Drive device, drive motor and method for driving a spindle

Drive device (1, 101, 201) for driving a spindle (90) with a spindle axis A90, wherein the drive device (2) for receiving the spindle (90) comprises a spindle space (39) which extends in a spindle space longitudinal axis, comprising the drive device (2):

• a first actuator device (10, 210) with a first end (11), with a second end (12) and with a first actuator (13), the extension of which can be reversibly varied when actuated along a first actuator axis L1, wherein the first end (11) and the second end (12) are oriented in opposite directions to one another with respect to the first actuator axis L1 and wherein the first actuator axis L1 extends transversely to the spindle axis A90 of a spindle (90),
• a second actuator device (20, 220) with a first end (21), with a second end (22) and with a second actuator (23), the extension of which can be reversibly varied when actuated along a second actuator axis L2, wherein the first end (21) and the second end (22) are oriented in opposite directions to one another with respect to the first actuator axis L1 and wherein the first actuator axis L1 and the second actuator axis L2 extend along one another,
• an actuating device (40, 140, 240),
• a frame device (30, 130, 230),
• wherein the arrangement comprising the frame device (30, 130, 230) and the actuating device (40, 140, 240) comprises at least one contact surface section (51, 52, 151, 152, 254, 264), which each extend at least in a section along the direction of the first actuator axis L1 or the second actuator axis L2 and form surface regions which are located differently from one another as viewed in the direction of the longitudinal axis of the spindle space, which are provided for contact with two different contact areas (91, 92) of the spindle (90) in order to set the spindle (90) in rotation when the first and second actuator devices (10, 20) are operated,
• wherein the first and the second actuator device (10, 20, 210, 220) in each case with the first end (11, 21) contact the frame device (30, 130, 230) and in each case with a second end (12, 22) contact the actuating device (40, 140, 240), and wherein the frame device (30, 130, 230) is designed as a structurally continuous component which completely surrounds the spindle chamber (39), the first actuator device (10) and the second actuator device (20) in the circumferential direction defined by the longitudinal axis of the spindle chamber.

Drive device (1, 101, 201) according to one of the preceding claims, wherein the arrangement comprising the frame device (30, 130, 230) and the actuating device (40, 140, 240) comprises at least two contact surface sections (51, 52, 151, 152, 254, 264), which each extend at least in a section along the direction of the first actuator axis L1 or the second actuator axis L2 and, viewed in the direction of the longitudinal axis of the spindle space, form surface regions which are located differently from one another and are provided for contact with two different contact areas (91, 92) of the spindle (90) in order to set the spindle (90) in rotation when the first and second actuator devices (10, 20) are operated,

• wherein the first and the second actuator device (10, 20, 210, 220) in each case with the first end (11, 21) against the frame device (30, 130, 230) and in each case with a second end (12, 22) contact the actuating device (40, 140, 240) or an actuating piece (141), and wherein the frame device (30, 130, 230) is designed as a structurally continuous component, which extends the spindle space (39), the first actuator device (10) and the second actuator device (20) in the direction defined by the longitudinal spindle space, 130, 230) is designed as a structurally continuous component which completely surrounds the spindle chamber (39), the first actuator device (10) and the second actuator device (20) in the circumferential direction defined by the longitudinal axis of the spindle chamber.

Method of driving a spindle of a drive motor comprising a spindle space for receiving the spindle, two actuator devices and an actuating component structure, the actuator devices being operable to actuate the actuating component structure to drive the spindle according to the stick-slip principle, wherein the actuator devices are each driven by one of two drive signals each comprising a sequence of at least one signal pulse portion (SP61, SP62 or SP71, SP72), each signal pulse portion comprising:

• (a) a respective stick driving section (613, 614, 713, 714), the largest pitch section of which comprises a pitch which is less than a predetermined maximum stick pitch value, the stick driving sections of the two signal pulse sections taking place simultaneously and in antiphase,
• (b) followed by a plateau phase of varying duration,
• (c) followed by a respective slip drive section of the two signal pulse sections at different points in time from one another, their respective minimum gradient sections comprising a gradient which is less than a predetermined minimum slip gradient value, wherein the stick drive section which had a positive gradient in step (a) comprises a negative gradient in step (c) and wherein the stick drive section which had a negative gradient in step (a) comprises a negative gradient in step (c),
• (d) followed by a plateau phase of varying duration up to a simultaneous end point for both signal pulse sections.

Method for driving a spindle (90) with a spindle axis A90, with a drive device (2), wherein the drive device comprises:

• two actuator devices (10, 20, 210, 220),
• wherein either a frame device (30, 130, 230) or an actuating device (40, 140, 240) of the drive device (1) is fixed to both actuating ends of the actuator devices (10, 20, 210, 220), and in particular is fixed in a rotationally fixed manner, and in each case comprises at least one actuating component (131, 132, 133, 255, 265) which in each case extends cantilevered over its entire length between the actuating ends or from the actuating ends of the actuator devices (10, 210, 20, 220) and comprises a contact surface section (152, 254, 264) which in each case extends at least in a section along the direction of the first actuator axis L1 or the second actuator axis L2, delimits the spindle space (39) in one section and is provided for contact with a respective spindle surface contact area (91, 92) of the spindle (90) in order to set the spindle (90) in rotation when the first actuator device (10, 210) or the second actuator device (20, 220) or both actuator devices (10, 210, 20, 220) are operated, wherein the compliance of the actuating component (131, 132, 133, 255, 265) is set such that, if a portion of the spindle (90) is located in the spindle space, the expansion or contraction of at least one actuator device causes a component of movement of the at least one contact surface section along the actuator axes (L1,L2),
• wherein the drive device (2) periodically controls the first actuator (13) and the second actuator (23) with a control signal, wherein the gradients of a rising flank and a falling flank of the control signal each comprise a half-period of the same control period with gradients which differ according to amount from one another.