. The oscillating drive movement of the actuator can be transmitted in a targeted manner via the applicator, for example, within the context of vibration therapy.

[0023] According to a further teaching as per claim 19, which also has independent significance, the use of an applicator system for generating vibrations in the context of vibration therapy, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and / or organs, and / or for generating pressure waves in the context of radial, unfocused and / or dispersive pressure wave therapy, is claimed. The applicator system is designed as a proposed applicator system.

[0024] Reference may be made to all statements concerning the proposed actuator, the proposed procedure and the proposed applicator system.

[0025] The invention will now be explained in more detail with reference to a drawing that merely illustrates exemplary embodiments. Figure 1 shows a proposed actuator in a first exemplary embodiment in a) a perspective view and a sectional view along section line AA, and b) an exploded view.

[0026] Fig. 2 shows the actuator according to Fig. 1a), 1b) in a reduced top view and a lower sectional view along section line BB,

[0027] Fig. 3 shows the proposed actuator in a second embodiment in exploded view,

[0028] Fig. 4 shows the proposed actuator in a third embodiment in exploded view,

[0029] Fig. 5 shows an exploded view of a slide, several permanent magnets, several bearing elements and counter-bearing elements of the actuator according to Fig. 4.

[0030] Fig. 6 shows the proposed actuator in a fourth embodiment in a) a perspective view and a sectional view along the section line CC and b) an exploded view, and

[0031] Fig. 7 shows a proposed applicator system with the proposed actuator in a perspective view.

[0032] Figures 1a) and 1b), 3, 4, and 6a) and 6b) show different embodiments of an actuator 1 for generating a drive movement. In particular, oscillating, i.e., periodically repeating, drive movements can be generated by means of the actuator 1. The actuator 1 can be used, for example, in an applicator system 2 to introduce mechanical vibrations into a body part, such as the one shown in Figure 7. The actuator 1 has a slide assembly 3 with a slide 4 for transmitting the drive movement and a bearing assembly 5 for supporting the slide 4.

[0033] The term "bearing arrangement" in this context encompasses arrangements that movably mount the slide 4 such that the slide 4 can perform a slide movement 6, preferably an oscillating movement, in at least one specific degree of freedom, while movements of the slide 4 in certain other degrees of freedom are prevented. Arrangements that mount the slide 4 exclusively in an "indeterminate" manner, where the slide 4 can thus perform movements (at least within a certain range) in all degrees of freedom, such as in a spring arrangement (e.g., a mechanical one), are not bearing arrangements 5 within the meaning of this application. However, it is not fundamentally excluded that the bearing arrangement 5 also includes spring elements, for example, if the specific degrees of freedom are determined by other components of the bearing arrangement 5.Nevertheless, the bearing arrangement 5 is preferably designed to be free of, in particular mechanical, spring elements which entail forming losses.

[0034] The bearing arrangement 5 can support the slide 4, in particular and more generally, according to the operating principle of a sliding bearing and / or a rolling bearing. Preferably and more generally, the bearing arrangement 5 is designed to be free of deformation losses. Any deformation losses that might occur, for example, in a spring arrangement, especially a mechanical one, are specifically avoided, so that the drive movement can be further improved.

[0035] The sled 4 has a depth in the x-direction, a width in the y-direction, and a height in the z-direction, as can be seen, for example, in Figures 1b), 3, 4, and 6b). The "x-direction," the "y-direction," and the "z-direction" run along the respective axes of a three-dimensional Cartesian coordinate system, whereby, for the purposes of this application, each direction encompasses both orientations along the respective axis. In other words, the x-direction, for example, includes both the positive orientation along the x-axis (i.e., in the direction of the arrow of the x-axis of the coordinate system depicted in the figures) and the negative orientation along the x-axis (i.e., opposite to the direction of the arrow of the x-axis of the coordinate system depicted in the figures). The same applies accordingly to the y-direction and the z-direction.The direction can thus be used to specify along which axis, or with respect to which axis, a movement or arrangement takes place. The x-direction, the y-direction, and the z-direction are orthogonal to each other.

[0036] In the actuator 1, the positional relationships between the components of the actuator 1 and the carriage movement 6 of the carriage 4 are of particular importance. These positional relationships are described by the x-direction, y-direction, and z-direction, with the orientation of the Cartesian coordinate system resulting from the arrangement of the components of the actuator 1 and the carriage movement 6 of the carriage 4 itself. The assignment of the "depth," "width," and "height" of the carriage 4 is made according to the orientation of the Cartesian coordinate system, i.e., the x-direction, y-direction, and z-direction. Here, and preferably, the depth of the carriage 4 is less than the height of the carriage 4, and the height of the carriage 4 is less than the width of the carriage 4.Here, the "depth" corresponds to the geometric dimension of the sled 4 with the smallest value, the "width" to the geometric dimension of the sled 4 with the largest value, and the "height" to the geometric dimension of the sled 4 that lies between these two values. However, other configurations are also conceivable.

[0037] The actuator 1 has an electric magnet arrangement 7 for generating a magnetic field, in particular an oscillating one (Figures 1a), 1b), 3, 4 and 6a), 6b)). As a result of an electric current during energization, a magnetic field can be generated by the electric magnet arrangement 7. The electric magnet arrangement 7 has at least, and in particular exactly, four pole shoes 8 for the directed emission of the magnetic field. Here, and preferably, each of the pole shoes 8 has an emission surface, in particular a planar one, which faces the carriage 4, preferably such that the respective normal vector of the emission surfaces is oriented in the x-direction. The pole shoes 8 are, here, and preferably, arranged without offset to each other in the z-direction. Nevertheless, an offset of the pole shoes 8 to each other in the z-direction is conceivable in principle. As can be seen by way of example in Fig.As can be seen from Fig. 2, at least two, and preferably all, of the pole shoes 8 are spaced apart in the x-direction relative to the slide 4, preferably equally spaced. As also shown by way of example in Fig. 2, two of the pole shoes 8 are spaced apart from each other in the y-direction, preferably equally spaced. Here, and preferably, two of the pole shoes 8 are arranged on each side relative to the slide 4, with the pole shoes 8 on the respective same side being spaced apart from each other in the y-direction. The sides can, as shown for example in Fig. 1 b), refer in particular to the x-direction, so that in Fig. 1 b), the two pole shoes 8 shown to the left of the slide 4 are spaced apart from each other in the y-direction, and the two pole shoes 8 shown to the right of the slide 4 are spaced apart from each other in the y-direction.

[0038] The pole shoes 8, spaced apart from each other in the y-direction, are, here and preferably, arranged without any offset from each other in the x-direction. This results in the discharge surfaces of the pole shoes 8, spaced apart from each other in the y-direction, lying in a common plane. This is shown approximately in Fig. 1 b). Here, the discharge surfaces of the pole shoes 8 on the left side of the illustration (which are spaced apart from each other in the y-direction) lie in a common plane, as do the discharge surfaces of the pole shoes 8 on the right side of the illustration (which are again spaced apart from each other in the y-direction). Nevertheless, an offset of these pole shoes 8 from each other in the x-direction is, in principle, conceivable.

[0039] It is particularly preferably provided (and can be seen, for example, in Figures 1b), 2, 3, 4, and 6b) that the pole shoes 8 are arranged symmetrically with respect to the slide 4. Firstly, the pole shoes 8 can be arranged mirror-symmetrically, for example, with respect to a yz-plane passing through the center of gravity of the slide 4. Secondly, alternatively or additionally, the pole shoes 8 can be arranged axially symmetrically, for example, with respect to a principal axis of inertia of the slide 4, in particular a principal axis of inertia of the slide 4 oriented in the x-direction. Furthermore, the actuator 1 has a permanent magnet arrangement 9 with at least one permanent magnet 10. Here, and preferably, the permanent magnet arrangement 9 has several permanent magnets 10. Most preferably, the permanent magnet arrangement 9 has exactly four permanent magnets 10.The four permanent magnets 10 can be arranged next to each other in the y-direction and in the z-direction and in particular in the yz-plane.

[0040] Each of the permanent magnets 10 can be configured as a dipole magnet and, in particular, comprise a north pole and a south pole. The permanent magnet 10 is / are fixedly attached to the slide 4 and arranged relative to the magnetic field of the electric magnet arrangement 7 such that, when the electric magnet arrangement 7 is energized, the slide 4 performs a slide movement 6, in particular an oscillating movement. "Fixedly attached" in this context does not preclude the permanent magnet 10 or the permanent magnets 10 from having a certain amount of play relative to the slide 4. Ultimately, the purpose of the arrangement of the permanent magnet 10 on the slide 4 and relative to the magnetic field is to enable a slide movement 6 to be effected by the magnetic field of the electric magnet arrangement 7.The electric magnetic field can be alternately powered in such a way that an oscillating magnetic field is generated in the electric magnet arrangement 7 and, in particular, the slide 4 performs an oscillating slide movement 6. The actuator 1 can, as shown here, preferably be gearless. This can offer advantages with regard to the drive movement, especially in terms of efficiency and / or heat generation.

[0041] It is essential that the bearing arrangement 5 supports the slide 4 in such a way that, in the course of the slide movement 6, it is moved transversely to the x-direction and transversely to the y-direction, in particular in the z-direction.

[0042] "Transverse" in this context means that the slide 4 is moved at an angle to the x-direction and the y-direction, particularly preferably orthogonally, i.e., at an angle of 90°, to the x-direction and the y-direction, and consequently in the z-direction. The "slide movement" corresponds to the main movement of the slide 4, which ultimately enables, in particular, the drive movement of the actuator 1. Any play in other directions, such as in the x-direction or the y-direction, is possible, but is not understood as "slide movement" in the context of this application. Therefore, the focus is precisely on the slide 4 being able to perform its main movement transversely to the x-direction and transversely to the y-direction, particularly in the z-direction.

[0043] In connection with the arrangement of the pole shoes 8 relative to the permanent magnet(s) 10, it has proven advantageous if the pole shoes 8 are arranged relative to the permanent magnet(s) 10 such that a magnetic gap forms between each pole shoe 8 and the permanent magnet(s). The magnetic gaps can extend, in particular, in the x-direction. The magnetic gaps can, in particular, be of equal size. Here, and preferably, the extension of the magnetic gaps in the x-direction is equal to or less than 400 pm, more preferably equal to or less than 300 pm, and further preferably equal to or less than 250 pm. Preferably, the respective magnetic gap has an extension in the x-direction preferably between 200 and 400 pm, and further preferably between 250 and 350 pm.It has been shown that a particularly efficient actuator 1 can be obtained with a corresponding extension of the magnetic gaps. The magnetic gaps of the two pole shoes 8, spaced apart from each other in the y-direction, can in particular be arranged in a common plane, here and preferably the yz-plane.

[0044] With reference to Fig. 2, and preferably, it is provided that the carriage 4 is moved around a home position transversely to the x-direction and transversely to the y-direction, particularly in the z-direction, during the carriage movement 6. The "home position" can correspond to the position to which the carriage 4 is moved or is in the direction transversely to the x-direction and transversely to the y-direction, particularly in the z-direction, when the electric magnet arrangement 7 is de-energized. In Fig. 2, and preferably, the home position corresponds to the position of the carriage 4 in which the carriage 4 and two yokes 20 (described below) with their respective coils 23 (also described below) are arranged in a common xy-plane. In Fig. 2, the carriage 4 is moved minimally in the +z-direction relative to the home position, i.e., "upwards" in the lower sectional view of Fig. 2.

[0045] The slide 4 can be self-centering. "Self-centering" in this context means that, when the electric magnet arrangement 7 is de-energized, the slide 4 automatically moves into its home position. This is achieved in particular by the permanent magnet(s) 10 arranged on the slide 4. The slide 4 and the permanent magnet(s) 10 are preferably arranged relative to the other components of the actuator 1, especially the electric magnet arrangement 7, such that the slide 4 moves into its central home position. In the de-energized state, a certain magnetic attraction can act between the permanent magnet(s) 10 and the corresponding components of the actuator 1, which ultimately causes the slide 4 to self-center.

[0046] With regard to the carriage movement 6, it is particularly preferred that the carriage movement 6 is a linear movement and that the carriage 4 is moved linearly transversely to the x-direction and transversely to the y-direction during the carriage movement 6. In the embodiments according to Figures 1a), 1b), 3, and 4, and preferably, it is provided that the carriage 4 is moved linearly in the z-direction during the carriage movement 6. In the case of an oscillating carriage movement 6, the carriage 4 is moved back and forth in the z-direction. Most preferably, it is such that the carriage 4 is moved exclusively linearly during the carriage movement 6. 'Exclusively linear' in this context does not preclude a certain amount of play in the carriage 4, which, for example, may cause a minimal tilting of the carriage 4 during the carriage movement 6.The play in the carriage 4 is negligible compared to the actual carriage movement 6 of the carriage 4, from which the drive movement ultimately results. The crucial point here is that the carriage 4 is supported by the bearing arrangement 5 in such a way that the main movement of the carriage 4 is a linear movement.

[0047] Alternatively, it is also conceivable that the slide movement 6 is a tilting slide movement 6 and that the slide 4 is tilted about a tilting axis during the slide movement 6. This is the case, for example, in the embodiment shown in Figures 6a) and 6b). Here, and preferably, the slide 4 is moved transversely to the x-direction and transversely to the y-direction during the slide movement 6. The slide movement 6 does not occur in the z-direction in this respect, although the slide movement may include a component of movement in the z-direction. It is possible that the slide 4 is moved exclusively by tilting during the slide movement 6. 'Moved exclusively by tilting' in this context does not preclude a certain amount of play in the slide 4, which, for example, may result in a minimal linear displacement of the slide 4 during the slide movement 6.However, in this context, the point is precisely that the slide 4 is supported by the bearing arrangement 5 in such a way that the main movement of the slide 4 corresponds to a tilting movement.

[0048] It is preferably provided that the tilting axis is oriented in the x-direction (Figures 6a), 6b)). The tilting axis can be arranged symmetrically with respect to the pole shoes 8, in particular such that the distance of the tilting axis to each of the pole shoes 8 is essentially the same.

[0049] The tilting motion can be improved if the tilting axis corresponds to a principal axis of inertia of the slide 4, in particular a principal axis of inertia of the slide 4 oriented in the x-direction. The "principal axis of inertia" of a component within the meaning of this application corresponds in particular to an axis about which the component, here the slide 4, in particular with permanent magnet(s) 10 arranged on it, can (theoretically) rotate without dynamic imbalance, wherein this axis passes through the center of gravity of the component, here the slide 4, in particular with permanent magnet(s) 10 arranged on it. This can be seen, for example, in Fig. 6b), in which the principal axis of inertia within the meaning of this application for the slide 4 (including the permanent magnets 10) is indicated by dashed lines. In connection with the principal axis of inertia of the slide 4, one or more applicators 19 remain, whichThe applicator system 2, which is / are assigned to it and which may or may be arranged on the carriage 4 in the assembled state, is disregarded. It is readily apparent that the overall principal axis of inertia of the carriage 4 (including the permanent magnets 10) and the applicators 19 shifts slightly relative to the principal axis of inertia of the carriage 4 (including the permanent magnets 10).

[0050] With regard to the bearing arrangement 5, it is particularly preferred that the bearing arrangement 5 comprises a bearing element 11 and a corresponding counter-bearing element 12, and that the bearing element 11 moves along with the slide 4 relative to the counter-bearing element 12 during the slide movement 6. Such a design of the bearing arrangement 5 makes it possible to significantly increase the capacity of the slide 4 to absorb lateral forces, so that, for example, tilting and deformation of the slide 4 can be avoided or at least reduced. The bearing element 11 can be fixedly arranged opposite, and in particular fixedly attached to, the slide 4. Here, and preferably, the bearing element 11 is integrally formed with the slide 4. This can reduce the number of components of the actuator 1 that need to be mounted.It is possible that the counter bearing element 12 is fixedly arranged opposite, and in particular fixedly attached to, a housing 13 of the actuator 1, which is described below, as is provided, for example, in the embodiments shown in Figures 1a), 1b), 3 and 4. It is also possible that the counter bearing element 12 is integrally formed with the housing 13.

[0051] In general and preferably, the bearing element 11 completely surrounds the counter-bearing element 12, particularly with respect to a bearing axis. In this case, the "bearing axis" corresponds to the axis in the direction of which, or about which, the slide movement 6 can occur. Preferably, the bearing axis is oriented transversely to the x-direction and transversely to the y-direction, preferably in the z-direction (Figures 1a), 1b), 3, 4), or in the x-direction (Figures 6a), 6b).

[0052] As already described above in another context, the bearing arrangement 5 can be designed as a plain bearing, a rolling bearing, or a sliding-rolling bearing arrangement and, in particular, can support the slide 4 according to the operating principle of a plain bearing and / or a rolling bearing. The bearing element 11 and the counter bearing element 12 can preferably be arranged to slide relative to each other, as is the case in the embodiments according to Figures 1a), 1b), 3, 4, 6a), and 6b), or to roll relative to each other. The sliding arrangement includes, in particular, relative movements between the bearing element 11 and the counter bearing element 12, which are caused by the sliding of the two components relative to each other. For example, it is possible for the surface of the bearing element 11 to slide directly against the surface of the counter bearing element 12 (Figures 1a), 1b), and 6a), 6b). It is also possible that the surface of another component, such as a bearing sleeve 14 or similar,, slides relative to the surface of the bearing element 11 or the counter-bearing element 12, while the component is fixedly arranged relative to the counter-bearing element 12 or the bearing element 11, respectively (Figures 3, 4). The rolling-moving arrangement includes, in particular, arrangements in which a rolling bearing is arranged between the bearing element 11 and the counter-bearing element 12.

[0053] The bearing element 11 is preferably designed as a bolt receptacle and the counter bearing element 12 as a bearing bolt. This is the case in the embodiments according to Figures 1a), 1b), 3, 4 and 6a), 6b). Here, the counter bearing element 12 can be received by the bearing element 11, in particular within the bearing element 11. A reverse embodiment is equally conceivable, in which the bearing element 11 is designed as a bearing bolt and the counter bearing element 12 as a bolt receptacle. Here, and preferably, the bearing bolt has a circular cross-section, although other embodiments, such as a polygonal, semicircular, etc., cross-section, are conceivable.

[0054] Although it is conceivable in principle that the bearing element 11 rotates relative to the counter-bearing element 12 during the slide movement 6 (Figures 6a), 6b), it is here, and particularly preferably, provided that the bearing element 11 moves linearly relative to the counter-bearing element 12 during the slide movement 6, and in particular exclusively. This linear movement occurs in particular transversely to the x-direction and y-direction, and especially in the z-direction.

[0055] The bearing element 11 and the counter-bearing element 12 are preferably arranged coaxially, particularly with respect to the x-direction (Figures 6a), 6b)) or z-direction (Figures 1a), 1b), 3 and 4). The bearing element 11 and the counter-bearing element 12 can preferably be arranged such that one of the principal axes of inertia of the bearing element 11 and one of the principal axes of inertia of the counter-bearing element 12 are oriented transversely to the x-direction and transversely to the y-direction. In the embodiments according to Figures 1a), 1b), 3 and 4, and preferably, one of the principal axes of inertia of the bearing element 11 and the counter-bearing element 12 is oriented in the z-direction. Here, and preferably, the bearing element 11 and / or the counter-bearing element 12 are designed to be rotationally symmetrical about the respective principal axis of inertia.

[0056] Alternatively or additionally, it is preferably provided that the bearing element 11 is arranged coaxially to a principal axis of inertia of the slide 4, in particular to the principal axis of inertia oriented in the x-direction (Figures 6a), 6b)) or to the principal axis of inertia oriented in the z-direction (Figures 1a), 1b) and 4). The bearing element 11 can be arranged such that the principal axis of inertia of the bearing element 11 runs along a principal axis of inertia of the slide 4, in particular in the principal axis of inertia oriented in the x-direction or the principal axis of inertia oriented in the z-direction. This makes it structurally easy to center the slide 4 and the permanent magnet 10 or permanent magnets 10, for example with respect to the electric magnet arrangement 7.

[0057] With regard to the bearing arrangement 5 according to Figures 1 a) and 1 b), it is preferably provided that the bearing element 11, designed as a bolt receptacle, directly receives the counter bearing element 12, designed as a bearing bolt. During the slide movement 6, a relative movement occurs between the bearing element 11 and the counter bearing element 12 in the z-direction, whereby the surfaces of the bearing element 11 and the counter bearing element 12 slide directly against each other. This results in friction between the bearing element 11 and the counter bearing element 12. In addition to this direct sliding bearing arrangement, an indirect sliding bearing arrangement is also conceivable. Thus, according to Figures 3 and 4, and preferably, the bearing arrangement 5 has a bearing sleeve 14, in particular a one-piece sleeve, which is arranged between the bearing element 11 and the counter bearing element 12. The bearing sleeve 14 can be fixed to the bearing element 11, as shown here, or fixed to the counter bearing element 12.During the slide movement 6, the bearing element 11 and the counter-bearing element 12 move relative to each other, as the surfaces of the bearing sleeve 14 and the counter-bearing element 12, or of the bearing element 11, slide against each other. In the embodiment shown in Figures 6a) and 6b), and preferably, the bearing sleeve 14 can be made of multiple parts. This can offer advantages in terms of assembly and / or manufacturing.

[0058] It is particularly preferred that the bearing sleeve 14 is designed to accommodate a lubricant. Here, and preferably, the bearing sleeve 14 comprises a sleeve section made of sintered material. This sleeve section can reliably accommodate lubricants, such as lubricating oil or the like. It is conceivable that the bearing arrangement 5 has one or more sealing elements arranged relative to the bearing sleeve 14 in such a way as to reduce or prevent lubricant leakage. It is possible that the bearing sleeve 14 has an outer section adjacent to the sleeve section. This outer section can be oriented towards the bearing element 11, particularly if the bearing sleeve 14 is fixedly arranged on the bearing element 11, or towards the counter bearing element 12, particularly if the bearing sleeve 14 is fixedly arranged on the counter bearing element 12.The outer section can be reinforced, i.e., made stronger, than the sleeve section. The outer section preferably enables the fixed arrangement of the bearing sleeve 14 on the bearing element 11 or the counter bearing element 12, for example, by clamping, pressing, etc. In particular, if the bearing sleeve 14 comprises a sleeve section with sintered material, the outer section can enable a corresponding arrangement. Alternatively or additionally to the fixed arrangement, the outer section can prevent lubricant from escaping from the sleeve section. The bearing arrangement 5 preferably has, as is also the case in the embodiments according to Figures 1 a), 1 b), 3 and 4, one or more further bearing elements 15 and one or more further counter bearing elements 16 designed to correspond to the further bearing element(s) 15. The further bearing element(s) 15 are...During the movement of the slide 6, the bearing element(s) 15 and 16 are moved relative to the other bearing element(s) 16 along with the slide 4. The bearing element(s) 15 can be identical (e.g., as a bolt receptacle shown in Figures 3 and 4) or different (Figures 1a), 1b)) from the bearing element 11. The other bearing element(s) 16 can also be identical (e.g., as bearing bolts shown in Figures 3 and 4) or different (Figures 1a), 1b)). It is preferably possible for one of the other bearing elements 15 and one of the other bearing element(s) 16 to form a bearing arrangement similar to a guide rail (Figures 1a), 1b)). It is possible for the bearing arrangement to have a certain amount of play between the bearing element(s) 15 and the other bearing element(s) 16.

[0059] Preferably, the bearing arrangement 5 comprises the bearing element 11 and two further bearing elements 15, and the bearing element 11 is arranged coaxially to a principal axis of inertia of the slide 4, in particular the principal axis of inertia oriented in the z-direction, and the two further bearing elements 15 are arranged on the slide 4 spaced apart in the y-direction from the bearing element 11, in particular symmetrically with respect to the bearing element 11. The mating element and the further mating elements are designed accordingly.

[0060] In Fig. 4, for example, the bearing element 11 and the further bearing elements 15 are each designed as bolt receptacles, while the counter bearing element 12 and the further counter bearing elements 16 are each designed as bearing bolts. The bearing element 11 and the counter bearing element 12 are arranged coaxially with respect to the main axis of inertia of the slide 4 extending in the z-direction. The further bearing elements 15 and the further counter bearing elements 16 are arranged symmetrically with respect to the bearing element 11 and the counter bearing element 12, respectively, on the slide 4 and on the housing 13. Here, and preferably, the bearing arrangement 5 has several bearing sleeves 14, wherein, in particular, one of the bearing sleeves 14 is assigned to the bearing element 11 and / or each of the further bearing elements 15 (see, for example, Fig. 5). In Figures 1a) and 1b), the bearing element 11 is designed as a bolt receptacle and the counter bearing element 12 as a bearing bolt.Each of the additional bearing elements 15 and one of the additional counter-bearing elements 16 together form a bearing arrangement similar to a guide rail. The additional bearing elements 15 are formed as part of the slide 4. Here, and preferably, the additional counter-bearing elements 16 are integrally formed with the housing 13, in particular with a housing part 17.

[0061] With reference to Figures 3, 4 and 5, and preferably, the bearing arrangement 5 comprises one or more further bearing sleeves 30, each arranged between one or more of the further bearing elements 15 and one or more of the further counter-bearing elements 16. During the slide movement 6, a relative movement of the further bearing element(s) 15 and the further counter-bearing element(s) 16 occurs, by the surfaces of the further bearing sleeve 30 and the further counter-bearing element 16 or of the further bearing element 15 sliding against each other, or by the surfaces of the further bearing sleeves 30 and the further counter-bearing elements 16 or of the further bearing elements 15 sliding against each other.

[0062] In connection with the bearing sleeve 14 and the further bearing sleeve 30, it has proven particularly advantageous if the bearing sleeve 14 is fixedly arranged on the bearing element 11 or fixedly on the counter bearing element 12, and the further bearing sleeve 30 is loosely arranged on the further bearing element 15 or loosely on the further counter bearing element 16 (Fig. 3). Similarly, in the case of several further bearing sleeves 30, it has proven advantageous if the bearing sleeve 14 is fixedly arranged on the bearing element 11 or fixedly on the counter bearing element 12, and the further bearing sleeves 30 are each loosely arranged on the respective further bearing element 15 or loosely on the respective further counter bearing element 16 (Figures 4, 5). The loose mounting of the further bearing sleeve(s) 30 results in a certain amount of play, which can improve the drive movement (by, for example, avoiding stress and / or tilting). Furthermore, manufacturing advantages can arise.

[0063] The additional bearing sleeve 30 or the additional bearing sleeves 30 can each be designed identically or differently to the bearing sleeve 14. It is possible that the additional bearing sleeve 30 or the additional bearing sleeves 30 are each designed such that they can each receive a lubricant. Here, and preferably, the additional bearing sleeve 30 or the additional bearing sleeves 30 each comprise a sleeve section made of sintered material. This sleeve section can reliably receive lubricants, such as lubricating oil or the like. Particularly in the case of the additional bearing sleeve(s) 30, it is conceivable that the bearing arrangement 5 has one or more additional sealing elements 31, which are each arranged relative to the additional bearing sleeve(s) 30 in such a way that lubricant leakage is reduced or prevented.This can be particularly advantageous if the additional bearing sleeve 30 or the additional bearing sleeves 30 are / are loosely mounted, as shown in Figures 4 and 5. The additional sealing element(s) 31 can / can each be designed, for example, as an O-ring. The additional sealing element(s) 31 can / can alternatively or additionally, particularly in the case of loose mounting, provide a certain degree of damping and / or arrangement of the additional bearing element(s) 15 and / or the additional counter-bearing element(s) 16 and / or the one or more additional bearing sleeves 30. It is possible that the additional bearing sleeve 30 or the additional bearing sleeves 30 each have / have an outer section adjacent to the sleeve section. The outer section can be reinforced, i.e., made stronger, than the sleeve section. The outer section can preferably prevent lubricant from escaping from the sleeve section.This can be particularly advantageous in the case of loose storage.

[0064] In order to protect at least some of the components of the actuator 1 from external environmental influences, it has proven advantageous for the actuator 1 to have a housing 13 with at least two housing parts 17. The housing 13 has already been mentioned above in another context. The housing 13 can, in particular, at least partially accommodate the slide assembly 3 with slide 4, the electric magnet assembly 7, and / or the permanent magnet assembly 9. It is possible that at least one of the housing parts 17 has a housing opening 18 through which, for example, a part of the slide 4 (Fig. 1a) and / or an applicator 19 (Figures 3, 4, 6a)) extends.

[0065] The housing parts 17 are particularly preferably designed as identical parts, as can be seen, for example, in Fig. 3. Preferably, the counter bearing element 12 and / or, if present, the further counter bearing element(s) 16 are fixedly arranged opposite, and in particular fixedly attached to, at least one of the housing parts 17. It is possible that the counter bearing element 12 and / or, if present, the further counter bearing element(s) 16 are integrally formed with the housing 13, in particular with one of the housing parts 17. Alternatively, the counter bearing element 12 and / or, if present, the further counter bearing element(s) 16 can also be designed as separate components from the housing 13.

[0066] The housing 13 has a depth in the x-direction, a width in the y-direction, and a height in the z-direction. Regarding the design of the housing 13, it has proven advantageous if the ratio of the housing's depth to its width is between 3:1 and 1:3, preferably between 2.5:1 and 1:2.5, and more preferably between 1.5:1 and 1:1.5. The depth and / or width of the housing 13 can, in particular, be greater than the height of the housing 13, preferably at least twice as great, and more preferably at least two and a half times as great.

[0067] With reference to Figures 1b), 2 and 6a), 6b), and preferably, the electric magnet arrangement 7 comprises two yokes 20 and the pole shoes 8, spaced apart from each other in the y-direction, are each assigned to one of the yokes 20 and, in particular, connected to each other accordingly. The yokes 20 can comprise a magnetizable material, in particular iron, cobalt, or nickel, or an alloy of, in particular mainly, iron, cobalt, and / or nickel. The proportion of iron in the alloy can predominate over the proportion of cobalt and / or nickel. The magnetizable material can comprise a soft magnetic material and / or an amorphous soft magnetic material.In this context, it is particularly preferred that the magnetizable material, which comprises the soft magnetic material and / or the amorphous soft magnetic material, has a magnetic coercive field strength of at most 50 A / m, more preferably at most 10 A / m, and more preferably at most 5 A / m. A low magnetic coercive field strength can enable more precise movement of the slide 6 and / or more precise holding of the slide 4.

[0068] It is particularly preferred if the yokes 20 each comprise several lamellae, which are arranged side by side, particularly with respect to the z-direction. Here, and further preferably, it is provided that the yokes 20, particularly with respect to their pole shoes 8, are arranged and / or designed symmetrically to one another with respect to the slide 4.

[0069] Here (as can be seen, for example, in Fig. 2), and preferably, the yokes 20 are each U-shaped. The yokes 20 are each configured as a U-yoke with a longitudinal section 21, which extends particularly in the y-direction, and two transverse sections 22, which each extend particularly in the x-direction. As can be seen, for example, in Fig. 2, the U-yokes can preferably be arranged such that the yokes 20 have a U-shaped cross-section in the xy-plane. It is possible that the longitudinal section 21 of the respective yoke 20 is straight and / or that the transverse sections 22 of the respective yoke 20 are straight, as can be seen, for example, in Fig. 2. However, curved configurations are also conceivable.It is preferably provided that the pole shoes 8 assigned to the respective yoke 20 are arranged in the respective transverse section 22 of the respective yoke 20, and that the longitudinal section 21 of the respective yoke 20 determines the spacing of the pole shoes 8 from each other in the y-direction. Here, and preferably, the yokes 20 are designed such that the pole shoes 8 spaced apart in the y-direction are arranged parallel to each other. The distance between the pole shoes 8 spaced apart in the y-direction can be greater than the distance between the pole shoes 8 and the slide 4 with the permanent magnet 10 or the permanent magnets 10. With regard to the design of the pole shoes 8, it has proven advantageous if the height of the pole shoes 8 in the z-direction corresponds at least to the height of one or more of the permanent magnets 10 in the z-direction (as can be seen, for example, in Fig. 2).Particularly preferably, the height of the pole shoes 8 in the z-direction is at least equal to the sum of the height of one of the permanent magnets 10 in the z-direction and the respective distance between the permanent magnets 10 in the z-direction. Thus, if, for example, one of the permanent magnets 10 is 10 mm high in the z-direction and the permanent magnets 10 are spaced 1 mm apart in the z-direction, the height of the pole shoes 8 in the z-direction is at least 10 mm, preferably at least 11 mm.

[0070] In this context, it is advantageous if the height of the pole shoes 8 in the z-direction corresponds to at most twice the height of one of the permanent magnets 10 in the z-direction, preferably at most the sum of one and a half times the height of one of the permanent magnets 10 in the z-direction and the respective distance between the permanent magnets 10 in the z-direction. For the above example of permanent magnets 10 mm high and spaced 1 mm apart, the pole shoes 8 can therefore be at most 20 mm high, preferably 16 mm, in the z-direction.

[0071] The electric magnet arrangement 7 preferably comprises several coils 23. When the electric magnet arrangement 7 is energized, a current flow can be induced in each coil 23. To generate the magnetic field of the electric magnet arrangement 7 accordingly, the coils 23 are arranged relative to the pole shoes 8 such that, when the electric magnet arrangement 7 is energized, a corresponding pole of the magnetic field is formed at each of the pole shoes 8. It is particularly preferably such that each of the pole shoes 8 is assigned one of the coils 23. The number of coils 23 preferably corresponds, as shown here, to the number of pole shoes 8. As can be seen, for example, in Figures 1b), 2, 3, 4 and 6b), and preferably, the coils 23 are arranged on the yokes 20, in particular one coil 23 on each of the transverse sections 22 of the yoke 20.Although not provided for in the embodiments shown in the figures, it is nevertheless fundamentally possible for the actuator 1 to have a spring-magnet arrangement with one or more spring magnets to generate a spring effect on the slide 4. The spring magnet(s) is / are preferably designed as a spring-permanent magnet or spring-permanent magnets. The spring-permanent magnet(s) can each be designed as a dipole magnet. The spring-magnet arrangement can dampen the slide movement 6 by causing a magnetic interaction between the spring magnets and the permanent magnet 10 or at least a portion of the permanent magnets 10. The one or more spring magnets are arranged relative to the permanent magnet 10 or at least a portion of the permanent magnets 10 such that a repulsive magnetic interaction is established.This causes the slide 4 to be either braked by the spring action during its movement 6 (e.g., during a slide movement 6 in the z-direction with a positive orientation along the z-axis) or accelerated (e.g., during a slide movement 6 in the z-direction with a negative orientation along the z-axis). Preferably, the spring magnets of the spring-magnet arrangement are arranged relative to the permanent magnet(s) 10 of the permanent magnet arrangement 9 such that the spring action is caused by a magnetic interaction between the spring magnets and the permanent magnet 10 or at least a portion of the permanent magnets 10. In principle, the spring-magnet arrangement can have one or more features of the spring-magnet arrangement described as a "braking permanent magnet arrangement" in DE 10 2022 126 607 A1.The content of the aforementioned application concerning the brake permanent magnet arrangement is included in the present application to that extent.

[0072] The spring-magnet arrangement can exert a spring-like effect on the slide 4 with the permanent magnet 10(s). It is conceivable that the spring-magnet arrangement is positioned relative to the slide 4 with the permanent magnet 10(s) such that the spring-like effect acts from the spring magnets on the permanent magnet 10(s) when the slide 4 is in its home position. The spring-magnet arrangement can thus influence the home position itself. However, this is not strictly necessary. It is also conceivable that the spring-magnet arrangement is positioned relative to the slide 4 with the permanent magnet 10(s) such that the spring magnets and the permanent magnet 10(s) are at least free of interaction with respect to the spring-like effect when the slide 4 is in its home position.It may be provided, for example, that the slide 4 first experiences a certain movement perpendicular to the x-direction and y-direction, in particular in the z-direction, before the recoil effect acts on the permanent magnet 10 or the permanent magnets 10.

[0073] The spring-magnet arrangement is preferably designed and positioned relative to the slide 4 such that the spring magnets and the permanent magnet 10 or the permanent magnets 10 are non-contacting, particularly regardless of the position of the slide 4. A collision of the spring-magnet arrangement with the slide 4, and especially with the permanent magnet 10 or the permanent magnets 10, is thus prevented.

[0074] For example, it is possible that two of the spring magnets form a gap into which the permanent magnet 10 or the permanent magnets 10 can be moved at least partially in and out.

[0075] With reference to Fig. 5, it has proven advantageous for the slide 4 to comprise a multi-part slide frame 24 in which the permanent magnet 10 or permanent magnets 10 of the permanent magnet arrangement 9 are accommodated. This allows the permanent magnet 10 or permanent magnets 10 to be fixedly mounted on the slide 4. The slide frame 24 can, in particular, comprise at least two slide parts 25, which are preferably, as shown here, designed as identical parts. The slide frame 24, and especially the slide parts 25, can comprise at least partially plastic and / or aluminum. It is possible for the permanent magnets 10 to be accommodated in the slide frame 24 such that at least two permanent magnets 10 are arranged side by side in the x-direction, in the y-direction, and / or in the z-direction, in particular spaced apart or without space between them.Here, the actuator 1 has eight permanent magnets 10, at least two of which are arranged side by side in the x-direction (Fig. 2), in the y-direction (Figs. 1a, 1b), and in the z-direction (Fig. 2). Alternatively, and particularly preferably, the actuator 1 has four permanent magnets 10 (Fig. 5), which are arranged side by side, particularly in the y-direction and in the z-direction. This further improves the drive movement of the actuator 1.

[0076] With regard to the slide arrangement 3, it is possible that the slide arrangement 3 has one or more damping elements which are received in the slide frame 24 in such a way that the permanent magnet 10 or permanent magnets 10 are damped by the damping element(s) during the slide movement 6 transversely to the x-direction and transversely to the y-direction, and in particular in the z-direction. Although the damping element or damping elements can be designed in very different ways, it has proven advantageous, for example, if the damping element or damping elements are each arranged as an O-ring, which is / are arranged in particular between the permanent magnet 10 or one of the permanent magnets 10 and one of the slide parts 25 of the slide frame 24.

[0077] The actuator 1 has a total mass, which is the sum of the partial masses of all components of the actuator 1. The carriage 4, with permanent magnet(s) 10 arranged on it, has a carriage mass. The carriage mass is part of the total mass. It is particularly preferred that the ratio of the carriage mass to the total mass is at most 20%, preferably at most 15%, and more preferably at most 10%. This improves the carriage movement 6, especially its oscillating movement, and avoids or at least reduces vibrations of the actuator 1, which would otherwise be transmitted as vibrations in undesired directions (such as the x-direction and / or the y-direction). The drive movements of the actuator 1 can thus be directed, for example as vibrations, via the carriage 4.

[0078] Furthermore, a method for mounting a proposed actuator 1 is proposed. Reference may be made to all statements concerning the proposed actuator 1.

[0079] Regarding the method, it has proven advantageous that the slide 4 and the permanent magnet 10 or permanent magnets 10 form an assembly unit 26, which is mounted on one of the housing parts 17 of the actuator 1 in a single assembly movement, particularly in the z-direction. It is possible that the assembly unit 26 further comprises the bearing element 11 and / or the counter bearing element 12, as can be seen, for example, from a combined view of Figures 4 and 5. It is also possible that the assembly unit 26 comprises the additional bearing element 15 or further bearing elements 15 and / or the additional counter bearing element 16 or further counter bearing elements 16. The assembly unit 26 can be formed by assembling the slide parts 25 of the slide frame 24 and the permanent magnet 10 or permanent magnets 10 in a pre-assembly movement.The assembly unit 26 can be mounted as a whole in the assembly movement in the z-direction on one of the housing parts 17 of the actuator 1 (Fig. 1 b), 3, 4 and 6b)).

[0080] Alternatively or additionally, and in addition to mounting the housing 13, the other housing part 17 of the actuator 1 can be mounted on one of the housing parts 17 with the mounting unit 26 already mounted, in a single housing assembly movement, particularly in the z-direction. In principle, the mounting unit 26 can therefore preferably be mounted first on one of the housing parts 17 in a single assembly movement, particularly in the z-direction, and then the other housing part 17 can be mounted in a single assembly movement, particularly in the z-direction. Meanwhile, further components, such as the electric magnet arrangement 7, in particular the yokes 20, the pole shoes 8, and / or the coils 23, can be mounted in separate or joint further assembly movements, particularly in the z-direction.

[0081] Furthermore, an applicator system 2 is proposed for introducing mechanical vibrations into a body part, wherein the applicator system 2 includes a proposed actuator 1. The applicator system 2 can be used, for example, for vibration therapy and / or pressure wave therapy. Reference may be made to all details concerning the proposed actuator 1 and the proposed method.

[0082] Although it is fundamentally possible for the actuator 1 itself to have a control unit 27, it has proven advantageous for the applicator system 2 to have a control unit 27 for controlling the actuator 1, in particular the current supply to the electric magnet arrangement 7. By controlling the current supply to the electric magnet arrangement 7, the magnetic field of the electric magnet arrangement 7 can be controlled, which can ultimately lead to control of the carriage movement 6. The following features and embodiments are conceivable for both the control unit 27 of the actuator 1 and the control unit 27 of the applicator system 2.

[0083] It is conceivable that the control unit 27 controls the actuator 1 in such a way that the stroke of the carriage 4 can be set as needed during the carriage movement 6. This can readily be achieved by controlling the current supply to the electric magnet arrangement 7. In particular, the stroke can be set relative to the home position of the carriage 4.

[0084] Preferably, the control unit 27 causes the current to flow through the coils 23 by applying a voltage to them. This voltage can be supplied by a voltage source of the applicator system 2, which is connected to the control unit 27, or the control unit 27 itself can include a voltage source. It is conceivable that the voltage is alternately reversed by the control unit 27, in particular such that the carriage 4 is moved back and forth transversely to the x-direction and transversely to the y-direction, preferably in the z-direction. This movement can occur around the carriage 4's home position.

[0085] Particularly preferably, the control unit 27 controls the power supply, especially the voltage and / or current, by means of a pulse-pause control. This allows the voltage or current to be controlled in different, particularly flexible ways, and correspondingly different carriage movements 6 transverse to the x-direction and y-direction, especially in the z-direction, to be achieved.

[0086] For example, the coils 23 can be subjected to a voltage. This causes a current to flow in the coils 23. The voltage can be paused in pulses such that the current is maintained around a specific setpoint. The current can fluctuate around the setpoint by ±20%, preferably ±10%. Simultaneously, the magnetic field of the electromagnet arrangement 7 is generated by the current flowing through the coils 23, thus causing the carriage movement 6. Referring to Fig. 2, the carriage 4 moves in the z-direction, here in the +z-direction, i.e., upwards in the lower sectional view of Fig. 2.Once the required stroke of the carriage 4 is reached, the applied voltage is paused such that the current drops, the generated magnetic field dissipates, and finally the carriage 4 is moved again in the opposite direction, in particular towards its home position. Referring to Fig. 2, the carriage 4 then moves in the z-direction, here in the -z-direction, i.e., downwards in the lower sectional view of Fig. 2. Subsequently, the voltage can be reversed and applied to the coils 23 in the same manner, so that an opposite current flows through the coils 23 and a correspondingly opposite magnetic field is generated. The carriage movement 6 thus proceeds in the opposite direction. The voltage polarity is reversed here, preferably repeatedly and alternately.

[0087] Against this background, it is generally conceivable that the pulse-pause control could cause oscillating carriage movements 6 at a specific frequency or according to a specific frequency profile. This would allow for a wide variety of carriage movements 6 and, if necessary, also the generation of any sounds, such as tones or melodies, that accompany the carriage movement 6.

[0088] Alternatively or additionally, the stroke of the carriage 4 during the carriage movement 6 can be adjusted via pulse-pause control. This can be controlled, for example, by the duration of the current being maintained. If, for instance, the current is maintained for a longer period, perhaps by delaying the voltage reversal, the carriage 4 can be moved with a comparatively larger stroke than if the current is maintained for a shorter period.

[0089] Alternatively or additionally, the pulse-pause control can move the carriage 4 back and forth in such a way that it moves asymmetrically from its home position. This means that the carriage 4 executes a different stroke length from its home position. For example, as shown in Fig. 2, the carriage 4 can execute a larger stroke in the +z direction (i.e., upwards in the lower sectional view of Fig. 2) than in the -z direction (i.e., downwards in the lower sectional view of Fig. 2). This can be controlled by the duration of the corresponding current, as described above.

[0090] As described above in connection with actuator 1, the carriage 4 can, in principle, move to its home position when the electrical magnet arrangement 7 is de-energized. However, it is also possible to apply a base voltage to the coils 23 during operation, causing the carriage 4 to move back and forth around a zero position that differs from the home position. This can also be achieved using pulse-pause control. When the voltage is controlled as described above, this voltage is corrected accordingly by the base voltage, so that the carriage 4 moves back and forth around the zero position. It is conceivable that the base voltage could be kept constant or also applied in pulses. It is conceivable that certain tolerances and / or material irregularities could be compensated for by providing the base voltage during operation.

[0091] In general, but especially when the control unit 27 controls the current supply via pulse-pause control, it has proven particularly advantageous to detect the carriage movement 6 at least intermittently. This can be done, for example, by the control unit 27. Detecting the carriage movement 6 is particularly preferably achieved by detecting a voltage induced in the coils 23 by the carriage movement 6. Due to the movement of the carriage 4 with the permanent magnet 10, the induced voltage is generated in the coils 23 at least intermittently. By detecting the induced voltage, conclusions can be drawn about the carriage movement 6, for example, the position of the carriage 4 and / or the frequency of the oscillating carriage movement 6, etc. It is possible for the control unit 27 to detect the induced voltage.It is possible that the induced voltage is detected during the pauses in which the applied voltage is paused. It is generally possible that, based on the detection of the carriage movement 6, the control of the current supply to the electric magnet arrangement 7 is carried out and / or adjusted, in particular by the control unit 27.

[0092] Particularly preferably, the applicator system 2 has several actuators 1 as proposed, as is the case, for example, with the applicator system 2 shown in Fig. 7. Using multiple actuators can potentially accelerate the treatment or training. The applicator system 2 can, for example, have a glove device, as shown here, on which the actuators 1 are arranged. Alternative configurations are also conceivable. The applicator system 2 can also be designed such that two actuators can be arranged on one thigh or one shoulder, or two actuators each on one thigh or shoulder of a person being treated. More generally, several actuators 1, in particular at least five, preferably at most eight actuators 1, can be controlled jointly by the control unit 27.

[0093] Furthermore, and preferably, the applicator system 2 includes an applicator 19 for vibration-transmitting contact with a body part. Preferably, the applicator 19 and the actuator 1 are connected to each other by a plug-in and / or screw-in connection. The applicator 19 and the actuator 1 can be connected to each other, in particular, detachably or permanently, for example, by gluing. With regard to Figures 6a) and 6b), and preferably, the applicator system 2 can have several, in particular two, applicators 19. These can each be designed as described above. The applicator 19 or applicators 19 and the actuator 1, in particular the slide 4, are coupled to each other by means of a drive mechanism such that the oscillating drive movement, in particular the oscillating slide movement 6, causes a mechanical vibration of the applicator 19 or applicators 19. The oscillating drive movement, orThe oscillating movement of the carriage 6 can thus be converted into oscillating movements or vibrations of the applicator 19 or applicators 19. The applicator 19 or applicators 19 can each be connected to the carriage 4 of the actuator 1 such that the applicator 19 or applicators 19 move along with the carriage 4 transversely to the x-direction and transversely to the y-direction, particularly in the z-direction, during the carriage movement 6. It is conceivable that the applicators 19 are arranged on the carriage such that the carriage movement 6 causes a counter-rotating movement of the applicators 19. It is conceivable that the applicator 19 or the applicators 19 are connected to the slide 4 either directly, e.g., the applicator 19 or the applicators 19 may be molded onto the slide 4, or indirectly, for example via another component.It is possible that the applicator 19 or applicators 19 are each arranged through the housing opening(s) 18 on the slide 4. It is possible that the housing 13 is sealed in the area of ​​the housing opening(s) 18 by a seal 28, in particular a flexible seal (Fig. 1a), 1b)). The applicator 19 or the applicators 19 can each be designed as a separate component from the slide 4 (Figures 1a), 1b), 3 and 4) or alternatively be integrally formed with the slide 4.

[0094] Regarding the design of the applicator 19 or applicators 19, it has proven advantageous if the applicator 19 or applicators 19 each have a contact surface 29 for contacting the user's body part. The contact surface can be flat (Figures 1a), 1b), 3, 4) or curved, in particular in the form of a spherical surface (Figure 6). It is possible for the flat contact surface to be arranged orthogonally to the direction of the slide movement, as in the exemplary embodiments, or at an angle, for example between 30° and 60°.It is further proposed that an applicator system 2 be used to generate vibrations as part of vibration therapy, in particular for the treatment of muscles, nerves (including receptors), tendons, cartilage, bones, blood vessels and / or organs, and / or for generating pressure waves as part of radial, unfocused and / or dispersive pressure wave therapy, wherein the applicator system 2 is designed as proposed. It is conceivable that such use could lead to advantages, particularly in sports medicine, for example in competitive sports, with regard to regeneration and / or recovery and / or performance optimization.

[0095] Reference may be made to all statements concerning the proposed actuator 1, the proposed procedure and the proposed applicator system 2.

[0096] Reference symbol list

[0097] 1 actuator

[0098] 2 Applicator system

[0099] 3. Slide arrangement

[0100] 4 sleds

[0101] 5 Storage arrangement

[0102] 6. Slide movement

[0103] 7 electrical magnet arrangement

[0104] 8 pole shoes

[0105] 9 Permanent magnet arrangement

[0106] 10 permanent magnets

[0107] 11 bearing element

[0108] 12 Counter bearing element

[0109] 13 cases

[0110] 14 Bearing sleeve

[0111] 15 additional bearing elements

[0112] 16 additional counter bearing elements

[0113] 17 Housing parts 18 Housing opening

[0114] 19 Applicator

[0115] 20 yoke

[0116] 21 Longitudinal section

[0117] 22 cross sections

[0118] 23 coils

[0119] 24 sled frame

[0120] 25 sled parts

[0121] 26 assembly unit

[0122] 27 Control unit

[0123] 28 Sealing

[0124] 29 Contact area

[0125] 30 more bearing sleeves

[0126] 31 additional sealing elements

Claims

Patent claims 1. Actuator for generating a drive movement, in particular an oscillating movement, wherein the actuator (1) comprises a slide arrangement (3) with a slide (4) for transmitting the drive movement and a bearing arrangement (5) for supporting the slide (4), wherein the slide (4) has a depth in an x-direction, a width in a y-direction and a height in a z-direction, wherein the actuator (1) comprises an electric magnet arrangement (7) for generating a magnetic field, wherein the electric magnet arrangement (7) comprises four pole shoes (8) for directed transmission of the magnetic field, wherein at least two of the pole shoes (8) are spaced apart in the x-direction relative to the slide (4) and wherein two of the pole shoes (8) are spaced apart from each other in the y-direction, wherein the actuator (1) comprises a permanent magnet arrangement (9) with at least one permanent magnet (10),wherein the permanent magnet (10) is fixedly attached to the slide (4) and arranged relative to the magnetic field of the electric magnet arrangement (7) such that the slide (4) performs a slide movement (6), in particular an oscillating movement, when the electric magnet arrangement (7) is energized, characterized in that the bearing arrangement (5) supports the slide (4) such that it is moved transversely to the x-direction and transversely to the y-direction, in particular in the z-direction, during the slide movement (6).

2. Actuator according to claim 1, characterized in that the slide movement (6) is a linear slide movement (6) and that the slide (4) is moved linearly transversely to the x-direction and transversely to the y-direction, in particular in the z-direction, during the slide movement (6), or that the slide movement (6) is a tilting slide movement (6) and that the slide (4) is tilted about a tilting axis, which is oriented in particular in the x-direction, during the slide movement (6), preferably that the tilting axis corresponds to a principal axis of inertia of the slide (4).

3. Actuator according to claim 1 or 2, characterized in that the bearing arrangement (5) comprises a bearing element (11) and a counter bearing element (12) designed to correspond to the bearing element (11), and that the The bearing element (11) is moved along with the slide (4) in the course of the slide movement (6) relative to the counter bearing element (12), preferably that the bearing element (11) and the counter bearing element (12) are arranged to be slidably or rollingly movable relative to each other.

4. Actuator according to claim 3, characterized in that the bearing element (11 ) is designed in the manner of a bolt receptacle and the counter bearing element (12) in the manner of a bearing bolt, or that the bearing element (11 ) is designed in the manner of a bearing bolt and the counter bearing element (12) in the manner of a bolt receptacle, preferably that the bearing element (11 ) and the counter bearing element (12) are arranged coaxially, in particular with respect to the z-direction, and / or that the bearing element (11 ) is arranged coaxially to a principal axis of inertia of the slide (4), in particular to the principal axis of inertia oriented in the z-direction.

5. Actuator according to one of the preceding claims, characterized in that the bearing arrangement (5) has a bearing sleeve (14) which is arranged in particular between the bearing element (11) and the counter bearing element (12), preferably that the bearing sleeve (14) is arranged either fixedly on the bearing element (11) or fixedly on the counter bearing element (12), further preferably that the bearing sleeve (14) is designed in such a way that the bearing sleeve (14) can receive a lubricant.

6. Actuator according to one of the preceding claims, characterized in that the bearing arrangement (5) comprises one or more further bearing elements (15) and one or more further counter-bearing elements (16) designed to correspond to the further bearing element(s) (15), and that the further bearing element(s) (15) is / are moved along with the slide (4) relative to the further counter-bearing element(s) (16) during the slide movement (6), preferably that the bearing arrangement (5) comprises the bearing element (11) and two further bearing elements (15), and that the bearing element (11) is arranged coaxially to a principal axis of inertia of the slide (4), in particular the principal axis of inertia oriented in the z-direction, and that the two further bearing elements (15) are spaced apart in the y-direction from the bearing element (11). in particular symmetrical with respect to the bearing element (11) on which the slides (4) are arranged.

7. Actuator according to one of the preceding claims, characterized in that the actuator (1) has a housing (13) with at least two housing parts (17) which in particular has at least partially accommodated the slide arrangement (3) with slide (4), the electric magnet arrangement (7) and / or the permanent magnet arrangement (9), preferably that the counter bearing element (12) and / or the further counter bearing elements (16) fixed opposite, in particular fixed to, at least one of the housing parts (17) is or are arranged, and / or that the housing parts (17) are designed as identical parts.

8. Actuator according to one of the preceding claims, characterized in that the electric magnet arrangement (7) has two yokes (20) and that the pole shoes (8) spaced apart from each other in the y-direction are each assigned to one of the yokes (20), preferably that the yokes (20) each comprise several lamellae, which are arranged next to each other, in particular with respect to the z-direction.

9. Actuator according to claim 8, characterized in that the yokes (20) are each designed in the form of a U-yoke with a longitudinal section (21) which extends in particular in the y-direction, and two transverse sections (22) which each extend in particular in the x-direction, preferably that the pole shoes (8) assigned to the respective yoke (20) are arranged in the respective transverse section (22) of the respective yoke (20) and that the longitudinal section (21) of the respective yoke (20) determines the spacing of the pole shoes (8) from each other in the y-direction.

10. Actuator according to one of the preceding claims, characterized in that the electric magnet arrangement (7) has several coils (23) in which a respective current flow can be effected when the electric magnet arrangement (7) is energized, and that the coils (23) are arranged relative to the pole shoes (8) such that when the electric magnet arrangement (7) is energized, a corresponding current flow is present at each of the pole shoes (8). pole of the magnetic field is formed, preferably that each of the pole shoes (8) is assigned one of the coils (23).

11. Actuator according to one of the preceding claims, characterized in that the actuator (1) has a spring-magnet arrangement with one or more spring magnets for generating a spring effect on the slide (4) and, preferably, that the spring magnets of the spring-magnet arrangement are arranged relative to the permanent magnet(s) (10) of the permanent magnet arrangement (9) such that the spring effect is caused by a magnetic interaction between the spring magnets and the permanent magnet(s) (10) or at least a part of the permanent magnets (10).

12. Actuator according to one of the preceding claims, characterized in that the slide (4) comprises a multi-part slide frame (24) in which the permanent magnet (10) or permanent magnets (10) of the permanent magnet arrangement (9) are received, preferably that the slide arrangement (3) has one or more damping elements which are received in the slide frame (24) in such a way that the permanent magnets (10) are damped by the damping element(s) during the slide movement (6) transversely to the x-direction and transversely to the y-direction, in particular in the z-direction.

13. Method for assembling an actuator (1) according to one of the preceding claims.

14. Method according to claim 13, characterized in that the slide (4) and the permanent magnets (10) form a mounting unit (26) which is mounted on one of the housing parts (17) of the actuator (1) in a common mounting movement, in particular in the z-direction, preferably that the mounting unit (26) further comprises the bearing element (11) and / or the counter bearing element (12), and / or that the other of the housing parts (17) of the actuator (1) is mounted on the housing part (17) with the mounting unit (26) mounted in a housing mounting movement, in particular in the z-direction.

15. Applicator system for introducing mechanical vibrations into a body part, wherein the applicator system (2) comprises an actuator (1 ) according to any one of claims 1 to 12.

16. Applicator system according to claim 15, characterized in that the applicator system (2) has a control unit (27) for controlling the actuator (1), in particular the current supply to the electric magnet arrangement (7), preferably that the control unit (27) causes the current flow through the coils (23) by applying a voltage to the coils (23), further preferably that the control unit (27) controls the current supply, in particular the voltage, by means of a pulse pause control.

17. Applicator system according to claim 15 or 16, characterized in that the carriage movement (6) is detected at least temporarily, in particular by the control unit (27), preferably by detecting a voltage induced in the coils (23) by the carriage movement (6), and / or that, based on the detection of the carriage movement 6, the control of the current supply to the electric magnet arrangement 7 is carried out and / or adapted, in particular by the control unit 27.

18. Applicator system according to one of claims 15 to 17, characterized in that the applicator system (2) has an applicator (19) for vibration-transmitting contact with a body part and that the applicator (19) and the actuator (1), in particular the slide (4), are coupled to each other in such a way that the oscillating drive movement, in particular the oscillating slide movement (6), causes a mechanical vibration of the applicator (19).

19. Use of an applicator system (2) for generating vibrations in the context of vibration therapy, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and / or organs, and / or for generating pressure waves in the context of radial, unfocused and / or dispersive pressure wave therapy, wherein the applicator system (2) is configured according to any one of claims 15 to 18.

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