Abstract
A drive unit for driving a passive element relative to an active element includes a resonator and excitation device, at least a first arm including, at an outer end of the arm, a first contact element that is movable by way of oscillating movements of the first arm, thereby driving the passive element relative to the active element. The passive element includes a first contact area, arranged to be in contact with a first contact element of the first arm. A magnetic element is arranged to exert a magnetic force causing a relative force between the active element and passive element, whereby the first contact area is pressed against the first contact element with a pre-stress force.
Claims
1. A drive unit for driving a passive element relative to an active element, wherein the active element comprises: a resonator and at least one excitation means for exciting oscillations in the resonator, the resonator comprising at least a first arm extending from a connection region of the resonator, the first arm comprising, at an outer end of the arm, a first contact element, the first contact element being movable by way of oscillating movements of the first arm, the passive element being arranged to be driven and moved relative to the active element by way of these oscillating movements; the passive element comprising a first contact area, the first contact area being arranged to be in contact with the first contact element, wherein a magnetic element is arranged to exert a magnetic force causing a relative force between the active element and passive element, whereby the first contact area is pressed against the first contact element with a pre-stress force.
2. The drive unit of claim 1, wherein a relative motion between the passive element and the active element changes a magnetic field generated by the magnetic element, and wherein the drive unit comprises a magnetic field sensor arranged to detect changes in the magnetic field.
3. The drive unit of claim 2, wherein the magnetic element or another, magnetically interacting element that affects the magnetic field have a shape that produces a temporal inhomogeneity in the magnetic field when the elements are moved relative to one another.
4. The drive unit of claim 3, wherein in order to measure a relative rotation between the active element and passive element, the shape of the magnetic element or the other, magnetically interacting element, are according to at least one of the permanent magnet having a n-fold rotational symmetry with n being finite and larger than one; the other element having a n-fold rotational symmetry with n being finite and larger than one.
5. The drive unit of claim 3, wherein in order to measure a relative translation between the active element and passive element, the shape of the magnetic element or the other, magnetically interacting element, are according to at least one of the permanent magnet being linearly extended along a longitudinal direction, with its cross section varying along this direction; the other element being linearly extended along a longitudinal direction, with its cross section varying along this direction.
6. The drive unit of claim 1, wherein the relative force between the active element and passive element is caused by the magnetic element being arranged to exert a force between the active element and the passive element.
7. The drive unit of claim 1, wherein the relative force between the active element and passive element is caused by the magnetic element being arranged to exert a force between separate elements of the passive element.
8. The drive unit of claim 1, wherein the relative force between the active element and passive element is caused by the magnetic element being arranged to exert a force between separate elements of the active element.
9. The drive unit of claim 1, wherein the relative force between the active element and passive element is caused by the magnetic element being arranged to exert a force between the active element and a driven part attached to the passive element, in particular wherein the driven part is rigidly attached to the passive element, or in particular wherein the driven part is resiliently attached to the passive element by a spring element.
10. The drive unit of claim 1, wherein the relative force between the active element and passive element is caused by the magnetic element being arranged to exert a force between the passive element and a base element attached to the active element, in particular wherein the base element is rigidly attached to the active element, or in particular wherein the base element is attached to the active element by a spring element.
11. The drive unit of claim 1, wherein the relative force between the active element and passive element is caused by the magnetic element being arranged to exert a force between a base element and a driven part, the base element being attached to the active element and the driven part being attached to the passive element.
12. The drive unit of claim 1, comprising at least two resonators, each with an associated first arm and optionally an associated second arm, the arms being arranged to drive the same passive element.
13. The drive unit of claim 1, wherein the passive element and the active element are arranged to move a driven part relative to a base element, the driven part being partly constrained in its movement relative to the base element via a joint, and the passive element is held in the joint via the pre-stress force.
14. The drive unit of claim 1, comprising a second arm extending from the connection region, wherein the second arm is arranged to move with oscillating movements that balance the oscillating movement of the first arm, wherein the at least two arms extend in a substantially symmetric manner from the connection region, the second arm is arranged not to come into contact with the passive element.
15. The drive unit of claim 1, comprising a second arm extending from the connection region, wherein the second arm is arranged to move with oscillating movements that balance the oscillating movement of the first arm, wherein the at least two arms extend in a substantially symmetric manner from the connection region, the second arm comprising, at an outer end of the arm, a second contact element, the second contact element being movable by way of oscillating movements of the second arm, the passive element being arranged to be driven and moved relative to the active element by way of these oscillating movements, the passive element comprising a second contact area, the second contact area being arranged to be in contact with the second contact element, the relative force exerted by the pre-stress element between the active element and passive element pressing the second contact area against the second contact element a pre-stress force.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0062] The subject matter of the invention will be explained in more detail in the following text with reference to exemplary embodiments which are illustrated in the attached drawings, which schematically show:
[0063] FIG. 1 elements of a drive unit;
[0064] FIGS. 2-5 different arrangements of magnetic elements exerting an axial force on a passive element;
[0065] FIG. 6 a cross section showing contact edges in more detail, with a passive element in contact with edges at the opposite side of the active element;
[0066] FIGS. 7-8 drive arrangements with two active elements;
[0067] FIG. 9 corresponding arrangements of passive elements;
[0068] FIGS. 10-12 drive arrangements with three active elements;
[0069] FIGS. 13-14 drive units with a single driving arm;
[0070] FIGS. 15-18 different passive elements;
[0071] FIG. 19 a further drive arrangement with two active elements;
[0072] FIG. 20 corresponding arrangements of passive elements;
[0073] FIG. 21-22 drives with a pre-stress force acting on the drive and on a joint;
[0074] FIG. 23 a further drive arrangement with two active elements;
[0075] FIG. 24 a drive arrangement with two active elements and a magnetic element on the driven part;
[0076] FIG. 25 a generalised structure, with a serial kinematic structure; and
[0077] FIG. 26 a generalised structure, with a parallel kinematic structure.
DETAILED DESCRIPTION OF THE INVENTION
[0078] In principle, identical or functionally identical parts are provided with the same reference symbols in the figures.
[0079] FIG. 1 schematically shows, in an exploded view, elements of a drive unit, with an active element 1 and a passive element 4. The active element 1 includes a resonator 2 or resonator plate 2 and two excitation means 23. From a connection region 20 of the resonator 2, a first arm 21 and second arm 22 extend in the same direction, corresponding to a resonator axis 24. At the end of each arm there are respective first contact elements 31 and second contact elements 32, designed to contact and move the passive element 4 by means of contacting first contact areas 41 and second contact areas 42 of the passive element 4. These contact areas are not necessarily in a fixed relation to the moving passive element 4, rather they are the locations where the contact regions 31, 32 currently contact the passive element 4, as the passive element 4 rotates about a rotary movement axis 25 (in FIG. 1) or translates (in other embodiments) relative to the active element 1.
[0080] As explained in U.S. Pat. No. 7,429,812 B1 cited above, an excitation frequency of a voltage generator 99 driving the excitation means 23, which can be a piezoelectric element, can be varied, and depending on the frequency different modes of mechanical oscillations of the arms will be generated. For example, in one mode the contact regions 31, 32 will—seen in a projection onto the reference plane—both rotate clockwise, in another both will rotate counter clockwise, and in another one will rotate clockwise and the other one counter clockwise. Depending on the suspension of the passive element, i.e., rotary or linear or combined rotary-linear, the passive element will move accordingly.
[0081] The passive element 4 is pressed against the active element 1 such that contact forces arising at the contact regions 31, 32 are normal to a reference plane 28. The reference plane 28 is parallel to the resonator 2.
[0082] In the embodiment of FIG. 1, the passive element 4 is pressed towards the active element 1 with a pre-stress force Fp normal to the reference plane 28. The resulting forces arising at the contact regions 31, 32 arise at contact edges, where the contact regions 31, 32 contact a section of a contact body 43 passive element 4 where the diameter of the passive element 4 increases from a smaller diameter dr to a larger diameter Dr, and thus the contact body 43 can exert a force against the contact regions 31, 32 in a direction normal to the reference plane 28 and parallel to the rotary movement axis 25, which also is an axis of symmetry of the passive element 4. This force corresponds to components Fnz of contact forces Fn acting between the contact regions 31, 32 and the first contact area 41 and second contact area 42. These forces Fn are directed at an angle a to the reference plane 28.
[0083] A diameter Dm corresponding to a distance between the contact regions 31, 32 lies within these two diameters dr, Dr. Typically therefore only the contact edges, shown in more detail in FIG. 6, come into contact with the passive element 4, and not the parts of the surface of the resonator 2 that are normal to the resonator plane.
[0084] FIGS. 2-5 show different arrangements of magnetic elements exerting an axial force on a passive element, for generating the axial pre-stress force Fp, based on the configuration of FIG. 1.
[0085] In the embodiment of FIG. 2, the passive element 4 includes or is attached to a permanent magnet 91, and the resonator 2, in particular its arms, is made of a ferromagnetic material, thus constituting a ferromagnetic element 92. The permanent magnet 91 is at a distance from the plane in which the resonator 2 lies, and thus generates the pre-stress force in the direction of the rotary movement axis 25. The force acts between the passive element 4 and the resonator 2.
[0086] In the embodiment of FIG. 3, the passive element 4 includes a permanent magnet 91, and a further permanent magnet 91′ is attached to a base element 5. The two permanent magnets 91, 91′ are oriented to attract one another.
[0087] In the embodiment of FIG. 4, the permanent magnet 91 on the passive element 4 is arranged closer to the further permanent magnet 91′ than contact areas 41, 42 are. This stabilises the orientation of the passive element 4 relative to the resonator 2.
[0088] In the embodiment of FIG. 5, the two permanent magnets 91, 91′ are oriented to repel one another.
[0089] In each one of the embodiments of FIGS. 3 to 5, the pre-stress force acts between the passive element 4 and the base element 5. The active element 1 can be rigidly or resiliently attached to the base element 5 (the attachment is not shown).
[0090] In each one of the embodiments of FIGS. 3 and 4, one of the permanent magnets 91, 91′ shown can be replaced by a ferromagnetic element 92.
[0091] FIG. 6 shows a cross section showing contact edges in more detail, with a passive element 4 in contact with edges at the same side of the active element 1. The cross section corresponds to the embodiment of the previous Figures, with the difference that the conical section on which the first contact area 41 and second contact area 42 are located is replaced by a spherical section. The configuration of magnetic elements 9 is the same as in FIG. 3. The diameter of the link 44 is shown to be clearly smaller than an inner diameter defined by the contact regions 31, 32. This gives the rotary axis 25 of the passive element a certain freedom of movement, which allows for the rotary movement axis 25 to be not parallel to a virtual axis going through the diameter determined by the diameter of the contact regions 31, 32. In other words, the axis 25 must not necessarily be normal to the reference plane 28 of the active element. In other embodiments, the diameter of the link 44 can be only slightly smaller than the inner diameter between the contact regions 31, 32, in order to guide and stabilise the rotary movement axis 25. The situation regarding the edges is the same in the embodiments having two active elements 1, 1′, with the further active element 1′ mirroring the (first) active element 1. The resonator 2 has a first surface 11 and a second surface 12 parallel to one another and to the reference plane 28. Each of the first arm 21 and second arm 22 has a respective first contact element 31 and second contact element 32 at its end, facing the passive element 4. Where the first contact element 31 is adjacent to the first and second surface 11, 12, it includes a first contact edge of the first arm 311 and second contact edge of the first arm 312, respectively. In the same way, the second contact element 32 includes a first contact edge of the second arm 321 and second contact edge of the second arm 322. Because of the variation of diameter in the contact body 43, only the second contact edge of the first arm 312 and the second contact edge of the second arm 322 are in contact with the contact body 43. This defines corresponding first contact areas 41 and second contact areas 42 on the contact body 43. As already explained, the variation in diameter of the contact body 43 allows the passive element 4 to be pushed against the active element 1, by means of the pre-stress element 6, giving rise to contact forces normal to the reference plane 28. The force exerted by the pre-stress element 6 is shown by a block arrow.
[0092] FIGS. 7, 8, 19, 23 and 24 show drive arrangements with two active elements, that is, an active element 1 (or first active element 1) and a further active element 1′, arranged to rotate a passive element. The two active elements 1, 1′ are essentially of the same construction as those of FIG. 1, but can vary by including two excitation means 23 or only a single excitation means 23, by including two active arms each or only one active arm each. Furthermore, the two active elements 1, 1′ can be manufactured with their resonators 2 made from the same piece of material in one piece. In particular, they can be manufactured from the same piece of sheet material, such as a piece of sheet metal. The excitation means of the two active elements 1, 1′ can be driven by the same voltage signal with the same excitation frequency, or by separate voltage signals, in particular at different excitation frequencies.
[0093] FIG. 7 shows a drive arrangement with two active elements, that is, an active element 1 (or first active element 1) and a further active element 1′, each arranged to rotate a corresponding passive element 4, and further passive element 4′, respectively, which can be part of a driven part (not illustrated). The passive elements 4, 4′ have a common rotary movement axis 25. The rotary movement axis 25 is substantially normal to the reference plane 28 of the two active elements 1, 1′ that is, their respective resonators 2. Each passive element 4, 4′ is held and driven between the two arms of the respective active element 1, 1′. The passive elements 4, 4′ can be arranged to rotate separately from one another.
[0094] Alternatively, the passive elements 4, 4′ can be arranged to rotate together. In the latter case, they can be both connected to the driven part (not shown) in a way that their rotational positions are coupled but that they are free to move—within limits—relative to one another along the rotary movement axis 25. This allows to transmit torque from both of the two active elements 1, 1′ to the driven part 7, while the freedom of movement along the rotary movement axis 25 allows to generate the pre-stress force against the two active elements 1, 1′.
[0095] FIG. 8 shows an alternative embodiment of the two active elements 1, 1′, with a single excitation means 23 on each. The various arrangements of passive elements 4 here can be the same as for the embodiment of FIG. 7.
[0096] FIG. 9 shows arrangements of passive elements for use in combination with the drive arrangements of FIGS. 7 and 8. From left to right: permanent magnets 91 arranged to attract one another, a permanent magnet 91 in combination with a ferromagnetic element 92, and permanent magnets 91 (of which one can be replaced by a ferromagnetic element) each at a distance from the respective associated resonator and contact elements, so as to stabilise the orientation of the passive elements relative to the respective active elements.
[0097] Whereas FIG. 9 shows the magnetic elements 9 of the passive elements attracting one another, in other embodiments they can be arranged to repel one another. Correspondingly, the passive elements are arranged in the respective active elements to be held against this repelling force.
[0098] FIGS. 10-12 show drive arrangements with three active and three passive elements. Corresponding active elements 1, 1′, 1″ each with a respective first arm 21 and second arm 22, are indicated by dashed lines. The passive elements 4, 4′, 4″ have a common rotary movement axis 25. Each is held and driven between the two arms of the respective active element 1, 1′, 1″. The passive elements 4, 4′, 4″ can be arranged to rotate separately from one another.
[0099] In order to generate a reliable pre-stress force for the three passive elements 4, 4′, 4″, they are configured to alternately attract and repel one another. The geometry of each passive element 4, 4′, 4″ relative to the respective active element 1, 1′, 1″ is such that the respective pre-stress force is balanced by contact forces between the passive and active element (in particular the contact elements of the active element)
[0100] In the embodiment of FIG. 10, the three passive elements 4, 4′, 4″ have the same diameter. Corresponding inner radii of the respective active elements 1, 1′, 1″ also have the same diameter.
[0101] In the embodiment of FIG. 11, the middle one of the three passive elements 4, 4′, 4″ has a larger diameter than the others. Correspondingly, the inner radius of the respective middle one of the active elements 1, 1′, 1″ is larger than that of the others. For example, it is at least 1.1 or 1.2 or 1.5 or two times larger. This allows to impart a larger torque by the middle drive. This in turn allows to compensate for larger friction in the middle drive, caused by the fact that the pre-stress force acting on the middle drive is the sum of the pre-stress forces acting on the two outer drives.
[0102] In the embodiment of FIG. 12, each one of the three passive elements 4, 4′, 4″ is attached to a corresponding one of three coaxial axles 45, 45′, 45″.
[0103] FIGS. 13-14 show drive units with a single driving arm. A permanent magnet 91 is arranged to attract and exert a radial pre-stress force on the passive element 4. The passive element 4 includes a permanent magnet 91.
[0104] In the embodiment of FIG. 13, the passive element 4 is stabilised between the first contact element 31 of the first arm 21, which drives the passive element 4, and a portion of the resonator 2 that serves as a bearing location. That is, is does not exhibit movement that drives the passive element 4. Alternatively, the bearing location can be arranged on a part of the base element 5.
[0105] In the embodiment of FIG. 14, the passive element 4 is stabilised by the shape of the first contact element 31 alone. So the first arm 21 defines the position of the passive element 4 in the plane normal to the rotary movement axis. Furthermore, a magnetic field sensor 8 is arranged near but not in contact with the passive element 4. As the passive element 4 moves, it causes variations in the magnetic field. The field is generated by permanent magnet 91 and is affected by the ferromagnetic element 92. In this way, the magnetic field sensor 8 allows to determine changes in the angular position of the passive element 4. The magnetic field sensor 8, together with associated signal processing unit, can serve to determine a position and/or an angular speed of the rotating passive element 4.
[0106] Such a magnetic field sensor 8 can be incorporated in any of the other embodiments in combination with an arrangement of a permanent magnet and/or a ferromagnetic element that when moving causes changes in the magnetic field.
[0107] FIGS. 15-18 show different passive elements suited for use in embodiments with a rotating passive element. FIG. 15 shows a longitudinal cross section of a passive element 4 made of a ferromagnetic material, thus constituting a ferromagnetic element 92. It includes a circumferential groove. A radial pre-stress force presses the sides of the groove, at corresponding contact areas at one side of the passive element 4, against the corresponding contact elements of the first arm (not illustrated). Simultaneously, the groove tapering inward defines the position of the passive element 4 along its rotary movement axis 25.
[0108] FIG. 16 shows an embodiment of a passive element 4 in a longitudinal and a radial cross section. The passive element 4 includes a single piece ferromagnetic element 92 embedded inside the passive element 4. The shape of the ferromagnetic element 92 changes periodically when considered in a circumferential direction, around the passive element 4. Upon rotation, this will cause changes in the field generated by a corresponding permanent magnet (not shown). FIG. 17 shows a variation of this embodiment with the same radial cross section, with the change in shape of the ferromagnetic element 92 not or not exclusively in the region of the plane of the resonator, but spaced from this plane in the direction of the rotary movement axis 25. FIG. 18 shows an embodiment in which the ferromagnetic element 92 is not a single piece but includes several separate elements, giving rise to the same effects as the single piece ferromagnetic element described above.
[0109] FIG. 19 shows a further drive arrangement with two active elements, an active element 1 (or first active element 1) and a further active element 1′, arranged to translate and/or rotate the passive element 4 as part of the driven part 7 or coinciding with the driven part 7. In an embodiment, the driven part 7 is cylindrical, with a linear-rotary movement axis 25, and is held between the arms of the two active elements 1, 1′. Movement of the driven part 7 is constrained to a rotation about and translation along the linear-rotary movement axis 25. The active elements 1, 1′ each include two active arms in contact with and driving the passive element 4. Depending on the geometry of the arms and the choice of excitation frequencies, the passive element 4 can be driven to rotate around or be translated along the linear-rotary movement axis 25. In other embodiments, the passive element 4 can only rotate or only translate. In the latter case, it can have a radial protrusion, shown with dashed lines.
[0110] FIG. 20 shows radial cross sections of corresponding arrangements of passive elements. From left to right: passive element 4 made of a ferromagnetic material, passive element 4 made of a ferromagnetic material with a radial protrusion, passive element 4 made of a non-magnetic material, including a permanent magnet 91 in the radial protrusion. Turning back to FIG. 20 it is evident that these embodiments of passive elements 4 are attracted by a permanent magnet 91 arranged on the base element 5, generating the pre-stress force between the passive element 4 and the two active elements 1, 1′. The protrusion, both with the permanent magnet 91 or the ferromagnetic material, causes the magnetic forces to stabilise the angular position of the passive element 4.
[0111] FIG. 21-22 show drives with a pre-stress force acting on the drive and on a joint. The drive of FIG. 21 is similar to that of FIG. 19, with one of the active elements replaced by a linear or rotary-linear joint 52. The passive element 4 is attracted by a permanent magnet 91 arranged on the base element 5, generating the pre-stress force between the passive element 4 and the two active element 1, and a pre-stress force on the joint 52. The latter can serve to hold and secure the passive element 4 in the joint 52. The forces acting between the base element 5 and the passive element 4 through the active element 1, through the magnetic interaction and through the joint 52 act in parallel.
[0112] Furthermore, a magnetic field sensor 8 is shown, in cooperation with a periodic change in the shape of the passive element 4, in the direction of the linear axis of movement. A combination of a magnetic field sensor 8 and such a shape of the passive element 4 can of course also be implemented in any of the other linear drives presented herein.
[0113] In the drive of FIG. 22, a permanent magnet 91 is arranged to exert a force on a resiliently suspended active element 1. The active element 1 can be implemented to be a ferromagnetic element 92, or can include a ferromagnetic element 92. The force causes a pre-stress force between the active element 1 and the passive element 4 (and driven part 7), and on the joint between the passive element 4 (and driven part 7) and the base element 5. This corresponds to a serial linkage through which the forces act.
[0114] FIG. 23 shows a further drive arrangement with two active elements. FIG. 23 is topologically the same as FIG. 19, but with different angles between the two active elements 1, 1′. In particular, their reference planes 28 can be parallel to one another.
[0115] FIG. 24 shows a drive arrangement with two active elements, that is, an active element 1 (or first active element 1) and a further active element 1′, arranged to rotate the passive element 4 as part of the driven part 7. The driven part 7 is cylindrical, with a rotary movement axis 25, and is held between the arms of the two active elements 1, 1′ and in an opening formed in the attachment element 29 joining the two active elements 1, 1′. Movement of the driven part 7 is constrained to a rotation about the rotary movement axis 25, substantially parallel to the reference planes 28 of the two active elements 1, 1′, or to a bisecting plane of these two reference planes 28. The active elements 1, 1′ each include a single active arm in contact with the passive element 4. Whereas the figure shows two active elements 1, 1′, in other embodiments, three or more active elements 1, 1′ are present, and can be arranged with rotational symmetry around the rotary movement axis 25.
[0116] The passive element 4 includes or is made of a permanent magnet 91. The resonators 2, 2′ are made of a ferromagnetic material and thus constitute ferromagnetic elements 92. In the linear direction along the rotary movement axis 25, attraction between the passive element 4 and the resonators 2, 2′ generates the pre-stress force.
[0117] FIGS. 25 and 26 show, in a highly schematic manner, possible kinematic arrangements representing the different embodiments: A (intermittent) driving link between the active element 1 and passive element 4, through which driving forces are imparted, is represented by an arrow. A joint or movable a link 44 is present between the base element 5 and driven part 7.
[0118] FIG. 25 shows a generalised structure of a drive unit, with a serial kinematic structure. According to embodiments represented by FIG. 25, a serial arrangement of force-transmitting elements is present. The remaining two links between the base element 5 and the active element 1, and between the passive element 4 and the driven part 7, indicated by dashed lines, can be used to introduce pre-stress forces on both the driving link and/or the movable link 44. One of these remaining two links can include magnetic elements to generate the pre-stress force, the other one can be replaced by a rigid connection.
[0119] FIG. 26 shows a generalised structure of a drive unit, with a parallel kinematic structure. According to embodiments represented by FIG. 26, a parallel arrangement of force-transmitting elements is present: the contact force between the active element 1 and passive element 4, a force acting on a joint or movable link 44 between the base element 5 and driven part 7, and a pre-stress force generated by magnetic elements 9 arranged on the base element 5 and driven part 7, respectively. Variations of this structure can include [0120] a magnetic element 9 being on the active element 1 instead of the base element 5; [0121] a magnetic element 9 being on the passive element 4 instead of the driven part 7; [0122] the magnetic elements 9 being arranged to repulse instead of attract one another;
[0123] While the invention has been described in present embodiments, it is distinctly understood that the invention is not limited thereto, but may be otherwise variously embodied and practised within the scope of the claims.
