ADJUSTMENT DEVICE, ADJUSTMENT SYSTEM AND COMPUTER PROGRAM PRODUCT

Abstract

Adjustment device, comprising: a base component (B1), an adjustment body (10), at least one flexure hinge (21), by means of which the adjustment body (10) is rotatably hinged on the base component (B1) about a flexure hinge rotation axis (D1), and at least one drive device (C), which is coupled to the base component (B1) and to an adjustment body connection device (AV), in order to move the same relative to each other, wherein the drive device (C) comprises an actor (60) which comprises an electrical coil (71) with a coil axis (AS) extending along the flexure hinge rotation axis (D1) and a compensation component (80) of a magnetizable or magnetized material and at least one permanent magnet segment (MS), which is disposed beside the actor (60) movably beside the same, wherein the magnet field lines in the interior of the permanent magnet segment (MS) extend along the coil axis (AS), and an adjustment system, an computer program product.

Claims

1-21. (canceled)

22. An actuating device comprising: a base component, an actuating body, at least one solid body joint, by means of which the adjusting body is rotatably mounted on the base component about a solid body joint axis of rotation, and at least one drive device, which is coupled to the base component and to an actuator connection device and which is situated at a distance from the solid body joint axis of rotation such that an adjustment movement of the drive device causes rotation of the actuator about the actuator axis of rotation (D1; wherein the drive device comprising: an actuator including an electrical coil including a coil axis extending along the solid-state joint axis of rotation, and a compensation member having a magnetizable or magnetized material or consisting of such a material, wherein the compensation member and the coil are mechanically fixed relative to each other, at least one permanent magnet segment, wherein the permanent magnet segment (MS) is situated next to the coil at a contactless distance in a direction running in the coil axis.

23. The actuating device according to claim 22 comprising: a base component, an actuating body, at least one solid body joint, by means of which the adjusting body is rotatably mounted on the base component about a solid body joint axis of rotation, and at least one drive device, which is coupled to the base component and to an actuator connection device and which is situated at a distance from the solid body joint axis of rotation such that an adjustment movement of the drive device causes rotation of the actuator about the actuator axis of rotation; the drive device comprising: an actuator including an electrical coil, and having a compensation component which has a magnetizable or magnetized material or consists of such a material, wherein the compensation component and the coil are mechanically fixed relative to one another, at least one permanent magnet segment, wherein the permanent magnet segment is situated next to the coil at a contactless distance in a direction running in the coil axis, wherein, when a respective drive device is actuated, a relative movement between the coil and the permanent magnet segment is caused by a relative movement direction which runs transversely to a plane which is spanned by the solid body joint axis of rotation of the adjusting body and the actuator connection device on which the respective actuator is coupled.

24. The actuating device according to claim 1 wherein the actuating device has a second drive device, the first drive device is coupled to a first actuator connection device of the actuator body and the second drive device is coupled to a second actuator connection device of the actuator body, wherein the first actuator connection device and the second actuator connection device are symmetrically opposite with respect to the solid body joint axis of rotation.

25. The actuating device according to claim 23 wherein the actuating device has a second drive device, the first drive device is coupled to a first actuator connection device of the actuator body and the second drive device is coupled to a second actuator connection device of the actuator body, wherein the first actuator connection device and the second actuator connection device are symmetrically opposite with respect to the solid body joint axis of rotation.

26. The actuating device according to claim 22, wherein the adjusting device has a coil housing which is at least partially hollow-ring-shaped and in which the coil is arranged, wherein the circumferential direction of the coil runs along the circumferential direction of the coil housing.

27. The actuating device according to claim 26, wherein at least one compensation component, as seen in the coil axis, is arranged in the outer space surrounding the coil housing.

28. The actuating device according to claim 27, wherein the at least one compensation component is arranged in the outer space located outside the outer circumference of the coil housing as seen in the coil axis.

29. The actuating device according to claim 22, wherein the at least one drive device includes two permanent magnet segments which are fastened on a magnetic segment carrier, wherein the permanent magnet segments are situated on the same side of the actuator as seen from the actuating body axis of rotation and in the direction of the relative movement between the coil and permanent magnet segments are arranged one behind the other.

30. The actuating device according to claim 1, wherein the drive device has two pairs of permanent magnet segments, and a first pair of permanent magnet segments is arranged on a first magnetic segment carrier and a second pair of permanent magnet segments is arranged on a second magnetic segment carrier, wherein the pairs of permanent magnet segments are located on mutually different sides of the actuator as seen from the actuator axis of rotation.

31. The actuating device according to claim 29, wherein the at least one drive device includes at least one arrangement of two permanent magnet segments located on at least one side of the coil as seen from a center of the actuating body, and a compensation component includes at least one side surface which is situated facing an arrangement of the permanent magnet segments, wherein the side surface includes at least one part-surface portion, the orientation of which is at an angle between 10 degrees and 40 degrees.

32. The actuating device according to claim 22, wherein the actuating device has at least one or more of the sensors selected from the group consisting of: a current meter detecting the current in the coil, a rotation angle sensor which, in the solid-state joint device or in one of the solid-state joints, detects a rotation for determining a rotational movement of the actuator body with respect to the base component, and a magnetic field sensor arranged in the actuator (60), which detects the thickness and the direction or the thickness or the direction of the magnetic field in the space surrounding the coil (71), wherein the actuator comprises a data management device operatively connected to the one or more of the sensors the data management device comprising: an interface function with which signals detected by the at least one or more of the sensors are received and converted to storable sensor data and stored, and a transmission function with which the sensor data is transmitted to a receiving device of an evaluation device.

33. The actuating device according to claim 32 in combination with an evaluation device to form a control system, the control system comprising: a reception function which receives the sensor data from the transmission function, an evaluation function which assigns an operating state value for the actuating device from the sensor data.

34. The control system according to claim 33, wherein the evaluation function has a maintenance function which compares a plurality of sensor data with at least one setpoint value and, if the setpoint value is exceeded or undershot, generates an operating state value.

35. The control system of claim 34, wherein the evaluation device comprises a display device operatively connected to the evaluation function and indicating the operating state value.

36. The control system according to 33, wherein the evaluation function determines at least one operating state value which indicates one or more of the following operating states of the actuating device on the display device: the actuator is in normal operation; the actuator is defective; for the actuating device, a maintenance measure or safety check is due.

37. The control system according to claim 33, wherein the evaluation function has a simulation function with a mathematical model of the actuating device and with a transfer function, wherein the transfer function supplies a plurality of sensor data to the mathematical model and the mathematical model from the sensor data determines control state values of one or more of the following components: the drive device, and the actuator.

38. A computer program product comprising an evaluation function which assigns an operating state value for an actuating device from sensor data determined in the actuating device, wherein the evaluation function has a simulation function with a mathematical model of an actuating device and with a transfer function, wherein the transfer function comprises a plurality of supplied sensor data to the mathematical model and the mathematical model from the sensor data determines control state values of one or more of the following components: the drive device, and the actuator; and wherein the actuating device comprising: a base component, an actuating body, at least one solid body joint, by means of which the adjusting body is rotatably mounted on the base component about a solid body joint axis of rotation, and at least one drive device, which is coupled to the base component and to an actuator connection device and which is situated at a distance from the solid body joint axis of rotation such that an adjustment movement of the drive device causes rotation of the actuator about the actuator axis of rotation (D 1 wherein the drive device comprising: an actuator including an electrical coil including a coil axis extending along the solid-state joint axis of rotation, and a compensation member having a magnetizable or magnetized material or consisting of such a material, wherein the compensation member and the coil are mechanically fixed relative to each other, at least one permanent magnet segment, wherein the permanent magnet segment (MS) is situated next to the coil at a contactless distance in a direction running in the coil axis.

39. A computer program product comprising a mathematical model of an actuating device, wherein the mathematical model of the actuating device determines control state values of one or more of the following components on the basis of at least one input value for an electrical input signal for the coil: the drive device, the actuator; and wherein the actuating device comprising: a base component, an actuating body, at least one solid body joint, by means of which the adjusting body is rotatably mounted on the base component about a solid body joint axis of rotation, and at least one drive device, which is coupled to the base component and to an actuator connection device and which is situated at a distance from the solid body joint axis of rotation such that an adjustment movement of the drive device causes rotation of the actuator about the actuator axis of rotation (D1; wherein the drive device comprising: an actuator including an electrical coil including a coil axis extending along the solid-state joint axis of rotation, and a compensation member having a magnetizable or magnetized material or consisting of such a material, wherein the compensation member and the coil are mechanically fixed relative to each other, at least one permanent magnet segment, wherein the permanent magnet segment (IVIS) is situated next to the coil at a contactless distance in a direction running in the coil axis.

40. The computer program product according to claim 38, wherein the mathematical model of the actuator determines control state values of the actuator with the rotation of the actuator about the actuator axis of rotation relative to the base member with functional inclusion of the dynamic behavior of the solid-state joint due to actuation values of the drive device.

41. The computer program product according to claim 38, wherein the mathematical model of the actuating device has a drive device model which determines control state values of the drive device on the basis of at least one input value for an input signal for the coil.

42. The computer program product of claim 41, wherein the drive device model functionally defines the magnetic interaction of the coil, the compensation component, and the permanent magnet segment based on input values for an input signal for the coil.

Description

DESCRIPTION OF DRAWINGS

[0095] The figures show:

[0096] FIG. 1 shows a perspective illustration of an embodiment of the adjustment device according to the invention comprising a base component in the form of an adjustment body housing, an adjustment body which is rotatably mounted on the adjustment body housing by means of a flexure hinge device, and two drive devices for adjusting the adjustment body, wherein each drive device comprises an actor with a hollow-ring-shaped coil housing, in which a coil extends in its circumferential direction and with a compensation component and an arrangement of ferromagnetic segments that can be moved relative to the actor,

[0097] FIG. 2 shows a further perspective illustration of the embodiment of the drive device according to the invention shown in FIG. 1, wherein the drive device is partially cut open,

[0098] FIG. 3 shows a perspective illustration of the combination of the adjustment body with two arrangements of magnet segments fastened thereto for forming in each case one drive device,

[0099] FIG. 4 shows a perspective illustration of a variant of a drive device for integration into an embodiment of the adjustment device according to the invention, wherein the drive device is shown in a reference state or an initial position,

[0100] FIG. 5 shows the variant of a drive device according to FIG. 4 in a perspective illustration, wherein the drive device is shown in a first adjustment state,

[0101] FIG. 6 shows the variant of a drive device according to FIG. 4 in a perspective illustration, wherein the drive device is shown in a second adjustment state,

[0102] FIG. 7 shows a schematic side view of the coil of an embodiment of the drive device of the adjustment device according to the invention with lines for defining the shape of the coil housing with the coil, wherein the drive device is formed according to FIGS. 4 to 6 and wherein the drive device is in a reference state or a zero position,

[0103] FIG. 8 shows a perspective illustration of the adjustment body and permanent magnet segments fastened laterally thereto of an embodiment of the adjustment device according to the invention,

[0104] FIG. 9 shows an exploded view of a drive device with a variant of the compensation component,

[0105] FIG. 10 shows a perspective illustration of the drive device according to FIG. 9,

[0106] FIG. 11 shows a perspective illustration of a variant of the actor for integration into an embodiment of the adjustment device according to the invention,

[0107] FIG. 12 shows an exploded view of the variant of the actor of FIG. 11,

[0108] FIG. 13 shows an exploded view of a variant of the drive device with the variant of the actor of FIG. 11 or FIG. 12,

[0109] FIG. 14 is a perspective view of the components of the drive device of FIG. 13,

[0110] FIG. 15 shows an exploded view of a drive device with a variant of the compensation component,

[0111] FIG. 16 shows a perspective illustration of the drive device according to FIG. 15,

[0112] FIG. 17 shows an exploded view of a drive device with two compensation components in a special embodiment,

[0113] FIG. 18 shows a perspective illustration of the drive device according to FIG. 17,

[0114] FIG. 19 shows a schematic sectional view of the embodiment of the drive device of FIG. 13, wherein the compensation component is formed from a soft magnetic material and the drive device comprises two pairs of permanent magnet segments, wherein the drive device is shown in a reference state with simultaneous representation of calculated or simulated magnetic Field lines,

[0115] FIG. 20 shows the embodiment of the drive device of FIG. 19 in the sectional illustration shown therein, wherein the drive device is shown in a first adjustment state or relative movement state with simultaneous representation of calculated or simulated magnetic field lines,

[0116] FIG. 21 shows the embodiment of the drive device of FIG. 19 in the sectional illustration shown therein, wherein the drive device is shown in a second adjustment state or relative movement state with simultaneous representation of calculated or simulated magnetic field lines,

[0117] FIG. 22 shows an exploded view of a variant of the drive device with the actuator according to FIGS. 11 and 12,

[0118] FIG. 23 shows a schematic sectional view of an embodiment of the drive device of FIG. 22, wherein the compensation component is formed from a hard magnetic material and the drive device comprises two pairs of permanent magnet segments, wherein the drive device is shown in a reference state with simultaneous representation of calculated or simulated magnetic field lines,

[0119] FIG. 24 shows the embodiment of the drive device of FIG. 23 in the sectional illustration shown therein, wherein the drive device is shown in a first adjustment state or relative movement state with simultaneous representation of calculated or simulated magnetic field lines,

[0120] FIG. 25 shows the embodiment of the drive device of FIG. 23 in the sectional illustration shown therein, wherein the drive device is shown in a second adjustment state or relative movement state with simultaneous representation of calculated or simulated magnetic field lines.

[0121] FIG. 26 shows a perspective illustration of a further embodiment of the adjustment device according to the invention with a first base component in the form of an adjustment body housing, which comprises an adjustment body which is rotatably mounted on the adjustment body housing by means of a flexure hinge device, and which comprises two drive devices for adjusting the adjustment body, a second base component in which the first base component is rotatably accommodated by means of a further flexure hinge device and which can be rotated by means of two drive devices, wherein each drive device comprises an actor with a hollow-ring-shaped coil housing, in which a coil extends in its circumferential direction, and which comprises a compensation component and an arrangement of ferromagnetic segments that can be moved relative to the actor,

[0122] FIG. 27 shows a plan view of the embodiment of the adjustment device of FIG. 26,

[0123] FIG. 28 is a partially cutaway perspective view of the embodiment of the actuator of FIG. 26; and

[0124] FIG. 29 shows a further partially cut-away perspective illustration of the embodiment of the adjustment device of FIG. 26.

DETAILED DESCRIPTION

[0125] The adjustment device 1 according to the invention comprises at least one electromagnetic drive device C, by means of which an actuation of movements of an adjustment body 10 relative to a base component B1 can be realized in at least one actuating movement direction. The base component can be, for example, an actuator housing or a frame device.

[0126] FIG. 1 shows an embodiment of the adjustment device 1 according to the invention with the base component in the form of an adjustment body housing 3 and the adjustment body 10. The adjustment body 10 is rotatably mounted on the adjustment body housing 3 by means of a flexure hinge device 20 in the form of a first flexure hinge 21 and a second flexure hinge 22 on the adjustment body housing 3 while providing an adjustment body rotation axis D1. The two flexure hinges 21, 22 are arranged diametrically opposite one another on an adjustment body frame 11 in the direction of the adjustment body rotation axis D1. In particular, the adjustment body rotation axis Di can run parallel to an axis of symmetry of the adjustment body 10.

[0127] For this purpose, in each embodiment of the adjustment device 1 according to the invention, it can be provided that it comprises only one flexure hinge. In this case, it can be provided that the adjustment body 10 is mounted in particular by means of only one of the two flexure hinges 21, 22 on the actuator housing 3, which defines the adjustment body rotation axis D1, is.

[0128] An application component K can be arranged on the adjustment body frame 11. The application component K may be received by or located on the adjustment body frame 11. The application component K can in particular be one or more of the following components or a combination of the following components: a sensor, a sensor retainer, a tool such as, for example, a mirror, a tool retainer.

[0129] Herein, a center Z is defined for the actuator 10. The center Z can in particular be the center of the length of the adjustment body rotation axis D1, which extends through the adjustment body 10 or the adjustment body frame 11.

[0130] The flexure hinge provided in each case according to the invention can be designed according to the prior art. The term flexure hinge is understood here to mean a specifically designed connection section between a first component and a second component, which, due to elastic and reversible, i.e., non-plastic deformation, allows a relative movement between the first and second components. The connection portion comprises a substantially reduced flexural rigidity relative to the region of the first and second component adjoining the connection portion. The reduced bending stiffness can be achieved by a local cross-sectional reduction of the connection portion or a special shaping of the connection portion or a greater elasticity of the material of the connection portion.

[0131] Each of the flexure hinges 21 or 22 can each comprise an axle component FG, which is fixed with a first end piece on in each case one pivot bearing retainer 15, 16 of the adjustment body frame 11. The pivot bearing retainers 15, 16 are arranged diametrically opposite one another in the direction of the adjustment body rotation axis D1. The axle components FG are each fixed to a corresponding housing retainer by a second end piece, which is located opposite the first end piece. In the case that the adjustment device 1 comprises only one of the flexure hinges 21, 22, it can be provided that the adjustment device 1 also comprises only one axle component FG.

[0132] A respectively provided flexure hinge can also be realized in a different way than with an axle component FG.

[0133] The axle component FG can form the connection section itself. The axle component FG can also comprise a cylindrical base body and the connection portion which is connected thereto and is arranged in the interior thereof and which, for example, extends radially inwards from the base body and on which the housing retainer is attached or fixed.

[0134] The adjustment body frame 11 is set in a rotary or tilting movement by a drive device C or a plurality of drive devices C. A drive device C is coupled, on the one hand, to a respective connection device AV of the adjustment body 10 or its adjustment body frame 11 and, on the other hand, to a receiving device of the base component or of the actuator housing 3. Each of the at least one adjustment body connection device AV is situated at a distance H from the adjustment body rotation axis D1. Each of the at least one drive device C is coupled to the base component B1 and to an adjustment body connection device AV, so that each of the at least one drive device C generates, during its actuation, an actuating movement which is situated at a distance H from the adjustment body rotation axis D1, so that an actuating movement along an actuation path causes a rotation or tilting of the adjustment body 10 about the adjustment body rotation axis D1 is effected. The embodiment of the adjustment device 1 according to the invention shown in FIGS. 1 and 2 comprises two drive devices C, each of which is assigned the reference numbers C1 and C2 individually. The drive device C1 is coupled to the adjustment body connection device AV1, while the drive device C2 is coupled to the adjustment body connection device AV2.

[0135] According to a further embodiment of the adjustment device according to the invention, it comprises only one drive device C, which is coupled to an adjustment body connection device AV of the adjustment body 10, which is situated at a distance H from the adjustment body rotation axis D1. According to a further embodiment of the adjustment device according to the invention, it comprises a plurality of drive devices C, each of which is coupled to an adjustment body connection device AV of the adjustment body 10, which are situated on the same side of the adjustment body rotation axis D1 at a distance H from the adjustment body rotation axis D1.

[0136] In order to couple a drive device C to the adjustment body frame 11, in the embodiment of the adjustment device 1 according to FIGS. 1 and 2, the adjustment device 1 comprises two adjustment body connection devices AV with two drive devices C1, C2. The adjustment body connection devices AV are arranged with respect to the adjustment body rotation axis D1 on regions of the adjustment body frame 11 which are situated opposite one another. Each of the adjustment body connection devices AV is realized in each case by two adjustment body connection portions. Accordingly, on a first side S1 of the adjustment body frame 11, two adjustment body connection portions 25, 26 and on a second side S2 of the adjustment body frame 11, which are opposite the first side S1 with respect to the adjustment body rotation axis D1, are located two adjustment body connection portions 27, 28 which are each connected to the adjustment body frame 11 and can be formed in particular in one piece with the adjustment body frame 11. The adjustment body connection sections 25, 26, 27, 28 project in the radial direction from the adjustment body frame 11. Each of the adjustment body connection sections 25, 26, 27, 28 can comprise a connection device, for example in the form of at least one bore, for connecting a drive device C.

[0137] As an alternative to this, one or more of the at least one adjustment body connection device AV can be replaced by only one adjustment body connection section can be realized. An adjustment body connection device AV can also be realized by a connection device introduced in the adjustment body frame 11. In addition, the adjustment body connection device AV can be a section of the adjustment body frame 11 itself.

[0138] In an alternative embodiment of the adjustment device 1 which is alternative to the embodiments shown, it comprises only one drive device C and in this case only one adjustment body connection device AV.

[0139] Embodiments of the drive devices C which can be integrated in each of the embodiments of the adjustment device 1 according to the invention are described below. In the figures, the same reference numerals are used for each of the various drive devices C shown. In various embodiments of the drive devices C, the same reference numerals are used for features or components which comprises the same function.

[0140] The at least one drive device C comprises an electrical coil 71. The coil 71 comprises at least one conductor winding and preferably a plurality of conductor windings which completely surround or surround a coil axis AS of the coil 71. The coil axis AS may be defined as a geometric center of the coil 71 or may be identical in position and direction to the central curvature-free field line.

[0141] In this case, it can in particular be provided that the coil axis AS runs along the flexure hinge rotation axis D1.

[0142] At least one drive device C can also comprise a coil device 70 with a coil housing 72 which partially or entirely surrounds the coil axis AS and in which the coil 71 is structurally integrated and in particular situated or held. In particular, the coil housing 72 can be designed as a hollow-ring-shaped coil housing in which the coil 71 is arranged, wherein the circumferential direction of the coil 71 extends along the circumferential direction of the coil housing 72. The coil housing 72 can also be designed as a coil housing in the form of a hollow ring in sections, so that the coil housing is not circumferentially closed. In the design of the coil housing 72 as a coil housing in the form of a hollow ring in sections, the geometric axis of the respective hollow ring section of the coil housing 72 runs in or along the coil axis AS of the coil 71.

[0143] Each drive device C comprises a compensation component 80. In each of the embodiment s of the adjustment device 1 according to the invention, the coil 71 or the coil housing 72 and the compensation component 80 can be fixed to one another or fixed to one another directly or indirectly, that is to say via a structural component, and together form an actuator 60, since an electric magnetic field is generated when the coil 71 is energized.

[0144] The compensation component 80, as is realized in the embodiment of the actuator 60 according to FIGS. 11 to 14, can be fixed to fastening parts 63, 64, which are attached the side of the coil, at the coil 71 or the coil housing 72. The fastening parts 63, 64 are locatedas seen transversely to the coil axis ASon sides of the coil 71 which are opposite one another with respect to the coil 71, wherein in each case one fastening part 63, 64 is situated on one side of the coil 71. In the embodiment of the actuator 60 according to FIGS. 11 to 14, the fastening parts 63, 64 are each realized in a plate-shaped manner. These can also be realized as a holder or as a clamp or bracket or rod. In the illustrated embodiment, the fastening parts 63, 64 are fastened to one another by at least one connecting element 65, wherein the connecting elements 65 press the fastening parts 63, 64 against the coil 71 or the coil housing 72 from the two sides. Between fastening parts 63, 64 the compensation component 80 is located, which is located laterally from mutually facing surfaces of the fastening parts 63, 64 and between them. In this case, the compensation component 80 can be held by the fastening parts 63, 64 and optionally pressed, wherein the fastening parts 63, 64 are also pressed against the coil 71 or the coil housing 72 from the two sides. The connection between the fastening parts 63, 64 and the compensation component 80 can also be realized by a respective at least partially form-fitting retainer of the compensation component 80 by means of at least one of the fastening parts 63, 64, wherein at least one of the fastening parts 63, 64 comprises a recess 67, 68 or a step or a web on which the compensation component 80 can be held and fixed.

[0145] Alternatively, the actuator 60 can also be realized in such a way that the compensation component 80 is held and fixed on the coil 71 or the coil housing 72 by a single shaped piece, which can be, for example, a U-shaped shaped piece which engages around the coil 71 or the coil housing 72 and receives the compensation component 80 between leg sections. Further alternatives include the potting of the coil 71 and the compensation component 80 to form a unit, for example with epoxy resin casting compound, or the encapsulation of coil 71 and compensation component 80 with a plastic material.

[0146] The fastening or fixing of the compensation component 80 to the at least one fastening part 63, 64 can also take place by a different connection device than by at least one connecting element 65, such as, for example, a clip connection. The at least one fastening part 63, 64 can also be glued or soldered to the coil 71 or the coil housing 72, this realization being able to take place with or without a connecting element 65.

[0147] The compensation component 80 is preferably arranged outside a portion of the coil as seen in the coil axis AS. In particular, in each of the embodiments of the adjustment device, the arrangement of the compensation component can be provided according to one of the two alternatives: (K1) as seen in the coil axis AS, in the outer space surrounded by the inner circumference of the coil 71 or, in the case of an at least partially hollow-ring-shaped coil housing 72, in the outer space surrounded by the coil housing 72 (FIGS. 12 and 13 and 19 to 24); (K2) as seen in the coil axis AS, in the space located outside the outer circumference of the coil 71 or coil housing 72, or, in the case of an at least partially hollow-ring-shaped coil housing 72, in the outer space which surrounds the coil housing 72.

[0148] An embodiment of the actuator 60 according to the realization alternative (K2) is illustrated in FIGS. 17 and 18.

[0149] The compensation component 80 comprises a magnetizable or a magnetized material or can be produced from a soft or hard magnetic material. Preferably, the compensation component 80 is formed as a homogeneous material block and at the same time or as an alternative. In each embodiment of the adjustment device 1, the compensation component 80 can be configured in different shapes relative to one another. In particular, the compensation component 80 can be substantially cuboid or cylindrical, For this purpose, alternatively or additionally, the compensation component 80 is elongate with different cross-sectional shapes. In an elongated shape, the compensation component 80 can comprise a cross-sectional area with a circular or elliptical or square shape, with the shape of a rectangle or generally in the form of a polygon. In the case of an elongated shape, the compensation component 80 can comprise a center line running in the longitudinal direction thereof, which runs along or in the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS when this distance runs through the center Z.

[0150] The adjustment device 1 according to the invention comprises at least one permanent magnet segment MS, which is mounted movably relative to the coil 71 or to the coil housing 72, from a hard magnetic material. In the figures, the permanent magnet segment MS is shown as an one-piece or one-piece component, wherein a separation line T is introduced, which however can be a fictitious separating line, The reference sign T is entered in FIG. 3. The separating line is shown in other figures without reference signs. This separation line T symbolically shows the separation between two magnetic poles, to which the magnetic field direction shown in each case by an arrow belongs. The position of the permanent magnet segment MS is within its range of movement, which is mechanically predefined on the basis of the coupling of the drive device C to the adjustment body 10 and to the base component B1 with respect to the coil 71 or the coil housing 72 is preferably provided in such a way that, (m1) that the magnetic field lines in the interior of the permanent magnet segment MS extend along or in the direction of the coil axis AS, (m2) that the permanent magnet segment MS is situated beside the coil 71 at a contactless distance which runs in the coil axis AS, wherein in a reference state of the drive device C a portion of the coil 71 or of the coil housing 72, when viewed in the coil axis AS, extends partially or completely, that is to say with its outer circumference, within the permanent magnet segment MS.

[0151] In each embodiment of the adjustment device 1 according to the invention, the permanent magnet segment MS can be generally in particular plate-shaped or cuboid-shaped, but can also comprise any other spatial shape. In the case that the permanent magnet segment MS is plate-shaped, the permanent magnet segment MS extends in a direction which runs in or along the relative movement between the coil and the permanent magnet segment upon actuation of a respective drive device. Furthermore, the at least one permanent magnet segment MS comprises a surface defining the longitudinal extension thereof, the orientation of which is directed along or in the direction of the coil axis AS.

[0152] The mounting of the drive device C on the adjustment device 1 for carrying out the adjustment movement can be provided according to one of the two alternatives (a), (b): (a) the actuator 60 is coupled to the base component B1 and the permanent magnet segment (MS) is coupled to the adjustment body connection device AV (moving magnet principle), (b) the actuator 60 is coupled to the adjustment body connection device AV and the permanent magnet segment MS is coupled to the base component B1 (moving coil principle).

[0153] In the embodiments of the adjustment device 1 shown in FIGS. 1 to 3, the alternative (a) is realized. In this case, the at least one permanent magnet segment MS can be arranged on a magnetic segment support. Such a magnetic segment support can in particular be situated on a surface of the at least one permanent magnet segment MS, which is oriented away from the coil 71. In the embodiments of the adjustment device 1 shown in FIGS. 1 to 3, two magnet segment carriers 53, 54 are arranged in each drive device C, which are each situated on sides which are situated opposite one another with respect to the coil 71. In general, provision can be made for a permanent magnet segment MS or more than one permanent magnet segment MS, that is to say two or more than two permanent magnet segments MS, to be arranged on in each case one magnetic segment support.

[0154] Optionally, the magnetic segment supports 53, 54 may be attached to each other. This fastening can be realized by means of at least one connecting piece. An example of this implementation is illustrated in the embodiment of the actuator 60 shown in FIGS. 11 to 14. In this embodiment of the actor 60, the actuator 60 comprises two connecting pieces 57, 58, which each connect two end sections of the magnet segment carriers 53, 54 to one another. The end portions of each of the magnetic segment supports 53, 54 are located at ends of the respective magnetic segment support 53, 54 opposite to one another in directions of the relative movements between the coil 71 and the at least one permanent magnet segment MS. The at least one connecting piece can be fastened to the respective end section by means of at least one connecting element. This fastening can also be provided by a different way, for example by soldering or adhesive bonding or a form-fitting fastening.

[0155] The magnetic segment support 53, 54 is preferably formed from a soft magnetic steel which readily conducts the field of the preferably glued permanent magnet segments MS on the adhesive side. Alternatively, the magnetic segment support may be formed of a non-magnetic material such as aluminum, plastic, etc. However, when using a non-magnetic material, the efficiency of the corresponding actor of the adjustment device decreases, since the magnetic field of the permanent magnet segment or permanent magnet segments are not guided, as a result of which negatively influencing stray fields form.

[0156] In the embodiments described above, it may in particular be provided that the coil axis AS runs along the flexure hinge rotation axis D1. As an alternative to this, it can be provided that the relative movement direction of the relative movement between the coil 70 and at least one permanent magnet segment of a drive device C runs transversely to a plane which is spanned by the flexure hinge rotation axis of the adjustment body and of the adjustment body connection device on which the respective actuator is coupled. In this case, it can also be provided that the coil axis runs transversely to the flexure hinge rotation axis D1.

[0157] The mode of operation of the adjustment device 1 according to the invention with the actor 60 is as follows:

[0158] The actor 60 is actuated by electrically controlling the coil 71 so that this current flows. As a result, the coil 71 generates in its interior a magnetic field whose magnetic field lines in the interior of the coil 71 or of the coil housing 72 extend in or along the coil axis AS. This coil magnetic field produces in cooperation or in interaction with the magnetic field generated by a permanent magnet segment MS, a force between the one permanent magnet segment MS and the coil 71, which provides a deflection force for the desired adjustment movement or tilting of the adjustment body, results in an attractive force between the one permanent magnet segment MS and the compensation component 80 due to the corresponding displacement between the permanent magnet segment MS and the coil 71. The actuating movement can cause the permanent magnet segment MS and the coil 71 to move relative to one another in a direction in which, as seen in the coil axis AS, the relevant permanent magnet segment MS comes to the height or into the region of the compensation component 80.

[0159] This comprises the effect that the resulting attractive force counteracts a return movement inclination of the adjustment body, caused by the deflected or elastically deformed flexure hinges.

[0160] The force (attractive force) produced during current flow in the coil between the compensation component 80 and the permanent magnet segment MS acts in a direction which is opposite to the direction of the movement of the permanent magnet segment MS generated on the basis of the deflection force relative to the coil 71. In this way, this attractive force counteracts the restoring force which the at least one flexure hinge exerts on the adjustment body 10 with the occurrence of the actuating movement of the same. In this case, the adjustment device 1 is designed in such a way that the drive device or its components, the compensation component and the permanent magnet segment MS at least partially, i.e., partially or completely, compensates the restoring force which the at least one flexure hinge exerts on the adjustment body 10.

[0161] In this context, the said two positions of the compensation component relative to the permanent magnet segment are defined in particular by: a first relative position, which is an initial relative position, which is realized in particular in the case of the reference state of the actor 60, and in which no or only very small or only very small or negligible attraction forces exist between the compensation component and the permanent magnet segment, and a second relative position, which is an adjustment relative position, in which the compensation component 80 is situated in a region in which a greater interaction between the compensation component and the permanent magnet segment exists so that there is a stronger attractive force between the permanent magnet segment and the compensation component than in the first relative position.

[0162] The reference state of the actor 60 or of the adjustment device 1 is understood here in particular to mean the state which the actor 60 assumes when the coil 71 is not electrically actuated and from which the permanent magnet segment MS and the coil 71 move relative to one another when the coil 71 is electrically activated or activated.

[0163] In each of the embodiments of the adjustment device 1 according to the invention, the at least one drive device C can each comprise at least one permanent magnet segment MS and in particular one or two or four permanent magnet segments MS, but also a different number of permanent magnet segments MS. For example, a drive device C of the adjustment device 1 according to the invention can comprise two permanent magnet segments MS, which, for example, are fastened on a magnetic segment support 53, wherein the permanent magnet segments MS are situated on the same side of the actuator 60 as seen from the center Z or the coil axis AS. The magnet segment carrier 53 can be plate-shaped. The size of the magnetic segment support 53 is preferably provided in such a way that the two permanent magnet segments MS are completely situated on an outer surface of the magnetic segment support 53. In this case, the two permanent magnet segments MS can be situated on that outer surface of the magnetic segment support 53 which is situated facing the coil 71. Thus, the two permanent magnet segments MS fastened to the magnet segment carrier 53, when viewed in a viewing direction which runs along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS, are arranged on one side of the coil 71 or of the coil housing 72. Such a configuration of the actuator 60 is illustrated in FIG. 8 and in FIGS. 9 and 10. The realization of the actuator 60 in FIG. 8 differs, when viewed in a viewing direction transverse to the plane which is spanned by the adjustment body rotation axis D1 and the lever, with regard to the side of the actor 60 on which the two permanent magnet segments MS according to FIGS. 9 and 10 are arranged. In the illustration of FIG. 8, the actor 60 located on a first side S1 accordingly comprises a magnetic segment support 53 with the permanent magnet segments MS11, MS12 and the actor 60 located on a second side S2 comprises a magnetic segment support 54 with the permanent magnet segments MS21, MS22. In FIGS. 9 and 10, in each case the magnet segment support 54 with the permanent magnet segments MS21, MS22 is shown.

[0164] The reference signs MS11, MS12 are assigned to the two permanent magnet segments arranged on the magnetic segment support 53. The permanent magnet segments MS11, MS12 arranged on a magnetic segment support 53 are arranged beside one another as viewed from the center Z or the coil axis AS and as seen in the direction of the coil axis AS and are arranged one behind the other in the directions of the relative movements between the coil 71 and the at least one permanent magnet segment MS. Also, the individual permanent magnet segments MS11, MS12 are arranged one behind the other in the direction of the relative movement between the coil 71 or permanent magnet segments MS11, MS12. Preferably, the two permanent magnet segments MS11, MS12 arranged on a magnetic segment support 53 are separated by a continuous gap 55, which extends in each case along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS, when this distance passes through the center Z.

[0165] In this embodiment, the permanent magnet segments MS11, MS12 are polarized from the adjustment body rotation axis D1 in different directions directed in or along the coil axis AS. This is illustrated by way of example in FIG. 9: In the case of the permanent magnet segment MS11, the magnetic field lines or the north-south direction are directed away from the coil, so that the north pole is situated on the side of the permanent magnet segment MS11 facing the coil 71. This magnetic field line direction is indicated in FIG. 9 by an arrow and the reference sign RMS11. In contrast, in the case of the permanent magnet segment MS12, the magnetic field lines or the north-south direction are directed towards the coil, so that the south pole is situated on the side of the permanent magnet segment MS12 facing the coil 71. This magnetic field line direction is indicated in FIG. 9 by an arrow and the reference sign RMS12.

[0166] The compensation component 80 may be formed or made of a soft magnetic material. Alternatively, the compensation component 80 can be formed from a hard magnetic material and comprise two polarization regions 81, 82. In this case, in the case of a reference state or the zero position of the drive device, the center line of the compensation component 80, which runs along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS, is situated between the first permanent magnet segment MS11 and the second permanent magnet segment MS12. In embodiments in which the permanent magnet segments MS11, MS12 are separated by a continuous gap 55, in the reference state or in the zero position, this center line is situated at the height of the gap 55 in the directions of the relative movements between the coil 71 and the permanent magnet segments MS11, MS12. In this zero position, a first polarization region 81 is polarized in such a way that its magnetic field line direction R81 runs along the magnetic field line direction RMS11 of the first permanent magnet segment MS11 and that its magnetic field line direction R82 runs along the magnetic field line direction RMS12 of the second permanent magnet segment MS12.

[0167] In particular in the embodiments of the adjustment device 1 with a drive device C, in which permanent magnet segments MS11, MS12, as seen from the adjustment body rotation axis D1, are located on only one side of the coil 71, the shaping of the compensation component 80 can be provided according to the compensation component shown in FIG. 9, which is provided with the reference sign 110. The compensation component 110 comprises a surface or side surface 111 which faces the arrangement of the permanent magnet segments MS11, MS12. Furthermore, the compensation component 80 comprises a further surface or side surface 131, which is situated opposite the side surface 111. The surface 111 can be formed from two partial surfaces 113, 114, which extend at an angle to one another as seen from the adjustment body rotation axis D1. As a result, the partial surfaces 113, 114 meet one another in a line 115 which runs along the gap 55. The partial surfaces 113, 114 or cut contour lines thereof, which result from the adjustment body rotation axis D1, extend along the coil axis AS, viewed along the coil axis AS, at an angle between 10 degrees and 95 degrees. The line 115 may also be an edge line. Alternatively, the meeting of the end sections in the line 115 can take place in a section whose contour lines of the same, which result from the adjustment body rotation axis D1, are spherically curved in the direction to the arrangement of the permanent magnet segments MS11, MS12.

[0168] In these embodiments, the side surface 111, which faces the arrangement of the permanent magnet segments MS11, MS12, can comprise two, in particular straight-surfaced or spherical partial surface portions 113, 114, the orientations of which extend at an angle between 10 degrees and 40 degrees with respect to the coil axis AS, wherein the angles in the zero position or in the reference state, viewed from the center Z, open in one direction in which the respectively closer permanent magnet segment MS11, MS12 of the arrangement of permanent magnet segments is situated.

[0169] Such a compensation component 110 can in particular be provided if a continuous gap 55 is provided between the permanent magnet segments MS11, MS12 or not.

[0170] In general, in the case of a drive device C, which comprises at least one arrangement of two permanent magnet segments MS11, MS12, which are situated on at least one side of the coil 71 as seen from the center Z, a compensation component SO can comprise which comprises: a side surface 111 which faces the arrangement of the permanent magnet segments MS11, MS12, wherein the side surface 111 comprises two straight surfaces, i.e. uncurved partial surface portions 113, 114, the orientations of which extend at an angle between 10 degrees and 40 degrees with respect to the coil axis AS. In this respect, the angles open in the zero position or in the reference state, when viewed from the centre, in a direction in which the respectively closer permanent magnet segment MS11, MS12 of the arrangement of permanent magnet segments MS11, MS12 is situated.

[0171] FIG. 7 schematically shows the zero position or the reference state of the illustrated actuator 60. As shown in FIG. 7, the actuator 60 provided according to the invention can be designed and arranged in such a way that, that in the reference stateas seen in the coil axis ASa first permanent magnet segment MS11 of the pair of permanent magnet segments overlaps a first coil section 75 of the coil 71 in a section and a second permanent magnet segment MS12 of the pair of permanent magnet segments overlaps a second coil section 76 of the coil 71 in a section. In this case, the first coil section 75 of the coil 71 and the second coil section 76 of the coil 71 are arranged opposite one another with respect to the coil axis AS, for example, viewed from the adjustment body rotation axis D1, i.e. arranged one behind the other in the directions of the relative movements between the coil 71 and the at least one permanent magnet segment MS.

[0172] In an embodiment of the adjustment device 1 according to the invention with a total of only one permanent magnet segment MS, which is arranged on one side of the coil 71, as seen from the adjustment body rotation axis D1, the latter can be designed and arranged in such a way that, in the reference stateas viewed in the coil axis ASthe permanent magnet segment MS overlaps the coil section 75 or 76 of the coil 71 at least in a section. In an analogous manner, in one embodiment of the adjustment device 1 according to the invention with two permanent magnet segments MS, whichwhen viewed in a viewing direction transverse to the plane, which is spanned by the adjustment body rotation axis D1 and by the lever which is defined by the distance, or when viewed in the coil axis ASare arranged in each case on one side of the coil 71, the respective permanent magnet segment MS in the reference state of the actuator 60, as viewed in the coil axis AS, may at least in a section overlap the coil section 75 or the coil section 76 of the coil 71.

[0173] In each embodiment of the adjustment device 1 according to the invention, the movement region thereof can be defined in such a way that, viewed in the direction of the coil axis AS, in the movement region at least an overlap or covering of a permanent magnet segment MS by one of the coil sections 75, 76 is provided, which is spaced apart from the coil axis AS in the direction of a relative movement between the coil 71 and the at least one permanent magnet segment MS.

[0174] Furthermore, in each of the embodiments of the adjustment device 1 according to the invention, it can be provided that at least one drive device C comprises two pairs of permanent magnet segments MS11, MS12, MS21, MS22, of which in each case a pair of permanent magnet segments MS11, MS12, MS21, MS22 are fastened on a magnetic segment support 53, 54. Namely a first pair of permanent magnet segments MS11, MS12 is disposed on a first magnetic segment support 53 and a second pair of permanent magnet segments MS21, MS22 is disposed on a second magnetic segment support 54. Here, each pair of permanent magnet segments MS11, MS12 or MS21, MS22 is disposed, when viewed from the center Z or from the coil axis AS, on mutually different sides of the coil 71 or of the actuator 60. In this regard, in each case two permanent magnet segments MS11, MS21 and the two permanent magnet segments MS12, MS22 are, when viewed from the adjustment body rotation axis D1, arranged beside one another in the direction of the coil axis AS.

[0175] The two permanent magnet segments MS11, MS12 or MS21, MS22 which are arranged on a magnetic segment support 53, 54 are preferably separated by a continuous gap 55 or 56, which runs in each case along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS when this distance runs through the center Z. The gaps 55, 56 are situated opposite one another or at the same height in the directions of the relative movements between the coil 71 and the permanent magnet segments.

[0176] Embodiments of the drive device with these features are shown in FIGS. 3 to 6 and in FIG. 13, The permanent magnet segments MS11, MS12 are arranged on a first magnetic segment support 53 and the permanent magnet segments MS21, MS22 are arranged on a second magnetic segment support 54. In the embodiments of the drive device shown in FIGS. 3 to 6 or FIG. 13, according to a variant of the drive device according to the invention, the pair of permanent magnet segments MS11, MS12 or the pair of permanent magnet segments MS21, MS22 may not be present.

[0177] In embodiments of the drive device with two pairs of permanent magnet segments MS11, MS12 or MS21, MS22, the permanent magnet segments MS11, MS21 and MS21, MS22, which, when viewed from the adjustment body rotation axis D1, are arranged beside one another in the direction of the coil axis AS, are preferably polarized in the same direction and the permanent magnet segments MS11, MS12 and MS21 which are arranged beside one another vertically to the coil axis AS, MS22 are preferably polarized in different directions. This is illustrated by way of example in FIGS. 4 to 6 and in FIGS. 19 to 21 and FIGS. 23 to 25: In the case of the permanent magnet segments MS11, MS21, the magnetic field lines or the north-south direction are directed away from the coil, so that the north poles are situated on the side of the permanent magnet segments MS11, MS21 facing the coil 71. In contrast, in the case of the permanent magnet segments MS12, MS22, the magnetic field lines or the north-south direction are directed towards the coil, so that the south poles are situated on the side of the permanent magnet segments MS12, MS22 facing the coil 71.

[0178] FIG. 7 and FIGS. 19 and 23 schematically show the zero position or the reference state of the illustrated actuator 60. It can be seen from these illustrations that in this embodiment of the actuator 60 provided according to the invention, the compensation component is designed and arranged in such a way that, in the reference state or the zero position, first permanent magnet segments MS11, MS21 of different pairs of permanent magnet segments which in each case are disposed, when viewed in the direction of the coil axis AS, one behind the other overlap in a section a first coil section 75 and second permanent magnet segments MS12, MS22 of different pairs of permanent magnet segments which in each case are disposed, when viewed in the direction of the coil axis AS, one behind the other in each case overlap in sections a second coil section 76. In this case, the first coil section 75 and the second coil section 76 are arranged opposite one another with respect to the coil axis AS, i.e., in the directions of the relative movements between the coil 71 and the at least one permanent magnet segment MS are arranged one behind the other. In particular, it is provided according to the invention that the first coil section 75 and the second coil section 76 run at least in a section along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS, in particular if this distance runs through the center Z.

[0179] In the embodiments of the adjustment device 1 with at least one drive device C which comprises in each case a pair of permanent magnet segments MS11, MS12 or MS21, MS22 on both sides of the coil 71, the compensation component 80 can be formed or made of a soft magnetic material.

[0180] In these embodiments of the actor 60, the compensation component 80 can alternatively be formed or consist of a hard magnetic material, and can be polarized in different directions analogously to the drive device C, in which permanent magnet segments MS11, MS12 are located only on one side of the coil 71 (FIG. 15). In this case, the compensation component is formed from two polarization regions 81, 82, wherein, in the case of a reference state or the zero position of the drive device, the center line of the compensation component 80, which runs along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS, is situated between the first permanent magnet segment MS11 and the second permanent magnet segment MS12. In embodiments in which the permanent magnet segments MS11, MS12 are separated by a continuous gap 55 and the permanent magnet segments MS21, MS22 are separated by, a continuous gap 56, in the reference state or in the zero position this center line is located, in the directions of the relative movements between the coil 71 and the permanent magnet segments MS11, MS12, at the height of the gaps 55, 56. In particular in this zero position, a first polarization region 81 is polarized in such a way that its magnetic field line direction R81 runs along the magnetic field line direction RMS11 of the first permanent magnet segment MS11 and along the magnetic field line direction RMS21 of the first permanent magnet segment MS11. Furthermore, a second polarization region 82 is polarized in such a way that its magnetic field line direction R82 runs along the magnetic field line direction RMS12 of the second permanent magnet segment MS12 and along the magnetic field line direction RMS22 of the second permanent magnet segment MS22.

[0181] In the embodiments of the adjustment device 1 with a drive device C, in which in each case a pair of permanent magnet segments MS11, MS12 or MS21, MS22 is situated on each side of the coil 71, and the compensation component 80 comprises or consists of a soft magnetic or hard magnetic material, the shaping of the compensation component 80 can be provided according to the compensation component shown in FIG. 15, which is provided with the reference sign 110. The compensation component 110 comprises a first surface 121, which faces the arrangement of the permanent magnet segments MS11, MS12, and a second surface 131, which faces the arrangement of the permanent magnet segments MS21, MS22. The surfaces 121, 131 are each formed from two partial surfaces 123, 124 or 133, 134, which each extend at an angle to one another as seen from the adjustment body rotation axis D1. As a result, the partial surfaces 123, 124 meet one another in a line 125 which runs along the gap 55, and the partial surfaces 133, 134 meat each another in a line 135 which runs along the gap 56. The partial surfaces 123, 124 or cut contour lines thereof as well as the partial surfaces 133, 134 or cut contour lines thereof, which result from the adjustment body rotation axis D1, extend along the coil axis AS in a central portion, or their end portions, which meet each other in the line 125 or 135, at an angle of between 10 degrees and 95 degrees. The lines 125 or 135 can also each be an edge line. Alternatively, the meeting of the end sections in the line 125 or 135 can take place in a section, the contour lines of which, which result from the adjustment body rotation axis D1, are spherically curved in the direction to arrangement of the permanent magnet segments MS11, MS12 or to arrangement of the permanent magnet segments MS21, MS22. Such a compensation component 110 can be provided if a continuous gap 55 is present between the permanent magnet segments MS11, MS12 and the permanent magnet segments MS21, MS22 or not.

[0182] In general, in these embodiments, the side surface 121, which faces the arrangement of the permanent magnet segments MS11, MS12, can comprise two side faces 123, 124, the orientations of which are each aligned with an angle between 10 degrees and 40 degrees with respect to the coil axis AS wherein the angles in the zero position or in the reference state, viewed from the center Z, open in a direction in which the respectively closer permanent magnet segment MS11, MS12 of the arrangement of permanent magnet segments MS11, MS12 is situated. In general, in these embodiments, the side surface 131, which faces the arrangement of the permanent magnet segments MS21, MS22, can comprise two side surfaces 133, 134, the orientations of which are each aligned with an angle between 10 degrees and 40 degrees with respect to the coil axis AS, wherein the angles in the zero position or in the reference state, viewed from the center Z, open in a direction in which the respectively closer permanent magnet segment MS21, MS22 of the arrangement of permanent magnet segments MS21, MS22 is situated.

[0183] According to the realization alternative (K2) defined herein, the compensation component 80 can be situated in the space which is located in the space which is located outside the outer circumference of the coil 71 or coil housing 72, as seen in the coil axis AS.

[0184] FIGS. 17 and 18 show an embodiment of the actor 60 in which the compensation component 80 is formed from a first compensation element 380 and a second compensation element 390. Both compensation elements 380, 390 are located in the space located outside the outer circumference of the coil 71 or coil housing 72. A first compensation element 380 is located on the first coil section 75 of the coil 71 and a second compensation element 390 is located on the second coil section 76 of the coil 71. Both compensation elements 380, 390 and the coil 71 are situated one above the otherviewed in the directions of the relative movements between the coil 71 and the at least one permanent magnet segment MS.

[0185] The first compensation element 380 comprises a first side surface 381, which faces the arrangement of the permanent magnet segments MS11, MS12, and a second side surface 382, which is situated opposite the first side surface 381 and which is situated facing the arrangement of the permanent magnet segments MS21, MS22. The side surface 381, which faces the arrangement of the permanent magnet segments MS11, MS12, comprises an orientation which runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS. As an alternative or in addition, generally the side surface 381 can comprise an in particular even-flat or spherical partial surface section, whose orientation runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS, wherein the angle, in the zero position or in the reference state, when viewed from the center Z, opens in a direction in which the closer permanent magnet segment MS11 of the arrangement of permanent magnet segments MS11, MS12 is situated. Furthermore, that side surface 382, which faces the arrangement of the permanent magnet segments MS21, MS22, comprises an orientation which runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS. Alternatively or additionally, the side surface 382 can generally comprise an in particular straight-surfaced or spherical partial surface portion, the orientation of which extends at an angle between 10 degrees and 40 degrees with respect to the coil axis AS, wherein the angle in the zero position or in the reference state, viewed from the center Z, opens in a direction in which the closer permanent magnet segment MS21 of the arrangement of permanent magnet segments MS21, MS22 is situated.

[0186] The second compensation element 390 comprises a first side surface 391 which faces the arrangement of the permanent magnet segments MS11, MS12, and a second side surface 392 which is situated opposite the first side surface 391 and the arrangement of the permanent magnet segments MS21, MS22. The side surface 391, which faces the arrangement of the permanent magnet segments MS11, MS12, has an orientation which runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS. Alternatively or additionally, the side surface 391 can generally comprise an in particular straight or spherical partial surface section, the orientation of which runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS, wherein the angle, in the zero position or in the reference state, seen from the center Z, opens in a direction in which the closer permanent magnet segment MS12 of the arrangement of permanent magnet segments MS11, MS12 is located. Furthermore, that side surface 392, which faces the arrangement of the permanent magnet segments MS21, MS22, comprises an orientation which runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS. Alternatively or additionally, the side surface 392 can generally comprise an in particular straight or spherical partial surface section, the orientation of which runs at an angle between 10 degrees and 40 degrees with respect to the coil axis AS, wherein the angle in the zero position or in the reference state, viewed from the center Z, opens in a direction in which the closer permanent magnet segment MS22 of the arrangement of permanent magnet segments MS21, MS22 is situated.

[0187] The compensation elements 380, 390 may each be formed or made of a soft magnetic material or a hard magnetic material. In FIG. 17, the compensation element magnetic field directions R380 and R390 are entered. The compensation element magnetic field direction of the compensation element located on the first or second coil section 75, 76 is provided in such a way that it runs in the direction or along the magnetic field line direction of the permanent magnet segment which is situated on the same coil section as the respective compensation element 380, 390. Accordingly, the compensation element magnetic field direction 8380 extends in or along the magnetic field line direction RMS11 of the permanent magnet segment MS11 and the magnetic field line direction RMS21 of the permanent magnet segment MS21 and the compensation element magnetic field direction R390 extends in or along the magnetic field line direction RMS12 of the permanent magnet segment MS12 and the magnetic field line direction RMS22 of the permanent magnet segment MS22.

[0188] In variants of this embodiment of the actor 60, it can be realized in such a way that. the same comprises only one of the two compensation elements 380, 390, that is to say either the compensation element 380 which is located on the first coil section 75 or the compensation element 390 which is located on the first coil section 76. This is in particular the case when the actuator 60 is realized in such a way that only one permanent magnet segment MS is arranged on one side or on both sides of the coil 71. In these variants, the respective compensation element 380, 390 is situated on that coil section 75, 76, which at least partially overlaps or covers the respective coil section 75, 76 when seen in the coil axis AS, at least in the reference state. The compensation element magnetic field direction of the compensation element located on the first or second coil section 75, 76 is provided in such a way that it runs in the direction or along the magnetic field line direction of the permanent magnet segment which is situated on the same coil section as the respective compensation element 380, 390. An example of a drive device C, in which a pair of permanent magnet segments MS11, MS12 or MS21, MS22 is located on each side of the coil 71, is described below with reference to FIGS. 19 to 21 and FIGS. 23 to 25.

[0189] The embodiment of the drive device C shown in FIGS. 19 to 21 comprises a compensation component which is formed from a soft-magnetic material. Starting from the reference state or zero position shown in FIG. 19, the coil 71 can be electrically energized, for example, in such a way that current flows in the first coil section 75 in a direction which is directed towards the adjustment body rotation axis D1 and current flows in the second coil section 76 in a direction which is directed away from the adjustment body rotation axis D1. The direction of the electrical current in the coil sections 75, 76 and the magnetic field line directions RMS11, RMS12, RMS21 RMS22 bring about a deflection or movement of the actuator 60 with a corresponding relative displacement between the compensation component 80 and the permanent magnet segments MS11, MS12, MS21, MS22. The effect of a movement of the actor relative to the permanent magnet segments MS11, MS12, MS21, MS22 is the adjustment state of the drive device C shown in FIG. 20 or FIG. 21.

[0190] The deflection or movement of the actor 60 in an adjustment state, caused by the energization of the coil 71 in cooperation with the permanent magnet segments, leads to magnetic field line distributions which can likewise be taken from FIGS. 19 to 21 and which differ from the magnetic field line distributions which exist according to FIG. 19 in the reference state. Due to the resulting asymmetrical magnetic field line distribution in an adjustment state of the drive device, the desired configuration or amplification of attraction forces between the compensation component 80 and the corresponding permanent magnet segments MS11, MS12, MS21, MS22 occur, which support the deflection or movement of the actuator caused by the energization of the coil 71 and which counteract or partially or completely compensate the restoring force produced on the basis of this deformation of the flexure hinges 21 or 22 analogue to the deflection.

[0191] The force acting between the compensation component 80 and the corresponding permanent magnet segments MS11, MS12, MS21, MS22 is dependent on the deflection of the adjustment body 10 and is greater than the absolute value=0 as soon as the actor 60 is deflected out of the reference state. The deflection of the adjustment body 10 is determined by the current flowing through the coil 71: The current-dependent actor force arises from the interaction between the magnetic field of the permanent magnet segments and the current density within the coil 71 (Lorentz force). The attractive force which is produced between the compensation component 80 and the permanent magnet segments is largely independent of the electric current conducted through the coil. The force effect between the compensation component 80 and the permanent magnet segments results from the tendency of the energy minimization between the outer magnetic field, which is caused by the permanent magnet segments, and optionally the own magnetic field of the compensation component 80 or its magnetic permeability, depending on the embodiment of the actor 60.

[0192] If, on the other hand, for example, the coil 71 is electrically energized in such a way that current flows in the first coil section 75 in a direction which is directed away from the adjustment body rotation axis D1 and current in the second coil section 76 flows in a direction which is directed towards the adjustment body rotation axis D1, this together with the magnetic field line directions RMS11, RMS12, RMS21 and RMS22 causes a deflection of the actor 60 in a direction opposite to the deflection according to FIG. 20, as shown in FIG. 21.

[0193] The embodiment of the drive device C shown in FIGS. 23 to 25 comprises a compensation component 80 made of a hard magnetic material so that magnetic field line directions R81 and R82 occur, as described with reference to FIG. 15 herein. In this case, the adjustment state shown in FIG. 24 corresponds to the adjustment state shown in FIG. 20 with the direction of the electric current in the coil 71 described in FIG. 20 and mode of operation. Furthermore, the adjustment state shown in FIG. 25 corresponds to the setting state shown in FIG. 21 with the direction of the electric current in the coil 71 described in FIG. 21 and mode of operation. By using a hard magnetic material for the compensation component 80, the above-described effect of the mutual attraction between the compensation component 80 and the permanent magnet segments MS11, MS12, MS21, MS22 can be amplified.

[0194] The modes of operation described with reference to FIGS. 19 to 21 and FIGS. 23 to 25 also apply in the case that the drive device C comprises a pair of permanent magnet segments MS11, MS12 only on a first side of the actuator 60 or in the case that the drive device C comprises a pair of permanent magnet segments MS21, MS22 only on a second side of the actor 60.

[0195] The modes of operation described with reference to FIGS. 19 to 21 and FIGS. 23 to 25 also apply in the case that the drive device C comprises only one permanent magnet segment, one coil 71 and one compensation component 80. In this case, it can be provided in particular that the individual permanent magnet segment of the drive device C in a reference state or the zero position, as seen in the coil axis AS, is situated at least in a section in the first coil section 75 or the second coil section 76, wherein the first coil section 75 and the second coil section 76 run at least in a section along the direction of the distance between the adjustment body rotation axis D1 and the coil axis AS, in particular if this distance runs through the center Z.

[0196] The mode of operation described with reference to FIGS. 19 to 21 and FIGS. 22 to 25 takes place in an opposite sense thereto if the actor 60 is realized according to the embodiment illustrated in FIGS. 17 and 18 or as a variant thereof. In a further embodiment of the adjustment device 1 according to the invention, it can be provided that the arrangement comprising the base component B1, the adjustment body 10, the flexure hinge device 20 and at least one drive device C, which is realized according to one of the embodiments described herein and by means of which the adjustment body 10 can be adjusted relative to the base component B1, is pivotally supported in a second base component B2 by means of a joint device and in particular a flexure hinge device 420, wherein the rotary bearing provides a base component rotation axis D2, which runs transversely to the adjustment body rotation axis D1 and in particular vertically to the adjustment body rotation axis D1. As a result, a cardanic support of the adjustment body 10 on the second base component B2 is realized.

[0197] Such an embodiment of the adjustment device I is shown in FIGS. 26 to 29. The second base component B2 is coupled to the first base component B1 by means of a drive device C400 on sides of the second base component B2 which are lying opposite to one another with respect to the base component rotation axis D2, wherein the drive device C400 can be designed according to one of the variants of the drive device described herein according to FIGS. 1 to 25. In each of these variants, however, the flexure hinge rotation axis D1 can be replaced by the base component rotation axis D2.

[0198] In particular, in this embodiment of the drive device C400, which is coupled to the base component B1 and the second base component B2, the same is situated at a distance H400 from the base component rotation axis D2, so that an actuating movement of the drive device C causes a rotation of the second base component B2 about the base component rotation axis D2, wherein the drive device C400 comprises:

[0199] an actor 60 which comprises an electrical coil 71, the coil axis AS of which runs along the base component rotation axis D2, and which comprises a compensation component 80, which is formed from a hard-magnetic or a soft-magnetic material and which is arranged outside a section of the coil 71, wherein the compensation component 80 and the coil 71 are mechanically fixed relative to one another,

[0200] at least one permanent magnet segment MS, wherein the permanent magnet segment MS is arranged at a contactless distance beside the coil 71 which distance runs in the direction of the coil axis AS, wherein a permanent magnet segment MS of the at least one permanent magnet segment MS at least partially overlaps a portion of the coil 71 at least in a movement region of the at least one permanent magnet segment MS relative to the actor 60, as seen in the coil axis AS, wherein the mounting of the drive device C on the adjustment device 1 is provided for carrying out an adjustment movement according to one of the two alternatives (a), (b): [0201] (a) the actuator 60 is coupled to the base component B1 and the permanent magnet segment MS is coupled to the adjustment body connection device AV, [0202] (b) the actuator 60 is coupled to the adjustment body connection device AV and the permanent magnet segment MS is coupled to the base component B1.

[0203] In these embodiments of the adjustment device 1, the actuator 60 can be designed according to one of the variants described herein. The drive device C can also be embodied according to one of the variants described herein and can be embodied in particular with a plurality of permanent magnet segments MS as described herein.

REFERENCE NUMERALS

[0204] 1 adjustment device

[0205] 3 adjustment body housing

[0206] 10 adjustment body

[0207] 11 adjustment body frame

[0208] 15 pivot bearing retainer

[0209] 16 pivot bearing retainer

[0210] 20 flexure hinge device

[0211] 21 first flexure hinge

[0212] 22 second flexure hinge

[0213] 25 adjustment body adjustment section

[0214] 26 adjustment body adjustment section

[0215] 27 adjustment body adjustment section

[0216] 28 adjustment body adjustment section

[0217] 53 magnet segment support

[0218] 54 magnet segment support

[0219] 55 gap

[0220] 56 gap

[0221] 57 connection piece

[0222] 58 connection piece

[0223] 60 actor

[0224] 63 fastening part

[0225] 64 fastening part

[0226] 65 connection element

[0227] 67 recess

[0228] 68 recess

[0229] 70 coil device

[0230] 71 electrical coil

[0231] 72 coil housing

[0232] 75 first coil section

[0233] 76 second coil section.

[0234] 80 compensation component

[0235] 81 polarization area.

[0236] 82 polarization area

[0237] 110 compensation component

[0238] 111 surface

[0239] 113 surface portion

[0240] 114 surface portion

[0241] 115 line

[0242] 120 compensation component

[0243] 121 surface e

[0244] 123 surface portion

[0245] 124 surface portion

[0246] 125 line

[0247] 380 compensation element

[0248] 381 lateral surface

[0249] 382 lateral surface

[0250] 390 compensation element

[0251] 391 lateral surface

[0252] 392 lateral surface

[0253] 420 flexure hinge device

[0254] AS coil axis

[0255] AV adjustment body connection device

[0256] B1 base component

[0257] B2 second base component

[0258] C drive device

[0259] C1 drive device

[0260] C2 drive device

[0261] C400 drive device

[0262] C401 drive device

[0263] C402 drive device

[0264] D1 adjustment body rotation axis

[0265] D2 base component rotation axis

[0266] FG axle component

[0267] H distance

[0268] MS permanent magnet segment

[0269] MS11 permanent magnet segment

[0270] MS12 permanent magnet segment

[0271] MS21 permanent magnet segment

[0272] MS22 permanent magnet segment

[0273] R81 magnetic field line direction of the polarization area 81

[0274] R82 magnetic field line direction of the polarization area 82

[0275] R380 compensation element magnetic field line

[0276] R390 compensation element magnetic field line

[0277] RMS11 magnetic field line of the permanent magnet segment MS11

[0278] RMS12 magnetic field line of the permanent magnet segment MS12

[0279] RMS21 magnetic field line of the permanent magnet segment MS21

[0280] RMS22 magnetic field line of the permanent magnet segment MS22

[0281] Z centre of the adjustment body 10