WO2024079200A1 - Actuator for generating drive movements, in particular oscillatory drive movements - Google Patents

Abstract

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

Description

Actuator for generating particularly oscillating drive movements

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

Such actuators convert an electrical signal into mechanical movements, particularly oscillating movements. Such actuators are used in a variety of ways. For example, actuators are used in medical applicator systems for vibration treatment. In addition to generating oscillating drive movements, actuators are also used as an actuator to specifically initiate actuating movements for the precise positioning of an actuating element. In this respect, the term "actuator" is to be understood broadly and includes any drive-related component that converts an electrical signal into mechanical movements.

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

The known actuator has a simple structure. However, it has been shown that the carriage arrangement can jam in an uncontrolled manner relative to the support arrangement, which can hinder or completely block the discharge of the drive movements. This occurs in particular with particularly efficient actuators, in which there is only a very small air gap, which must also be designed with particular precision in order to keep the magnetic resistance generated by the air gap as small as possible. Even small deviations of the air gap from the target value cause increasingly asymmetrical forces in the magnetic circuit, which in turn generate frictional forces in the bearing points and can lead to the carriage arrangement becoming tilted and/or jammed relative to the support arrangement. For this reason, particularly precisely designed bearings are used to support the carriage arrangement, which on the one hand lead to high production costs and on the other hand increase the moving mass of the actuator.

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

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

The fundamental idea is to provide at least two offset magnetic gaps between the carriage arrangement and the support arrangement, which are aligned transversely to the drive direction. Another fundamental idea is to mount the carriage arrangement so that it is floating relative to the support arrangement, transversely to the gap alignment of the magnetic gap. In this way, jamming and/or snagging of the carriage arrangement can be prevented, since the carriage arrangement has play relative to the support arrangement in this direction due to the floating guide transversely to the gap alignment. The carriage arrangement can then carry out compensating movements transversely to the gap alignment, which ensures that the carriage arrangement is guided evenly in the drive direction at all times. It has been shown that with an appropriate floating bearing of the carriage arrangement, on the one hand, the position of the carriage arrangement in the direction of the gap alignment can be held sufficiently precisely. On the other hand, appropriate bearing can be implemented particularly cost-effectively.

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

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

Claims 3 to 7 relate to preferred structural designs of the guide arrangement for realizing the floating guidance of the carriage arrangement relative to the support unit. Claim 6 is particularly preferred, according to which the carriage arrangement is guided on both sides with respect to a center line along the drive direction via one of two partial guide units, whereby symmetrical guidance is achieved.

According to the preferred embodiment according to claim 8, the guide counter element can be inserted in an assembly movement into a guide counter element holder assigned to the slide arrangement, which enables a particularly simple assembly of the guide counter element, which can in particular also be carried out automatically. For example, for insertion into the guide counter element holder, it is conceivable that the assembly movement takes place transversely to the geometric center axis of the guide counter element or parallel to the geometric center axis of the guide counter element.

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

According to the further embodiment according to claim 10, the magnetic drive circuit for accelerating the carriage arrangement has a coil arrangement and a drive permanent magnet arrangement interacting with the coil arrangement. The drive permanent magnet arrangement has at least one drive permanent magnet which interacts with the coil arrangement in order to accelerate the carriage arrangement (claim 11).

According to the preferred embodiment according to claim 12, the drive permanent magnet is assigned a drive permanent magnet holder of the slide arrangement. The drive permanent magnet is in an assembly movement can be inserted into the permanent drive magnet holder assigned to the slide arrangement, which enables particularly easy assembly of the permanent drive magnet, which can also be automated. For example, when inserting it into the permanent drive magnet holder, it is conceivable that the assembly movement takes place transversely to the north-south axis of the permanent drive magnet or parallel to the north-south axis of the permanent drive magnet.

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

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

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

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

According to the preferred embodiment according to claim 28, the actuator has two brake permanent magnet arrangements which are spaced apart from one another in the drive direction and which are arranged in the drive direction essentially in front of and behind the drive permanent magnet arrangement, whereby a uniform braking effect can be achieved in both directions of movement. According to the further preferred embodiment according to claim 29, the support arrangement has a guide element holder for the guide element. The guide element is inserted into the associated guide element holder in an assembly movement during assembly of the actuator. The guide counter element and/or the slide arrangement can optionally be inserted together with the guide element. In this way, a particularly simple assembly of the guide element is made possible, which can in particular also be carried out automatically.

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

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

In this respect, reference may be made to all statements regarding the proposed actuator.

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

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

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

It is essential that the applicator system has a proposed actuator that is coupled to the applicator in terms of drive technology to generate the mechanical vibrations.

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

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

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

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

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

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

Fig. 2 the actuator according to Fig. 1 in an exploded view,

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

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

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

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

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

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

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

The term "offset" is to be understood here to mean that the two magnetic gaps 7 are not formed by a single magnetic gap, but are formed independently, i.e. separately, from one another and spaced apart from one another, in particular in gap orientation A. The gap orientation A is the thickness direction of the gap, i.e. the extension direction between the support arrangement 3 and the carriage arrangement 2 or between the surfaces of the support arrangement 3 and the carriage arrangement 2 that delimit the magnetic gap.

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

For example, in the context of transition fits and/or tolerances, it is possible that there may or may not be play depending on the manufacturing process. Corresponding, non-reproducible plays and/or fits are not covered by the present invention. Rather, the floating guide of the slide arrangement 2 is an explicitly provided play that is always present.

The manner in which and at what location the floating guide of the slide arrangement 2 is implemented in detail is irrelevant in the present case. In the context of the present invention, it is only crucial that at least part of the guide arrangement 4 is designed to provide the guide of the slide arrangement 2 in a floating manner in a plane transverse to the gap alignment A.

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

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

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

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

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

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

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

Due to the floating guidance of the slide arrangement 2 in a plane transverse to the gap alignment A, a distance deviation between the two partial guide units 10, 11 can be compensated. In this way, tilting and/or jamming of the slide arrangement 2 can be effectively prevented even in the event of corresponding deviations between the two partial guide units 10, 11.

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

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

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

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

It is possible, for example, that the floating guide can compensate for misalignments between two guide counter elements 9 that are assigned to the same guide element 8, thereby preventing the carriage arrangement 2 from tilting and/or jamming and at the same time ensuring safe and smooth operation of the actuator 1. As already described above, the floating guide can also compensate for distance deviations between the two guide elements 8.

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

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

12 and the guide counter element 9. The assembly can then be carried out in a particularly simple manner.

If during operation of the actuator 1 there is a positional deviation of the guide counter element 9 in the guide counter element holder 12, in particular transverse to the gap alignment A, this positional deviation can be compensated by the floating guide of the slide arrangement 2, thereby ensuring the safe and uniform operation of the actuator. Tilting and/or jamming of the slide arrangement 2 can thus be prevented.

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

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

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

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

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

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

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

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

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

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

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

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

It is therefore conceivable, as is also provided in Figures 1 to 4 and 7a), that the respective yoke 18 or partial yoke 18, 19 is designed as a Beam 29 extending in the beam extension direction EB is designed. A beam is referred to here as a component that essentially runs straight.

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

The beam 29 has, as shown schematically in Fig. 7a), a material thickening 30 at one or both ends, which protrudes here and preferably towards the slide arrangement 2 or the magnetic gap 7, i.e. parallel to the gap alignment A. This forms in particular a pole shoe. The surface of the material thickening 30 facing the slide arrangement 2 delimits the magnetic gap 7 towards the respective partial yoke 18, 19.

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

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

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

In this case too, the yoke arms 31, as shown schematically in Figures 6, 7b) to 7e), can have a material thickening 30 at their end facing away from the connecting section 32, which here and preferably serves to Slide arrangement 2 or the magnetic gap 7, i.e. parallel to the gap alignment A. This forms in particular a pole shoe. The surface of the material thickening 30 facing the slide arrangement 2 here delimits the magnetic gap 7 towards the respective yoke arm 31.

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

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

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

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

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

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

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

It is possible to design the first partial yoke 18 and the second partial yoke 19 identically as equal parts, whereby the number of different components of the actuator 1 can be reduced. Alternatively, it is also possible to design the first partial yoke 18 and the second partial yoke 19 geometrically differently. It is then particularly advantageous if the first partial yoke 18 and the second partial yoke 19 act magnetically identically on the drive permanent magnet arrangement 15 during operation of the actuator 1. The term “act magnetically identically” is to be understood here to mean that the magnetic force acting from the first partial yoke 18 on the drive permanent magnet arrangement 15 has the same amount as the magnetic force acting from the second partial yoke 19 on the drive permanent magnet arrangement 15.

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

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

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

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

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

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

The coil arrangement 14 can be supplied with a linear, alternating voltage, i.e. a direct voltage that is reversed in polarity. Alternatively, it is also possible to control the coil arrangement 14 using a sinusoidal voltage, which makes it particularly easy to control. The sinusoidal voltage can also be generated digitally using pulse width modulation. It is also possible to supply the coil arrangement 14 with a square pulse with a positive voltage, which is followed after an optional pause by an opposite square pulse with a negative voltage. For a rapid current increase, it is conceivable to Coil arrangement 14 is subjected to a pulse with an excessive voltage until the current has reached a predetermined target value. The current can then be kept constant for a predetermined period of time, for example by means of pulse width modulation. All of the aforementioned applications of coil arrangement 14 are to be understood as examples only and can be combined and/or alternated over time if required. The proposed actuator 1 is therefore particularly suitable for a wide range of applications.

A particularly reliable braking of the carriage arrangement 2 can be achieved if the magnetic drive circuit 5 has a brake permanent magnet arrangement 22 which interacts magnetically with the drive permanent magnet arrangement 15 to generate a braking effect on the carriage arrangement 2. When the brake permanent magnet arrangement 22 and the drive permanent magnet arrangement 15 approach each other, an interaction of like poles occurs, whereby a magnetic force directed against the movement of the carriage arrangement 2 is generated on the carriage arrangement 2.

By using a permanent brake magnet arrangement 22, the use of mechanical springs, which are arranged between the slide arrangement 2 and the support arrangement 3 for driving purposes, can be dispensed with. The accelerated mass of the actuator 1 can be reduced in this way, whereby a lower energy requirement of the actuator 1 is achieved. At the same time, a higher acceleration of the slide arrangement 2 can be achieved. In addition, a more uniform movement of the slide arrangement 2 is made possible, whereby the adjustment path of the actuator 1 can also be designed to be more variable.

Here and preferably, the brake permanent magnet arrangement 22 is assigned to the support arrangement 3. As shown in Fig. 3a) and Fig. 3c), when the drive movements are carried out, the drive permanent magnet arrangement 15 can be moved relative to the brake permanent magnet arrangement 22 in such a way that the same poles of the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 interact in such a way that a repulsive magnetic force acts on the drive permanent magnet arrangement 15, which is opposite to the movement of the carriage arrangement 2, whereby a braking effect is achieved. In Fig. 3a) a force directed to the right and in Fig. 3c) a force directed to the left acts from the brake permanent magnet arrangement. 22 on the drive permanent magnet arrangement 15. In this way, the carriage arrangement 2 is initially braked. Subsequently, the repulsive magnetic force between the drive permanent magnet arrangement 15 and the brake permanent magnet arrangement 22 acts to accelerate the carriage arrangement 2 in the opposite direction. In this way, the brake permanent magnet arrangement 22 not only serves to brake, but also to subsequently accelerate the carriage arrangement 2 in the opposite direction.

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

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

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

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

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

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

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

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

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

The assembly of the actuator 1 can be carried out in a particularly simple manner, as already described above. The assembly can be further simplified if the guide element 8 is assigned a guide element holder 24 in the support arrangement 3 and, as part of the assembly of the actuator 1, the guide element 8 is inserted into the assigned guide element holder 24 in an assembly movement, possibly together with the guide counter element 9 and/or the slide arrangement 2. In this way, the assembly of the guide element 8 in the support arrangement 3 can be implemented with particularly simple movements if the assembly essentially goes back to an assembly of the guide element 8. Such a movement can also be easily implemented in an automated manner.

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

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

The second assembly movement takes place transversely to the first assembly movement, whereby the guide counter element 9 is held captively following the second assembly movement. The guide counter element 9 can in particular only be removed when the carriage arrangement 2 is dismantled from the support arrangement 3.

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

According to a further teaching, which has independent significance, a method for assembling a proposed actuator 1 is proposed.

It is now essential that the magnet drive circuit 5 has a drive permanent magnet arrangement 15 with at least one drive permanent magnet 16 and that the at least one drive permanent magnet 16 is inserted in an assembly movement with a magnet assembly direction M into a drive permanent magnet holder of the slide arrangement 2 (Fig. 2). Here and preferably it is provided that the magnet assembly direction M is aligned transversely to the gap alignment A and/or transversely to the drive direction X.

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

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

It is now essential that the applicator system 27 has a proposed actuator 1, which is coupled to the applicator 28 in terms of drive technology for generating the mechanical vibrations.

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

According to a further teaching, which has independent significance, the use of a proposed applicator 1 for generating vibrations in the context of a vibration treatment, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and/or organs, is proposed. It is also possible to use the proposed actuator in the context of a vibration treatment of skin and/or fatty tissue. In this respect, the present list is not to be understood as exhaustive.

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

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

According to a further teaching, which has independent significance, the use of an applicator 1 according to the proposal for the production of Pressure waves in the context of a radial, unfocused and/or dispersive pressure wave treatment are proposed.

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

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

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

1 Actuator Slide assembly Support assembly Guide assembly Magnetic drive circuit Slide

7 Magnetic gap

8 Guide element

9 Guide counter element

10 first partial control unit

11 second partial guide unit

12 Guide counter element holder

13 U-legs

14 Coil arrangement

15 Drive permanent magnet arrangement

16 Drive permanent magnet

17 Yoke arrangement

18 yoke or first partial yoke 19 second part yoke

20 first coil

21 second coil

22 Brake permanent magnet arrangement

23 Brake permanent magnet

24 Guide element holder

25 Actuator housing

26 housing halves

27 Applicator system

28 Applicator

29 bars

30 Material thickening

31 yoke arm

32 connecting section

X Drive direction

A gap alignment

B Centerline

Y first mounting direction

Z second mounting direction M Magnet mounting direction

G geometric coil axis EB beam extension direction

EA arm extension direction

Ev connection section extension direction

Claims

Patent claims 1. Actuator for generating, in particular, oscillating drive movements with a slide arrangement (2) for conducting the drive movements, wherein the actuator (1) has a support arrangement (3) and a guide arrangement (4) and the drive movements of the slide arrangement (2) are guided linearly via the guide arrangement (4) relative to the support arrangement (3) along a drive direction (X), wherein the actuator (1) forms a closed magnetic drive circuit (5) for generating the drive movements, which runs via the support arrangement (3) and the slide (6), characterized in that the magnetic drive circuit (5) has at least two offset magnetic gaps (7) between the support arrangement (3) and the slide arrangement (2) with identical gap orientation (A) transverse to the drive direction (X) and that at least part of the guide arrangement (4) is designed to provide the guide of the slide arrangement (2) floating in a plane transverse to the gap orientation (A). 2. Actuator according to claim 1, characterized in that at least a part of the guide arrangement (4) is designed to provide the guide of the carriage arrangement (2) in a floating manner transversely to the drive direction (X). 3. Actuator according to claim 1 or 2, characterized in that the guide arrangement (4) has at least one guide element (8), in particular a guide rod, and at least one guide counter element (9), in particular a guide sleeve, in guide engagement therewith. 4. Actuator according to claim 1 or 2, characterized in that the guide arrangement (4) has a first partial guide unit (10) and a second partial guide unit (11), each of which provides a linear guide of the carriage arrangement (2) relative to the support arrangement (3) along the drive direction (X), wherein only one of the first partial guide unit (10) and the second partial guide unit (11) provides the floating guide of the carriage arrangement (2). 5. Actuator according to one of the preceding claims, characterized in that the first partial guide unit (10) and the second partial guide unit (11) each comprise at least one guide element (8), in particular a Guide rod, and at least one guide counter element (9) in guide engagement therewith, in particular a guide sleeve. 6. Actuator according to one of the preceding claims, characterized in that the first partial guide unit (10) and the second partial guide unit (11) are arranged on opposite sides of the carriage arrangement (2) with respect to a center line (B) which runs along the drive direction (X). 7. Actuator according to one of the preceding claims, characterized in that the at least one guide element (8) is or are assigned to the support arrangement (3) and that the at least one guide counter element (9) is or are assigned to the carriage arrangement (2), preferably that the first partial guide unit (10) and the second partial guide unit (11) each have two guide counter elements (9) which are arranged one behind the other along the drive direction (X), in particular spaced apart from one another. 8. Actuator according to one of the preceding claims, characterized in that the guide counter element (9) is assigned a guide counter element receptacle (12) in the slide arrangement (2) and that during the assembly of the actuator (1) the guide counter element (9) is inserted into the assigned guide counter element receptacle (12) in an assembly movement, preferably that the guide counter element (9) is already in guiding engagement with the assigned guide element (8) during the assembly movement. 9. Actuator according to one of the preceding claims, characterized in that the guide counter element receptacle (12) is designed in cross section transverse to the drive direction (X) substantially U-shaped with two U-legs (13). 10. Actuator according to one of the preceding claims, characterized in that the magnetic drive circuit (5) has a coil arrangement (14), in particular with one or more coils (20, 21) extending along a geometric coil axis (G), and a drive permanent magnet arrangement (15) which interact with one another to accelerate the carriage arrangement (2), preferably that the drive permanent magnet arrangement (15) is assigned to the carriage arrangement (2). 11. Actuator according to one of the preceding claims, characterized in that the drive permanent magnet arrangement (15) has at least one drive permanent magnet (16), preferably that the magnetic field of the drive permanent magnet (16) exits from the drive permanent magnet (16) transversely to the drive direction (X). 12. Actuator according to one of the preceding claims, characterized in that the drive permanent magnet (16) is assigned a drive permanent magnet holder of the slide arrangement (2) and that during the assembly of the actuator (1) the at least one drive permanent magnet (16) is inserted into the drive permanent magnet holder of the slide arrangement (2) in an assembly movement, preferably that the assembly movement takes place transversely to the gap orientation (A) and/or transversely to the drive direction (X). 13. Actuator according to one of the preceding claims, characterized in that the magnet drive circuit (5) has a yoke arrangement (17) which extends transversely to the drive direction (X) via the magnet gaps (7) to the drive permanent magnet arrangement (15) and which is magnetically coupled to the coil arrangement (14). 14. Actuator according to claim 13, characterized in that the yoke arrangement (17) is formed from a single yoke (18) or at least two, in particular exactly two, partial yokes (18, 19). 15. Actuator according to claim 14, characterized in that, with respect to the gap orientation (A), a partial yoke (18, 19) is arranged on each side of the slide arrangement (2), or that, with respect to the gap orientation (A), only one yoke (18) is arranged on only one side of the slide arrangement (2). 16. Actuator according to claim 14 or 15, characterized in that the respective yoke (18) or partial yoke (18, 19) is designed as a beam (29) extending in a beam extension direction (EB), preferably that the beam extension direction (EB) runs parallel to the drive direction (X) and in particular transversely to the gap orientation (A). 17. Actuator according to claim 14, characterized in that the respective yoke (18) or partial yoke (18, 19) laterally surrounds the slide arrangement (2), so that a section of the yoke (18) or partial yoke (18, 19) is arranged on one side of the carriage arrangement (2) with respect to the gap orientation (A) and another section of the yoke (18) or partial yoke (18, 19) is arranged on the other side of the carriage arrangement (2) with respect to the gap orientation (A), preferably that, with respect to the gap orientation (A), on each side of the carriage arrangement (2) exactly one magnetic gap (7) is formed between the respective yoke (18) or partial yoke (18, 19) and the carriage arrangement (2). 18. Actuator according to claim 14 or 17, characterized in that the respective yoke (18) or partial yoke (18, 19) has two yoke arms (31) extending essentially parallel in an arm extension direction (EA), which are connected to one another via a connecting section (32) of the yoke (18) or partial yoke (18, 19) extending transversely thereto in a connecting section extension direction (Ev), preferably that the arm extension direction (EA) runs parallel or transversely to the drive direction (X) and in particular transversely to the gap orientation (A) and/or that the connecting section extension direction (Ev) runs transversely to the drive direction (X) and in particular parallel to the gap orientation (A). 19. Actuator according to claim 18, characterized in that at least or exactly one coil (20, 21) of the coil arrangement (14) extends along a yoke arm (31), in particular around the yoke arm (31), or that at least or exactly one coil (20, 21) of the coil arrangement (14) extends along the connecting section (32) of the yoke (18) or partial yoke (18, 19), in particular around the connecting section (32) of the yoke (18) or partial yoke (18, 19). 20. Actuator according to one of claims 14 to 19, characterized in that one or more, in particular two, coils (20, 21) of the coil arrangement (14) are assigned to the respective yoke (18) or partial yoke (18, 19), preferably that the geometric coil axis (G) of the respective coil (20, 21) runs parallel to the arm extension direction (EA) or parallel to the connection section extension direction (Ev). 21. Actuator according to one of the preceding claims, characterized in that the geometric coil axis (G) of the respective coil (20, 21) of the coil arrangement (14) runs parallel or transversely to the drive direction (X) and/or parallel or transversely to the gap orientation (A). 22. Actuator according to one of claims 13 to 21, characterized in that the yoke arrangement (17) has a first partial yoke (18) and a second partial yoke (19), preferably that the first partial yoke (18) and the second partial yoke (19) reach the drive permanent magnet arrangement (15) in opposite directions, each via two magnetic gaps (7), further preferably that the coil arrangement (14) has a first coil (20) which is connected to the first partial yoke (18) and a second coil (21) which is connected to the second partial yoke (19) is assigned. 23. Actuator according to one of the preceding claims, characterized in that in at least one position of the carriage arrangement (2) the yoke arrangement (17) and the drive permanent magnet arrangement (15) form the magnetic gaps (7). 24. Actuator according to one of the preceding claims, characterized in that the magnetic drive circuit (5) has a brake permanent magnet arrangement (22) which interacts magnetically with the drive permanent magnet arrangement (15) to generate a braking effect on the carriage arrangement (2), preferably that the brake permanent magnet arrangement (22) is assigned to the support arrangement (3). 25. Actuator according to one of the preceding claims, characterized in that the brake permanent magnet arrangement (22) has at least one brake permanent magnet (23), preferably that the magnetic field of the brake permanent magnet (23) exits the brake permanent magnet (23) transversely to the drive direction (X). 26. Actuator according to one of the preceding claims, characterized in that the arrangement of the brake permanent magnet arrangement (22) and the drive permanent magnet arrangement (15) is designed such that the approach of the slide arrangement (2) to one of its end positions causes an increasing braking effect which is due to the interaction of the brake permanent magnet arrangement (22) with the drive permanent magnet arrangement (15), preferably that in the relevant end position of the slide arrangement (2) at least one drive permanent magnet (16) lies over at least one of the magnet gaps (7) in the magnet drive circuit (5). 27. Actuator according to one of the preceding claims, characterized in that the brake permanent magnet arrangement (22) has at least two brake permanent magnets (23) which are spaced apart from one another transversely to the drive direction (X) in such a way that at least one drive permanent magnet (16) assigned to the drive permanent magnet arrangement (15) can be inserted between the two brake permanent magnets (23) at least in sections. 28. Actuator according to one of the preceding claims, characterized in that the actuator (1) has two brake permanent magnet arrangements (22), that the two brake permanent magnet arrangements (22) are spaced apart from one another in the drive direction (X) and are arranged in the drive direction (X) substantially in front of and behind the drive permanent magnet arrangement (15). 29. Actuator according to one of the preceding claims, characterized in that the guide element (8) is assigned a guide element receptacle (24) in the support arrangement (3) and that during the assembly of the actuator (1) the guide element (8) is inserted into the assigned guide element receptacle (24) in an assembly movement, optionally together with the guide counter element (9) and/or the slide arrangement (2), preferably that the actuator (1) has an actuator housing (25) which provides the guide element receptacle (24), further preferably that the actuator housing (25) has two housing halves (26), further preferably that the two housing halves (26) are designed as identical parts. 30. Method for assembling an actuator (1) according to one of the preceding claims, characterized in that the guide arrangement (4) has at least one guide element (8), in particular a guide rod, and at least one guide counter element (9) in guide engagement therewith, in particular a guide sleeve, and that the guide counter element (9), optionally together with the guide element (8), is inserted into a guide counter element receptacle (12) of the slide arrangement (2) in a first assembly movement with a first assembly direction (Y) and that the slide arrangement (2) is inserted into the support arrangement (3) in a second assembly movement with a second assembly direction (Z) which is transverse to the first assembly direction (Y). 31. Method for assembling an actuator (1) according to one of claims 1 to 29, characterized in that the magnet drive circuit (5) has a drive permanent magnet arrangement (15) with at least one drive permanent magnet (16) and that the at least one drive permanent magnet (16) is inserted into a drive permanent magnet receptacle of the slide arrangement (2) in an assembly movement with a magnet assembly direction (M), preferably that the magnet assembly direction (M) is aligned transversely to the gap alignment (A) and/or transversely to the drive direction (X). 32. Medical applicator system for introducing mechanical vibrations into a body part with an applicator (28) for the vibration-transmitting contact with the body part, characterized in that the applicator system (27) has an actuator (1) according to one of claims 1 to 29, which is drive-coupled to the applicator (28) for generating the mechanical vibrations. 33. Use of an applicator (1) according to one of claims 1 to 29 for generating vibrations in the context of a vibration treatment, in particular for the treatment of muscles, nerves, tendons, cartilage, bones, blood vessels and/or organs. 34. Use of an applicator (1) according to one of claims 1 to 29 for generating pressure waves as part of a radial, unfocused and/or dispersive pressure wave treatment.