WO2004058448A2

WO2004058448A2 - Drive unit

Info

Publication number: WO2004058448A2
Application number: PCT/EP2003/014503
Authority: WO
Inventors: Udo TÜLLMANN; Dietmar Hafla
Original assignee: Index-Werke Gmbh & Co. Kg Hahn & Tessky
Priority date: 2002-12-27
Filing date: 2003-12-18
Publication date: 2004-07-15
Also published as: DE10261796A1; WO2004058448A3; AU2003290085A1; AU2003290085A8

Abstract

The invention relates to a drive unit designed for industrial manufacturing, in particular for machine-tools. Said unit comprises a bearing housing and an actuator that extends in the direction of a longitudinal axis, said actuator being mounted on two bearings that lie at a distance from one another in a longitudinal direction parallel to the longitudinal axis and are fixed to the bearing housing and being mounted so that it can be displaced in relation to the bearing housing and can rotate about the longitudinal axis in relation to said housing. The aim of the invention is to configure said drive unit in the most advantageous manner. To achieve this, secondary sub-elements are arranged on the actuator to induce a rotative linear drive of said actuator around the longitudinal axis and a translatory linear drive in the longitudinal direction, said sub-elements forming at least one secondary sub-structure that acts in a rotative manner and at least one secondary sub-structure that acts in a translatory manner. In addition, primary sub-elements are arranged around the actuator to induce a rotative linear drive of said actuator around the longitudinal axis and a translatory linear drive in the longitudinal direction, said primary sub-elements forming at least one primary sub-structure that acts in a rotative manner and at least one primary sub-structure that acts in a translatory manner.

Description

drive unit

The invention relates to a drive unit for industrial production, in particular for machine tools, comprising a bearing housing, an actuator extending in the direction of a longitudinal axis, which in two in a longitudinal direction parallel to the longitudinal axis at a distance from each other and held on the bearing housing in the longitudinal direction relative to Bearing housing is slidable and rotatably mounted about the longitudinal axis relative to the bearing housing.

Such drive units are known from the prior art. They serve, in particular, as so-called quills to position tools or workpieces for machining, these quills carrying a workpiece carrier or a tool carrier with at least one tool or several tools for machining a workpiece.

Such quills are usually moved linearly by conventional drives, such as spindle drives or hydraulic drives, and driven by rotary drives.

The object of the invention is to make a drive unit for industrial production, in particular for machine tools, structurally as advantageous as possible.

This object is achieved according to the invention in a drive unit for industrial production, in particular for machine tools, of the type described in the introduction in that secondary part elements for a rotary linear drive of the actuator about the longitudinal axis and for a translational linear drive in the longitudinal direction are arranged, which form an at least rotationally usable secondary part structure and an at least translationally effective secondary part structure that around the actuator primary part elements for the rotary linear drive of the actuator about the longitudinal axis as well as for the translational linear drive of the actuator in the longitudinal direction, which form an at least rotationally effective primary part structure and an at least translationally effective primary part structure.

An expedient solution provides in particular that secondary part elements for a rotary linear drive of the actuator about the longitudinal axis and for a translational linear drive in the longitudinal direction are arranged on the actuator, which at least partly form a secondary part structure that is effective for rotary drive and at least partly a translational one The drive-effective secondary part structure is such that primary part elements for the rotary linear drive of the actuator about the longitudinal axis and for the translational linear drive of the actuator in the longitudinal direction are arranged around the actuator, which at least partly form a rotary-acting primary part structure and at least partly a translatory primary part structure form.

The advantage of the solution according to the invention can be seen in the fact that by arranging secondary part elements directly on the actuator, which on the one hand enable a rotary linear drive and on the other hand a translatory linear drive, a particularly simple, in particular compact drive structure is created, which on the other hand is due to the direct arrangement the actuator also ensures high positional stability, positional accuracy and rigidity. No further details were given with regard to the secondary part elements used. An advantageous exemplary embodiment provides that the secondary part elements comprise magnets. These could be energized magnets.

However, it is advantageous if the magnets are permanent magnets, since a power supply to the actuator can then be omitted.

Another advantageous exemplary embodiment provides that the secondary part elements comprise currentless, that is to say windings which are not externally supplied with current, in which currents are induced by fields of the primary part and thus also magnetization is achieved.

With regard to the secondary part structure that can be used at least in terms of rotation, no further details have so far been given.

An advantageous solution provides that the secondary part structure, which can be used at least in a rotational manner, can also be used in a translatory manner.

In addition, it is also advantageous in the secondary part structure that can be used at least in a translatory manner if it can also be used in a rotationally effective manner.

It is particularly expedient if two secondary part structures are provided and if the two secondary part structures are designed and can be activated such that either their rotational effect or their translational effect cancel each other out, while a translatory or rotational effect is added. In this way, both rotationally and translationally active secondary part structures can be combined in a simple manner so that there is also the possibility of carrying out either only rotational movements or also only only translatory movements or a combination of all of these.

Such secondary part structures can be implemented particularly easily if they are arranged mirror-symmetrically to one another.

Such a mirror plane preferably runs perpendicular to the longitudinal direction.

As an alternative to this, it is also conceivable to design the at least rotationally effective secondary part structure in such a way that it can only be used in a rotationally effective manner.

Furthermore, it is also conceivable to design the at least translationally effective secondary part structure in such a way that it can only be used in a translationally effective manner.

There is thus an exact separation of the generation of translatory and rotary movements, as a result of which the control of such a drive unit can be designed in a simple manner.

With regard to the design of the secondary part structure and the secondary part elements thereof, no further details have so far been given. An advantageous exemplary embodiment provides that an embodiment of an at least rotationally active secondary part structure has secondary part elements with strip-shaped magnetic poles with at least one component in the longitudinal direction. Magnetic poles of this type in the longitudinal direction are particularly suitable for a rotary linear drive.

A magnetic pole is understood to mean magnetic poles that are magnetized either by the magnets encompassed by the secondary part elements or by currentless windings, that is to say, windings that are not externally supplied with current.

Strip-shaped magnetic poles formed in this way can be aligned in a wide variety of ways.

For example, it is conceivable to align the strip-shaped magnetic poles so that they extend obliquely to the longitudinal direction. In this case, the secondary part elements then act both rotationally and translationally.

Another possibility provides for the strip-shaped magnetic poles to be aligned such that they extend approximately parallel to the longitudinal direction. In this case, the stripe-shaped magnetic poles essentially only have a rotary effect.

Furthermore, it is particularly advantageous if an embodiment of an at least linear translationally effective secondary part structure has secondary part elements with strip-shaped magnetic poles with at least one component running perpendicular to the longitudinal direction. Such magnetic poles are particularly suitable for a translatory linear drive in the longitudinal direction. The magnetic poles of the secondary part structure, which is at least linearly translatory, can also be aligned in a wide variety of ways.

An advantageous solution provides that the strip-shaped magnetic poles extend obliquely to the longitudinal direction and thus act both linearly translationally and rotationally.

Another solution provides that the stripe-shaped magnetic poles extend approximately parallel to the azimuthal direction of the actuator and are therefore essentially only linearly translationally effective.

It is particularly advantageous if the secondary sub-elements comprise magnetic poles which are circumferential in an azimuthal direction of the actuator.

In principle, in the case of strip-shaped magnetic poles which run obliquely to the longitudinal direction, it is expedient if the strip-shaped magnetic poles of one secondary part structure and the strip-shaped magnetic poles of the other secondary part structure form an angle of less than 180 ° with their longitudinal directions.

Angles in the range between approximately 30 ° and approximately 150 ° are preferably provided here.

It is even more favorable if angles in the range between approximately 60 ° and approximately 120 ° are provided. In order to be able to ensure in a simple manner that the effects of the two secondary part structures can be compensated in a simple manner either rotationally or linearly translationally, a mirror plane is preferably provided, to which the longitudinal directions of the strip-shaped magnetic poles of one secondary part structure and the longitudinal directions of the strip-shaped magnetic poles of the other Secondary structure is mirror-symmetrical.

As an alternative to forming a secondary structure with magnetic poles in the longitudinal direction in the form of stripes and rotating in the azimuthal direction, another exemplary embodiment of a secondary structure according to the invention provides that it has magnetic poles of secondary elements arranged in a two-dimensional surface pattern, of which several are arranged in succession both in the longitudinal direction and in the azimuth direction and can be used both rotationally and translationally effectively.

It is particularly favorable in this solution if the magnetic poles have an extension in the longitudinal direction as well as in the azimuthal direction which is of the same order of magnitude, that is to say is not significantly larger in one of the directions than in the other direction.

It is particularly advantageous if the extension of the magnetic poles in the longitudinal direction and in the azimuthal direction is approximately the same.

It is expediently provided that the magnetic poles of the secondary part elements extend in the longitudinal direction and in the azimuthal direction only over a fraction of less than one tenth of the extent of the secondary part structure in the respective direction. With regard to the formation of the primary part structures in connection with the solution according to the invention, no further details have so far been given. An advantageous exemplary embodiment provides that the primary part structure, which can be used at least in a rotationally effective manner, can also be used in a translationally effective manner.

Furthermore, it is expediently provided that the primary part structure, which can be used at least in a translatory manner, can also be used in a rotationally effective manner.

It is particularly expedient if at least two primary substructures are provided and if the at least two primary substructures are designed and can be used in such a way that when both are activated, either their rotary action or their translational action can be canceled out, while a translational or rotary action can be added ,

It is thus possible to combine such primary part structures, which are both rotationally and linearly translatory, so that it is also possible to carry out either only rotational or only translatory movements.

Such primary part structures can be combined particularly advantageously if they are arranged mirror-symmetrically to one another.

A mirror plane preferably runs perpendicular to the longitudinal direction.

Alternatively, however, it is also conceivable that the primary part structure, which can be used at least in a rotational manner, can only be used in a rotationally effective manner. In such a case, it is also expediently also provided that the primary part structure, which can be used at least in a translatory manner, can only be used in a translationally effective manner.

No details have so far been given regarding the design of the primary part structure. Thus, it is advantageously provided that an embodiment of an at least rotationally active primary part structure has primary part elements with strip-shaped poles running with at least one component in the longitudinal direction and magnetizable by a coil.

The strip-shaped poles can be aligned differently.

One solution provides that the strip-shaped poles extend obliquely to the longitudinal direction. In this case, the poles are both translational and rotational.

Another solution provides that the strip-shaped poles extend approximately parallel to the longitudinal direction and are therefore only rotationally effective.

Furthermore, it is advantageously provided that an embodiment of an at least translationally active primary part structure has primary part elements with strip-shaped poles which run at least one component perpendicular to the longitudinal direction and are magnetizable by a coil.

Even with the translational primary part structure, there is the possibility of arranging the strip-shaped poles in different orientations. One solution, for example, provides that the strip-shaped poles extend obliquely to the longitudinal direction and are therefore rotationally and translationally effective.

Another, simplified solution provides that the strip-shaped poles extend approximately parallel to the azimuthal direction and are therefore essentially only linearly translationally effective.

It is particularly expedient if the primary part elements have poles running in the azimuthal direction, which in particular run in a ring around the actuator.

The poles running transversely to the longitudinal direction can either lie in surfaces that run obliquely to the longitudinal direction, which can be flat or curved, or preferably lie in planes that run perpendicular to the longitudinal direction.

When strip-shaped poles are provided, there is also the possibility, particularly in the case of an oblique course thereof, of arranging the strip-shaped poles of one primary part structure and the strip-shaped poles of the other primary part structure in such a way that their longitudinal directions form an angle which is less than 180 °.

This angle is preferably greater than approximately 30 ° and less than approximately 150 °.

It is even more advantageous if this angle is greater than approximately 60 ° and smaller than approximately 120 °. The effects of such primary part structures can be used particularly ideally if a mirror plane is provided, to which the longitudinal directions of the strip-shaped poles of one primary part structure and the longitudinal directions of the strip-shaped poles of the other primary part structure are mirror-symmetrical.

As an alternative to this, it is provided that the primary part structure has primary part elements arranged in a two-dimensional surface pattern, each of which comprises poles that can be magnetized by a coil, of which several are arranged in succession both in the longitudinal direction and in the azimuthal direction and can be used both rotationally and translationally.

A primary part structure designed in this way creates the possibility both of being able to be used as rotationally effective and of being translationally effective.

Such a primary part structure can be constructed particularly advantageously if the poles have an extension in the longitudinal direction as well as in the azimuthal direction which is of the same order of magnitude, that is to say that the extension in one direction is not a multiple of the extension in the other Direction is, i.e. the poles are not strip-shaped.

A favorable design of such poles provides that the extension of the poles in the longitudinal direction and in the azimuthal direction is approximately the same. It is particularly expedient here if the primary part elements in the longitudinal direction and the azimuthal direction extend only over a fraction of less than one tenth of the extent of the primary part structures in the respective directions.

With regard to the expansion of the primary part structure and the secondary part structure relative to one another, no further details have been given. In order to ensure that the same force is always generated when the actuator is moved in the longitudinal direction, either the secondary part structure or the primary part structure is to be designed with a greater extension in the longitudinal direction, so that the area with which both overlap with one another is always of the same size.

It has proven to be particularly favorable if the secondary part structure has an extension in the longitudinal direction that is at least larger than the extension of the primary part structure interacting with it by a maximum feed path of the actuator. This ensures in a simple and in particular cost-effective manner that the force that can be generated for displacement in the longitudinal direction can always be the same.

Furthermore, in the case of a separation of the primary part structures into a primary part structure which can be used in a rotationally effective manner and an at least linearly translationally effective use, it is preferably provided that their mutually facing ends are arranged at a distance from one another which corresponds at least to the maximum feed path of the actuator in the longitudinal direction. This solution is particularly advantageous if the at least rotationally effective primary part structure and the at least linearly translationally effective primary part structure are assigned an at least rotationally effective or at least linearly translationally applicable secondary part structure.

In this case, it is preferably provided that the secondary part structure which can be used at least in a rotational manner and the secondary part structure which can be used in an at least linearly translatory manner essentially adjoin one another in the longitudinal direction.

However, if the secondary part structure is designed in such a way that it can be used both rotationally and linearly translationally, it is preferably provided that the primary part structure that can be used at least in a rotational manner and the primary part structure that can be used at least in a linearly translatory manner are arranged immediately adjacent to one another.

To further ensure that sufficient freedom of movement is available for the secondary part structure, it is preferably provided that a distance between a side of a primary part structure facing a bearing and the respective bearing corresponds at least to the maximum feed path of the actuator in the longitudinal direction.

With regard to the design of the actuator, no further details have been given in connection with the previous explanation of the individual exemplary embodiments. It is particularly advantageous if the actuator has rotationally symmetrical lateral surfaces with respect to the longitudinal axis. The lateral surfaces are in particular also lateral surfaces in the region of the secondary part structures.

Furthermore, it is advantageously provided that the actuator has bearing surfaces that are rotationally symmetrical to the longitudinal axis and that are guided in bearing receptacles of the bearings.

The outer surface in the area of the secondary part structure can have a different radius than in the area of the bearing surface. It is particularly favorable if the lateral surface in the area of the secondary part structure has a radius identical to at least one bearing surface.

It is even more advantageous if the lateral surfaces have the same radius as the bearing surfaces.

Furthermore, the bearing surfaces are advantageously arranged such that they follow the secondary part structure in the longitudinal direction.

In one embodiment of the drive unit, which is particularly short in the longitudinal direction, it is preferably provided that the bearing surfaces at least partially overlap the secondary part structure, so that it is not necessary to provide a distance between the primary part structure and the bearings, since the secondary part structure when the Actuator in the longitudinal direction is also movable into the bearing.

With regard to the type of control of the actuator, no further details have been given in connection with the previous description of the individual exemplary embodiments. In order to be able to position the actuator precisely with regard to the precision and rigidity required for a machine tool, it is preferably provided that the drive unit has a control for positioning the actuator in the longitudinal direction and the azimuthal direction.

This control is preferably designed so that it includes a position detection device.

The position detection device can work in a wide variety of ways.

For example, it would be conceivable to record the position of the actuator using optical interferometric measurements.

A particularly precise and, in particular, reliable solution with regard to position detection provides that the position detection device comprises a position detection unit and a position detection structure that can be scanned by the position detection unit.

Such a position detection unit and a position detection structure can be arranged in a wide variety of ways. For example, it would be conceivable to arrange the position detection unit on the actuator and to determine its position with respect to the position detection structure from the actuator.

A particularly favorable solution provides that the position detection structure is connected to the actuator and the position detection unit is arranged on the bearing housing. No details have so far been given with regard to the formation of the situation detection structure. An advantageous exemplary embodiment provides that the position detection structure extends in the azimuthal direction, in particular in order to detect the angular positions of the actuator. This is possible particularly advantageously if the position detection structure is designed as a structure which is closed in the azimuthal direction.

In order to also be able to advantageously record the position of the actuator in the longitudinal direction at the same time as the position detection structure, it is preferably provided that the position detection structure extends in the longitudinal direction.

The position detection structure can be implemented particularly expediently if it is arranged on a surface running around the longitudinal axis of the actuator.

It is advantageous if the position detection structure is arranged on a surface that extends cylindrically to the longitudinal axis of the actuator, since both linear displacements and rotational displacements are then possible in a simple manner by detecting the position detection structure in the cylindrical surface.

The cylinder surface for the position detection structure could be arranged on a separate part.

It is particularly expedient if the position detection structure is arranged on a cylinder surface of the actuator. Alternatively, it is preferably provided that the position detection structure is arranged on a surface of the actuator which runs transversely to the longitudinal axis.

With regard to the arrangement of the position detection structure on the actuator itself, no further details have so far been given. An advantageous solution provides that the position detection structure is arranged in an interior of the actuator. Such an arrangement of the position detection structure has the great advantage that the position detection structure can be arranged and also scanned independently of the secondary part structure and that the position detection structure is also protected against external influences.

Alternatively, it is provided that the position detection structure is arranged on an outside of the actuator. This has the advantage that the position detection structure for detecting the position is easily accessible.

It is particularly advantageous if the position detection structure is arranged on a lateral surface of the actuator. The position detection structure can be arranged next to the secondary part structure.

Another advantageous embodiment, which in particular enables a compact design of the drive unit, provides that the position detection structure extends at least partially over the secondary part structure.

A particularly favorable solution provides for the position detection structure to be arranged approximately in a central region of the secondary part structure. In particular in the case of a rotationally active and a translatory secondary part structure, it is preferably provided that the position detection structure extends both over the at least rotationally effective use as well as over the at least linearly translationally effective secondary part structure.

No details have so far been given with regard to the formation of the situation detection structure. An advantageous exemplary embodiment provides that the position detection structure comprises structural bodies arranged in a regular pattern.

The structural bodies are preferably all identical.

The structural bodies are expediently arranged with interspaces between them in the position detection structure.

As an alternative to this, it is provided that the position detection structure has a stochastic surface pattern, in which case the position detection unit is preferably a camera.

With regard to the scanning of the position detection structure, it is preferably provided that it can be scanned by at least one sensor of the position detection unit, with which a rotation angle of the actuator about the longitudinal axis can be detected.

Furthermore, it is preferably provided that the position detection structure can be scanned by at least one sensor of the position detection unit, with which a linear translational movement in the longitudinal direction can be detected. With regard to the manner in which the control for positioning the actuator works, no further details have been given in connection with the previous explanation of the individual exemplary embodiments.

An advantageous solution provides that the primary part structure, which can be used at least in terms of rotation, can be controlled by the control with respect to the rotational position of the actuator relative to the bearing housing by means of a position control. The provision of such a position control has the advantage that a very exact positioning of the actuator in the rotational position is possible.

Furthermore, an advantageous embodiment of the solution according to the invention provides that the primary part structure, which can be used at least in a linearly translatory manner, can be controlled by the control with regard to the linear position of the actuator in the longitudinal direction relative to the bearing housing by means of a position control.

It is particularly advantageous if the position control for the linear translational position of the actuator relative to the bearing housing and the position control for the rotational position of the actuator relative to the bearing housing work in parallel, so that any superposition of a linear translational movement can be carried out with a rotary movement.

Further features and advantages of the invention are the subject of the following description and the drawing of some exemplary embodiments. The drawing shows:

Figure 1 is a schematic plan view of a possible embodiment of a lathe with drive units according to the invention.

Fig. 2 shows a first embodiment of an inventive

Drive unit;

Fig. 3 is a section along line 3-3 in Fig. 2;

FIG. 4 shows a schematic illustration similar to FIG. 2 of a second exemplary embodiment of a drive unit according to the invention;

5 shows a schematic illustration similar to FIG. 2 of a third exemplary embodiment of a drive unit according to the invention;

6 shows a schematic view similar to FIG. 2 of a fourth exemplary embodiment of a drive unit according to the invention;

Fig. 7 is an illustration of a course of magnetizable poles and their

Force action in processing in the fourth embodiment;

8 shows a schematic illustration similar to FIG. 2 of a fifth exemplary embodiment of a drive unit according to the invention;

Fig. 9 is a schematic representation similar to Fig. 2 of a sixth

Embodiment of a drive unit according to the invention; 10 shows a schematic illustration similar to FIG. 2 of a seventh exemplary embodiment of a drive unit according to the invention;

11 shows a course of magnetizable poles in FIG

Processing in the seventh embodiment;

12 shows a schematic illustration of a first exemplary embodiment of a position detection device;

13 shows a schematic illustration of a second exemplary embodiment of a position detection device according to the invention;

14 shows a schematic illustration of a first form of structural elements of a position detection structure;

15 shows a schematic illustration of a second form of structural elements of a position detection device according to the invention;

16 shows a schematic illustration of a third form of structural elements of a position detection device according to the invention;

17 shows another form of a position detection structure;

18 shows a first possibility of arranging the second exemplary embodiment of a position detection device according to the invention; 19 shows a second possibility of arranging the second exemplary embodiment of the position detection device according to the invention;

Fig. 20 shows a third possibility of arranging an inventive

Position detection device and

21 shows a third exemplary embodiment of a position detection device according to the invention.

An embodiment of a machine tool according to the invention shown in FIG. 1, in this case a lathe, comprises a machine frame 10, on which a drive unit 12 for a spindle 14 is held, which has a chuck 18 for receiving a workpiece 16, the spindle 14 passing through the drive unit 12 is rotatable about a spindle axis 20 and is drivable and supported in the direction of the spindle axis 20, that is to say a Z direction, by the drive unit 12.

Furthermore, the machine tool comprises a drive unit 22 for moving a tool carrier 24, which comprises, for example, two turret heads 26 and 28, which are seated on a common turret carrier 30, and can be rotated relative to the turret carrier 30 about a switching axis 32, the switching axis 32, for example, parallel to the Z Direction.

In addition, the entire turret carrier 30 can be rotated by the drive unit 22 about an axis 32, for example a B axis, and can be displaced in the direction of the axis 32, that is to say for example an X direction. wherein the X direction is transverse, preferably perpendicular to the spindle axis 20, so that by moving the tool carrier 24 tools 36 of the turret heads 26, 28 in the X direction to the spindle axis 20 are displaceable and positionable to machine the workpiece 16, the Movement of the workpiece 16 in the Z direction can be done by moving the spindle 14.

Both the movements of the tool carrier 24 and the movements of the spindle 14 are controlled by a controller 40 which cooperates with the drive units 12 and 22 to position both the spindle 14 and the tool carrier 24 relative to one another such that each of the tools 36 is used in a manner suitable for machining the workpiece 16.

The drive unit 12 for the spindle 14 and the drive unit 22 for the tool carrier 24 can in principle be constructed in the same way, with each of these drive units 12, 22 comprising an actuator 50 in a first exemplary embodiment shown in FIGS. 2 and 3 relative to a bearing housing 52 is both rotatable about a longitudinal axis 54 and slidably supported in the direction of the longitudinal axis 54. In the case of the spindle 14, the actuator 50 forms part of the spindle 14, which carries the chuck 18, and in the case of the tool carrier 24 forms part of the tool carrier 24, which carries the bearing head 30.

The actuator 50 is supported on the bearing housing 52 by two bearings 56 and 58 which are arranged at a distance from one another and which are designed, for example, as hydrostatic or aerostatic bearings. Furthermore, the actuator 50 is preferably designed as a cylindrical body with circumferential surfaces 60 to the longitudinal axis 54, which has bearing surfaces 62 for forming the bearing 56, which are rotatable about the longitudinal axis 54 as well as displaceable in the direction of the latter in a bearing receptacle 64 arranged fixedly on the bearing housing 52 , In addition, to form the bearing 58, the actuator 50 has bearing surfaces 66 which are rotatable about the longitudinal axis 54 relative to a bearing receptacle 68 arranged on the bearing housing 52 and are displaceable in the direction thereof.

To drive the actuator 50, it is provided with a first secondary part structure 70R, which has first secondary part elements 72R, which each form magnetic poles 74R. The magnetic poles 74R are arranged such that in an azimuthal direction 76 to the longitudinal axis 54 successive magnetic poles 74R have alternating polarities 74RN, 74RS and which are elongated, for example, in a longitudinal direction 78 running parallel to the longitudinal axis 54.

Furthermore, the actuator 50 is provided with a second secondary part structure 70L, which has second secondary part elements 72L, which in turn form magnetic poles 74L. The magnetic poles 74L are arranged such that successive magnetic poles 74L in the direction 78 have alternating polarities 74LN, 74LS and are formed, for example, in the azimuthal direction 76 around the longitudinal axis 54.

The secondary part structures 70R and 70L can be formed by secondary part elements 72R and 72L, which either comprise permanent magnets or short-circuit windings that are not actively supplied with current. The first secondary part structure 70R is assigned a first primary part structure 80R, which has first primary part elements 82R, which has magnetizable poles 84R successively arranged in the azimuthal direction 76, wherein successive poles 84R have alternating polarities 84RN, 84RS in the azimuthal direction 76. The magnetic poles 84R are preferably elongated in the longitudinal direction 78. Each of the poles 84R is also assigned a coil 86R for magnetizing the respective pole 84R.

Also assigned to the second secondary part structure 70L is a primary part structure 80L, which has individual primary part elements 82L which form magnetizable poles 84L, wherein successive poles 84L in the longitudinal direction 78 have alternating polarities 84LN, 84LS and preferably in the azimuthal direction 76 around the second secondary part structure 70L stretch around.

In the same way as the primary part elements 82R, the primary part elements 82L also include coils 86L for magnetizing the poles 84L.

The first primary part structure 80R thus forms, together with the first secondary part structure 70R, a rotary direct drive 90R for generating a rotary movement of the actuator 50 about the longitudinal axis 54, and the second primary part structure 80L forms, together with the second secondary part structure 70L, a second direct linear drive effective in the longitudinal direction 78 for the movement of the actuator 50 relative to the bearing housing 52.

According to the invention, the rotary direct drive 90R is designed such that the torque that can be generated by it is independent of the position of the actuator 50 with respect to the direction 78 and, on the other hand, is preferred the linear direct drive 90L is designed in such a way that its force acting on the actuator 50 in the longitudinal direction 78 is independent of the rotational position of the actuator 50 relative to the bearing housing 52.

Thus, in the solution according to the invention, the force effect generated by each of the two direct drives 90R and 90L is independent of the movement generated by the other direct drive 90L or 90R.

For this purpose, it is preferably provided that the first secondary part structure 70R has an extension AR in the longitudinal direction 78 that is greater than an extension ER of the first primary part structure 80R in the longitudinal direction 78 by at least a maximum feed path V of the actuator 50 relative to the length housing 52.

Preferably, an extension AL of the second secondary part structure 70L in the longitudinal direction 78 by the maximum feed path V is also greater than an extension EL of the second primary part structure 80L in the direction 78.

In order to be able to move the actuator 50 in the longitudinal direction 78 without the secondary part structures 70R and 70L colliding with the bearings 56, 58, the secondary part structures 70R and 70L are to be arranged in such a way that there is no collision when the actuator 50 moves with the maximum feed path V. occurs with the bearings 56, 58 or these supporting wall areas 57, 59 of the bearing housing 52, so that when the actuator 50 is positioned centrally between a maximally retracted position and a maximally advanced position, the distance 71 from the ends 71 facing the respective bearings 56, 58 the bearings 56 or 58 or these bearing wall areas 57, 59 corresponds to at least half the feed path. On the other hand, in order to maintain the primary part structures 80R and 80L fully effective in all feed positions, the primary part structures 80R, 80L with their ends 81 facing the bearings 56, 58 must be arranged such that they are at least a distance from the bearings 56 or 58 corresponding to the maximum feed path V. or the wall areas 57, 59 of the bearing housing 52 which support them.

In a second exemplary embodiment of a drive unit according to the invention, shown in FIG. 4, the actuator 50 is mounted in a bearing housing 52 'by two bearings 56 and 58, which, however, are arranged such that between the bearing 56 and the bearing 58 both the first secondary part structure 70R and the second secondary part structure 70L and the first primary part structure 80R as well as the second primary part structure 80L are seated and thus the actuator 50 is mounted on both sides of the direct drives 90R and 90L. Consequently, a very stable guidance for the actuator 50 is possible, which has a positive effect on the stable positioning of the tool carrier 24 or the spindle 14.

Otherwise, the direct drives 90L and 90R are configured in the same way as in the first exemplary embodiment.

With regard to the elements not described in connection with the second exemplary embodiment, the same reference numerals are used as in the first exemplary embodiment, and with regard to the description thereof, reference is made in full to the explanations for the first exemplary embodiment. In order to achieve the shortest possible overall length, the primary part structures 80R and 80L are arranged in the second exemplary embodiment in such a way that their mutually facing ends 79 are at a distance from one another which corresponds at least to the maximum feed path.

In addition, the primary part structures 80R and 80L are arranged such that their ends 81 facing the bearings 56, 58 or the wall regions 57, 59 supporting the bearings are at a distance which corresponds at least to the maximum feed path.

In a third exemplary embodiment of a drive unit according to the invention, shown in FIG. 5, the actuator 50 carries a secondary part structure 70 ', which is no longer divided into a first and second secondary part structure as in the previous exemplary embodiments, but is constructed in such a way that it Azimuthal direction 76 around the longitudinal axis 54 and in the longitudinal direction 78 is effective.

In this case, the secondary part structure 70 'is constructed, for example, in such a way that it has magnetic poles 74'N and 74'S which alternate both in the azimuthal direction 76 and in the longitudinal direction 78, in which case the regions forming the magnetic poles 74'N enclose the areas forming the magnetic poles 74'S, so that the areas forming the magnetic poles 74'N form a kind of coherent grid, between which the areas forming the magnetic poles 74'S are arranged in the form of isolated islands.

In the case of such a secondary part structure 70 ', a rotational and a linear translatory drive of the actuator 50 is possible in that both a first primary part structure 80R and a second primary part structure 80L are provided, both of which are arranged in succession in the longitudinal direction 78 in the same way as in the preceding two exemplary embodiments and are constructed in the same way as described in connection with the first exemplary embodiment, but in this case directly adjoin one another in the longitudinal direction 78.

The first primary part structure 80R, with the alternating poles 74'N and 74'S in succession in the azimuthal direction 76, enables the actuator 50 to be driven in rotation, while the second primary part structure 80L enables the actuator 50 to be linearly displaced in the longitudinal direction 78 on account of the alternating ones in the longitudinal direction 78 Magnetic poles 74'N and 74'S enables

The uniform and continuous secondary part structure 70 'thus makes it possible to arrange the primary parts 80R and 80L immediately adjacent to one another and thus to avoid a distance between the primary part structures 80R and 80L which corresponds at least to the feed path V in the direction of the longitudinal axis 54, so that the third exemplary embodiment of the invention Drive unit is still shorter by the feed path V of the actuator 50 in the direction 78 than the first and second exemplary embodiments, but opens up the possibility of using the primary part structures 80R and 80L provided in the first and second exemplary embodiments.

In a fourth exemplary embodiment, shown in FIG. 6, a secondary part structure 70 ″ is provided which has magnetic poles 74 ″ N and 74 ″ S arranged next to one another in the manner of a checkerboard, each of the magnetic poles 74 ″ being formed by a secondary part element 72 ″. The actuator 50 is thus provided with successively arranged magnetic poles 74 ″ both in the azimuthal direction 76 and in the direction 78 parallel to the longitudinal axis 54, which overall form the secondary part structure 70 ″.

However, the secondary part structure 70 "does not necessarily have to have rectangular magnetic poles 74", but can also be designed with differently shaped magnetic poles, each symmetrical to intersection points M of a network structure which is uniform both in the azimuthal direction 76 and in the direction 78, so that the intersection points M have the same distance dimensions from one another both in the azimuthal direction 76 and in the longitudinal direction 78.

Two primary part structures 801 and 8011 are provided for driving such a secondary part structure 70 ″ both with respect to a rotation about the longitudinal axis 54 and a displacement in the longitudinal direction 78.

Each of these primary part structures 801 and 8011 comprises magnetizable poles 841 and 8411, respectively, which run on a circular cylindrical surface coaxial with the longitudinal axis 54 such that, as shown in FIG. 7, the magnetizable poles 841 of the primary part structure 801 are parallel to one another and obliquely in the development to the longitudinal direction 78 and obliquely to the azimuth direction 76, for example along a connecting line between the center points M of the network structure in a direction 881 which forms an acute angle with the longitudinal direction 78 and the azimuth direction 76 in the development.

The poles 841 are further arranged in a direction 891 successively with alternating polarity. The poles 84 thus act on the magnetic poles 74 ″ opposite them in such a way that one pole 841 of the primary part structure 801 interacts with a number of successive magnetic poles 7411 of the secondary part structure 70 ″ in the direction 881, as a result of which a force F in the direction acts on the actuator 50 891 acts, which can be broken down into a force FL, which is parallel to the longitudinal direction 78 and a force FA, which acts parallel to the azimuthal direction 76.

The secondary part structure 8011 is mirror-symmetrical to a mirror plane S running perpendicular to the longitudinal axis 78 like the secondary part structure 801, but with the difference that the directions 8811 and 8911 run transversely to the directions 881 and 891 and thus the resulting force FII acts transversely to the force FI and thus the forces FL I and FL II as well as FA I and FA II are directed parallel to one another and can therefore act in opposite or in the same direction.

By suitable control of the primary substructures 801 and 8011, there is now the possibility of choosing the forces FI and F II such that they either cancel or supplement one another with regard to their components FA I and FA II and / or FL I and FL II and thus a total Rotate the actuator 50 in the azimuthal direction 76 and / or cause a linear displacement of the actuator 50 in the direction 78.

The described solution according to FIGS. 6 and 7 allows the actuator 50 to be operated in such a way that it can be rotated or displaced linearly in one direction. It is even more advantageous to provide a total of four primary substructures corresponding to the primary substructures 801 and 8011, so that a total of forces FPI, -FPI, FPII, -FPII can be generated, with which a stationary actuator, which is also controlled by the direct drive, can be implemented in a favorable manner can be held fixed in this position by the direct drive. In a fifth exemplary embodiment, shown in FIG. 8, the secondary part structure 70 "is designed in the same way as in the fourth exemplary embodiment, but in addition the primary part structure 80" is also designed accordingly, that is to say that primary part elements 82 "arranged next to one another in a checkerboard pattern are developed. are provided, which each form individual magnetizable poles 84 ", which then form successive rows with alternating magnetization 84" N and 84 "S both in the direction 78 and in the direction 76.

The individual primary part elements 82 ″ can thus be controlled individually in a suitable manner in order to move the actuator 50 in the direction 76, that is to say in the form of a rotation about the longitudinal axis 54 and / or a linear movement in the direction 78, that is to say parallel to the longitudinal axis 54 move.

In this embodiment, it is not necessary that the secondary part structure 70 "extends beyond the primary part structure 80", but it is also possible because of the individual activation of the primary part elements 82 "to form the secondary part structure 70" with a shorter extension in the direction 78 than that Primary part structure 80 ".

The illustrated solution according to FIG. 8 functions even better if the pole pitch of the primary part structure 80 "in the azimuthal direction 76 and the longitudinal direction 78 is smaller than the pole pitch of the secondary part structure 70".

In a sixth exemplary embodiment of a drive unit according to the invention, shown in FIG. 9, those elements which are identical to those of the preceding exemplary embodiments are the same Provide reference numerals so that with respect to the same reference is made to the explanations of the above exemplary embodiments.

In contrast to the above exemplary embodiments, the bearing surfaces 62 'of the bearing 56 provided on the actuator 50 and the bearing surfaces 66' of the bearing 58 have a diameter which corresponds to that of the outer surface 60 "of the secondary part structure 70", so that there is also the possibility of using to drive the area of the actuator having the secondary part structure 70 "into the bearing receptacles 64 in order to realize the maximum possible feed path V of the actuator 50. This also eliminates the need for a distance between the ends 81 of the primary part structure 80 facing the bearings 56, 58," see above that the bearing receptacles 64, 68 can directly adjoin the primary part structure 80 ".

In a seventh exemplary embodiment, shown in FIGS. 10 and 11, two secondary part structures 70 I and 70 II are provided, which are constructed from secondary part elements 72 I and 72 II, the secondary part elements 72 I and 72 II being strip-shaped poles 74 I and 74 II have, which, as shown in particular in Figure 11, extend in the development in longitudinal directions 77 I and 77 II, which extend obliquely both to the longitudinal direction 78 and obliquely to the azimuthal direction 76.

Furthermore, the longitudinal directions 77 I and 77 II of the secondary part structures 70 I and 70 II are preferably arranged such that the longitudinal directions 77 I and 77 II are mirror-symmetrical to the mirror plane S and form an angle W1 with one another which is between 0 and 180 °, preferably in a range between about 30 ° and about 150 °, more preferably in a range between about 60 ° and about 120 °. Both the poles 741 and the poles 7411 are arranged in succession in the secondary part in such a way that successive poles 741 or 7411 each have a different magnetization or can be magnetized differently, so that a pole 74IN or 74IIN is followed by a pole 74IS or 74IIS.

The construction of secondary part structures 701 and 7011 from adjacent poles 741 and 7411 with alternating magnetization or alternating magnetizability is known from the construction of linear motors.

In addition, in the seventh exemplary embodiment, it is also necessary to assign secondary part structures 701 and 7011 to primary part structures 801 and 8011, which are also composed of primary part elements 821 and 8211 with strip-shaped poles 841, 8411, which are parallel to longitudinal directions 881 and 8811 extend, wherein the longitudinal directions 881 and 8811 are mirror-symmetrical to the mirror plane S and extend at an angle W2 to each other, which is also between 0 and 180 °, preferably of the same order of magnitude as the angle W1, but can differ from the angle W1 by to reduce the torque ripple.

In the development shown in FIG. 11, the longitudinal directions 881 and 8811 run obliquely to the longitudinal direction 78 and obliquely to the azimuthal direction 76.

Each of the longitudinal directions 881 and 8811 is preferably inclined by approximately the same angle with respect to the longitudinal direction 78, but in a different direction. Each of the primary substructures 801 and 8011 now interacts with the corresponding secondary substructure 701 or 7011 in such a way that, through the sole interaction of the respective primary substructure 801 or 8011 with the corresponding secondary substructure 701 or 7011, both a rotationally driving effect and a translationally displacing effect arises.

However, the force effects between the primary part structure 801 and the secondary part structure 701 as well as the primary part structure 8011 and the secondary part structure 7011 can be combined with one another by means of opposing control, so that either rotationally acting forces or translationally acting forces can be at least partially compensated for or completely eliminated , so that the actuator 50 can thus be moved both rotationally and linearly translationally, as already described in connection with the fourth exemplary embodiment according to FIGS. 6 and 7.

To fix the actuator 50, it is provided that the poles 841, 8411 of the primary part structures 801 and 8011 attract and fix corresponding poles 741 and 7411.

For the rest, reference is made to the detailed explanations of the compensation and addition of forces in connection with the fourth exemplary embodiment and FIG. 7.

In connection with the exemplary embodiments described so far, only the type of drive of the actuator was shown. However, in order to be able to precisely control both the rotary direct drive 90 and the linear translational direct drive 90, it is necessary for the controller 40 to exactly detect the position of the actuator 50 in the azimuthal direction 76 and in the direction 78 running parallel to the longitudinal axis 54, to be able to operate the direct drives 90 by means of position control.

In a first exemplary embodiment of a position detection device 100 according to the invention, shown in FIG. 12, a first position detection unit 110 is provided, which preferably detects, coaxially to the longitudinal axis 54, a position of a central region 112 of an end face 114 of the actuator 50, which is for example the end face that corresponds to Chuck 18 or the turret carrier 30 is arranged opposite. For example, the first position detection unit 110 is designed such that it interferometrically detects the distance to the area 112.

It would also be conceivable, coaxially to the longitudinal axis 54, to provide a glass scale which is firmly connected to the actuator 50 and which can also be rotated with the actuator 50 and whose displacement in the direction 78 can be detected by a variant of the first position detection unit 110.

In addition, at least one second position detection unit 120 is provided, which detects a position detection structure 122 on the front side 114 of the actuator 50. The second position detection unit 120 is preferably designed such that it is able to detect the position detection structure 122 in different positions of the actuator 50 in the longitudinal direction 78 and independently of these positions of the actuator 50, so that by scanning the position detection structure 122, for example of structural elements 124 with different reflectivity by optical means the second position detection unit 120, the rotational position of the actuator 50 can be detected continuously and independently of the displacement of the actuator 50 in the longitudinal direction 78.

In a second exemplary embodiment of a position detection device 100 ′ according to the invention, shown in FIG. 13, both a movement in the azimuthal direction 76 and a movement in the longitudinal direction 78 can be detected in that one in the azimuthal direction 76 and the longitudinal direction 78 and coaxial to the longitudinal axis 54 of the cylindrical surface 130, the position detection structure 122 'is provided with structural elements 132, which differ in their detectability from intermediate regions 134 lying between the structural elements 132 and delimited by a transition region 136, in the simplest case an edge with respect to the regions 134 surrounding them are. The structural elements 132 can be distinguished in a variety of ways from the regions 134 surrounding them. In the simplest case, the structural elements 132 are elevations or depressions with respect to the areas 134 surrounding them, which can be detected optically or inductively or capacitively, for example.

In order to be able to detect both a movement in the azimuthal direction 76 and in the longitudinal direction 78, a position detection structure 122 'formed by the structural elements 132 and the areas 134 surrounding them is scanned, for example by the position detection unit 120' by simultaneously scanning three touch points TP1, TP2, TP3, wherein the tactile points TP1 to TP3 are to be created in such a pattern relative to one another that when the tactile point TP1 lies on one of the structural elements 132, the tactile points TP2 and TP3 into the structural elements 132 surrounding areas 134 are such that the tactile point TP2 is shifted in the longitudinal direction 78 with respect to the tactile point TP2 and the tactile point TP3 in the azimuthal direction 76 is shifted with respect to the tactile point TP1, as shown in FIG. 13.

If, in the described arrangement of the tactile points TP1 to TP3, the actuator 50 and thus the cylinder surface 130 moves in the direction 78, the tactile point TP3 moves between the structural elements 132 without the position detection unit 120 'making changes, in particular to transition areas 136, detects, while the touch points TP1 and TP2 each pass from the area 134 surrounding a structural element 132 to the structural elements 132 and in turn continuously pass from this to an area 134 surrounding the structural element 132 and thus the transition areas 136 and consequently continuously at the touch points TP1 and TP2 Changes corresponding to the distance between the structural elements 132 and the movement of the actuator 50 in the direction 78 can be determined.

Thus, in the position detection structure 122 ', the structure elements 132 are arranged successively in the form of a regular grid on the one hand in the azimuthal direction 76 and on the other hand in the longitudinal direction 78, a position detection unit 120' of the position detection device 100 'according to the second exemplary embodiment can be changed by the changes at the touch points TP1 to TP3 recognize that actuator 50 is moving in direction 78.

If, on the other hand, the actuator 50 moves in the sense of a rotation about the longitudinal axis 54, no change will be ascertained at the touch point TP2, while changes always occur successively at the touch points TP1 and TP3 and thus the position detection device 100 'is able to move in the azimuthal direction 76 to recognize. Superimposed movements in the azimuthal direction 76 and in the longitudinal direction 78 can also be recognized in the same way.

Structural elements 132 of this type can be designed in the most varied of ways. As shown in FIG. 14, it is possible to design the structural elements 132 as cubes or cuboids, which stand out from the regions 134 surrounding them, the structural elements designed as cubes or cuboids having a surface 138 whose edge lengths are A and B and the areas extending between the structural elements have a distance a in the direction of the edge length A and a distance b in the direction of the edge length B, the distance a preferably being equal to the edge length A and the distance b being equal to the edge length B.

In a variant, shown in FIG. 15, the structural elements 132 'are designed as pyramid bodies, which for example can also adjoin one another with their base areas, so that the regions 134 surrounding the pyramid bodies 132' ultimately only have a linear extension.

In a third variant shown in FIG. 16, the structural elements 132 "are depressions which, starting from a surface area 134" surrounding them, extend into the material forming the surface 130.

As an alternative to this, it is conceivable, as shown in FIG. 17, to provide a stochastic structure instead of a regular structure with structural elements 124 or 132, the stochastic pattern of which is then, for example, from of a position detection unit 120 "provided with a camera and must be compared with a stored pattern of the stochastic structure in order to be able to exactly determine the position of the position detection structure 122 'with a stochastic pattern relative to the position detection unit 120".

The position detection structure 122 or 122 'can be arranged on the actuator 50 in a wide variety of ways. For example, as shown in FIG. 18, it is conceivable to provide the position detection structure 122 'in a central region of the actuator 50, for example in a region in which the position detection structure 122' both partly the first secondary part structure 70A and partly the second secondary part structure 70L overlaps, the position detection unit 120 'being arranged such that it is arranged on the stator housing 52' between the first primary part structure 80R and the second primary part structure 80L and is therefore able to position the position detection structure 122 'in a manner between the primary part structures 80R and 80L area to be detected for detection.

Since the position detection structure 122 'has only deviations of less than 1 mm from the surface 130, the position detection structure can be arranged such that it overlaps the secondary part structures 70R and 70L without negatively affecting their effectiveness. It is thus also possible to arrange the position detection structure 122 'in such a way that parts of it - depending on the position of the actuator 50 - are either surrounded by the primary part structure 80R or the primary part structure 80L, without the interaction between the respective primary part structure 80R, 80L and the corresponding secondary part structure 70R or 70L or to negatively influence an air gap between the respective primary part structure 80R, 80L and the corresponding secondary part structure 70R or 70L. In a further exemplary embodiment shown in FIG. 19, which corresponds to the fifth exemplary embodiment according to FIG. 8 in terms of the structure of the primary part structure, the position detection structure 122 'is arranged in a region of the secondary part structure 70 "which is completely enclosed by the primary part structure 80" and which The primary part structure 80 "only has a recess in order to be able to arrange the position detection unit 120 'in such a way that it is able to detect the position detection structure 122' in all positions of the actuator 50, in particular in all positions of the actuator 50 in the longitudinal direction 78 ,

In a further exemplary embodiment, shown in FIG. 20, the fact that the actuator 50 has an appreciably large diameter is used to the effect that the actuator 50 is provided with a recess 150 which extends from the end face 114 and surrounds an interior 148, whose cylindrical wall surface 152, which is coaxial with the central axis 54, forms the cylinder surface 130 on which the position detection structure 122 'is arranged. The position detection unit 120 'is arranged on an arm 154 which extends into the recess 150 and thus positions the position detection unit 100' in such a way that it is independent of the displacement of the actuator 50 in the longitudinal direction 78 and also independent of the rotation of the actuator 50 in the azimuthal direction 76 is still able to detect the structural elements 132 of the position detection structure 122 'and the areas 134 surrounding them and thus to detect both the position of the actuator 50 in the longitudinal direction 78 and the corresponding rotational position of the actuator 50. In addition or as an alternative to this, it is also possible, as shown in FIG. 21, to detect the position detection structure 122 'with the position detection unit 120', but additionally to provide a supplementary position detection unit 110 ', which additionally also shows the position of the actuator 50 in the direction 78 precisely recorded in order to be able to clearly separate the detected rotational position of the actuator 50 about the longitudinal axis 54 from the movement of the actuator 50 in the direction 78.

Claims

PATE NTAN SPEECH E

Drive unit for industrial production, in particular for machine tools, comprising a bearing housing (52), an actuator (50) extending in the direction of a longitudinal axis (54), which is spaced apart in two in a longitudinal direction (78) parallel to the longitudinal axis (54) arranged and on the bearing housing (52) held bearings (56, 58) in the longitudinal direction (78) relative to the bearing housing (52) and rotatable about the longitudinal axis (54) relative to the bearing housing (52) is rotated, so that it is characterized that secondary part elements (72) are arranged on the actuator (50) for a rotary linear drive of the actuator (50) about the longitudinal axis (54) and for a translational linear drive in the longitudinal direction (78), which have an at least rotationally effective secondary part structure (70 ) and an at least translationally effective secondary part structure (70) form that around the actuator (50) around primary part elements (82) for the rotatori The linear drive of the actuator (50) about the longitudinal axis (54) and for the translational linear drive of the actuator (50) in the longitudinal direction (78) are arranged, which have an at least rotationally usable primary part structure (80R) and an at least translationally effective primary part structure ( 80) form.

Drive unit according to claim 1, characterized in that the secondary part elements (72) comprise magnets.

3. Drive unit according to claim 1, characterized in that the secondary part elements (72) comprise de-energized windings.

4. Drive unit according to one of the preceding claims, characterized in that the at least rotationally usable secondary part structure (701, 7011) can also be used translationally.

5. Drive unit according to one of the preceding claims, characterized in that the at least translationally usable secondary part structure (701, 7011) can also be used in a rotationally effective manner.

6. Drive unit according to claim 4 or 5, characterized in that at least two secondary part structures (701, 7011) are provided and that the at least two secondary part structures (701, 7011) are designed such that the at least two secondary part structures (701, 7011) are formed in such a way and can be activated so that either their rotational effect or their translational effect can be mutually canceled, while a translatory or rotational effect can be added.

7. Drive unit according to claim 6, characterized in that the at least two secondary part structures (701, 7011) are arranged mirror-symmetrically to one another.

8. Drive unit according to claim 7, characterized in that a mirror plane (S) extends perpendicular to the longitudinal direction (78).

9. Drive unit according to one of claims 1 to 3, characterized in that the at least rotationally usable secondary part structure (70R) can only be used in a rotationally effective manner.

10. Drive unit according to one of claims 1 to 3, characterized in that the at least translationally usable secondary part structure (70L) can only be used translationally.

11. Drive unit according to one of the preceding claims, characterized in that a rotationally active secondary part structure (70R) has secondary part elements (72R) with strip-shaped magnetic poles (74R) running with at least one component in the longitudinal direction (78).

12. Drive unit according to claim 11, characterized in that the strip-shaped magnetic poles (741, II) extend obliquely to the longitudinal direction (78).

13. Drive unit according to claim 11, characterized in that the strip-shaped magnetic poles (74R) extend approximately parallel to the longitudinal direction (78).

14. Drive unit according to one of the preceding claims, characterized in that a linear translationally effective secondary part structure (70R) has secondary part elements with strip-shaped with at least one component perpendicular to the longitudinal direction (78) extending magnetic poles (74L).

15. Drive unit according to claim 14, characterized in that the strip-shaped magnetic poles (741, II) extend obliquely to the longitudinal direction (78).

16. Drive unit according to one of claims 11 to 14, characterized in that the strip-shaped magnetic poles (74L) extend approximately parallel to the azimuthal direction (76) of the actuator (50).

17. Drive unit according to claim 16, characterized in that the secondary part elements (72L) in an azimuthal direction (76) of the actuator (50) comprise circumferential magnetic poles (74L).

18. Drive unit according to one of claims 11 and 12 and 14 and 15, characterized in that the strip-shaped magnetic poles (741) of one secondary part structure (701) and the strip-shaped magnetic poles (7411) of the other secondary part structure (7011) with their longitudinal directions (771, 7711) enclose an angle (Wl) less than 180 °.

19. Drive unit according to claim 18, characterized in that a mirror plane (S) is provided, to which the longitudinal directions (771) of the strip-shaped magnetic poles (741) of a secondary part structure (701) and the longitudinal directions (7711) of the strip-shaped magnetic poles of the other secondary part structure (7011) are mirror-symmetrical.

20. Drive unit according to one of claims 1 to 8, characterized in that the secondary part structure (70 ') in a two-dimensional surface pattern arranged magnetic poles (74) of secondary part elements (72), of which both in the longitudinal direction (78) and Several are arranged in succession in an azimuthal direction (76) and can be used effectively both in terms of rotation and translation.

21. Drive unit according to claim 20, characterized in that the magnetic poles (74) both in the longitudinal direction (78) and in the azimuthal direction (76) have an extent which is of the same order of magnitude.

22. Drive unit according to claim 21, characterized in that the extension of the magnetic poles (74) in the longitudinal direction (78) and in the azimuthal direction (76) is approximately the same size.

23. Drive unit according to one of claims 20 to 22, characterized in that the magnetic poles (74) of the secondary part elements (72 ¹ ) in the longitudinal direction (78) and the azimuthal direction (76) only over a fraction of less than a tenth of the extent of the secondary part structure (70 ') in the respective direction (78, 76).

24. Drive unit according to one of the preceding claims, characterized in that the primary part structure (801, 8011) which can be used at least in a rotationally effective manner can also be used in a translationally effective manner.

25. Drive unit according to one of the preceding claims, characterized in that the primary part structure (801, 8011) which can be used at least in a translatory manner can also be used in a rotationally effective manner.

26. Drive unit according to claim 24 or 25, characterized in that at least two primary part structures (801, 8011) are provided, and that the at least two primary part structures (801, 8011) so are designed and can be used that when both are activated, either their rotational effect or their translational effect can be mutually canceled, while a translatory or rotational effect can be added.

27. Drive unit according to claim 6, characterized in that the at least two primary part structures (801, 8011) are arranged mirror-symmetrically to one another.

28. Drive unit according to claim 7, characterized in that a mirror plane (S) extends perpendicular to the longitudinal direction (78).

29. Drive unit according to one of claims 1 to 23, characterized in that the at least rotationally effective primary part structure (801, 8011) can only be used in a rotationally effective manner.

30. Drive unit according to one of claims 1 to 23, characterized in that the at least translationally effective primary part structure can only be translationally used.

31. Drive unit according to one of the preceding claims, characterized in that a rotationally active primary part structure (80R) primary part elements (82) with strip-shaped with at least one component in the longitudinal direction (78) and by a coil (86) magnetizable poles (84) ,

32. Drive unit according to claim 31, characterized in that the strip-shaped poles (841, II) extend obliquely to the longitudinal direction (78).

33. Drive unit according to claim 31, characterized in that the strip-shaped poles (84R) extend approximately parallel to the longitudinal direction (78).

34. Drive unit according to one of the preceding claims, characterized in that a translational primary part structure (80L) primary part elements (82) with strip-shaped with at least one component perpendicular to the longitudinal direction (78) and by a coil (86L) magnetizable poles (84) ,

35. Drive unit according to claim 34, characterized in that the strip-shaped poles (841, II) extend obliquely to the longitudinal direction (78).

36. Drive unit according to claim 34, characterized in that the strip-shaped poles (84L) extend approximately parallel to the azimuthal direction (78).

37. Drive unit according to claim 36, characterized in that the primary part elements (82L) have a ring around the actuator (50) rotating poles (84L).

38. Drive unit according to claim 36 or 37, characterized in that the annular poles (84L) lie in planes running perpendicular to the longitudinal direction (78).

39. Drive unit according to one of claims 31 and 32 and 34 and 35, characterized in that the strip-shaped poles (841) of the one primary part structure (801) and the strip-shaped poles (8411) of the other primary part structure (8011) with their longitudinal directions (881, 8811) enclose an angle (W2) less than 180 °.

40. Drive unit according to claim 39, characterized in that a mirror plane (S) is provided, to which the longitudinal directions (881) of the strip-shaped poles (841) of one primary part structure (801) and the longitudinal directions (8811) of the strip-shaped poles of the other primary part structure (8011) are mirror-symmetrical.

41. Drive unit according to one of claims 1 to 30, characterized in that the primary part structure (80 ") has arranged in a two-dimensional surface pattern primary part elements (82"), each comprising a coil (86 ") magnetizable poles (84") of which are arranged in succession both in the longitudinal direction (78) and in the azimuthal direction (76) and can be used effectively both in terms of rotation and translation.

42. Drive unit according to claim 41, characterized in that the poles (84) both in the longitudinal direction (78) and in the azimuthal direction (76) have an extent which is of the same order of magnitude.

43. Drive unit according to claim 42, characterized in that the extension of the poles (84) in the longitudinal direction (78) and in the azimuthal direction (76) is approximately the same size.

44. Drive unit according to one of claims 41 to 43, characterized in that the primary part elements in the longitudinal direction (78) and the azimuthal direction (76) only over a fraction of less than a tenth of the extent of the primary part structure (80) in the respective direction (76, 78) extend.

45. Drive unit according to one of the preceding claims, characterized in that the secondary part structure (70) in the longitudinal direction has an extent (A) which is greater than at least by a maximum feed path (V) of the actuator (50) in the longitudinal direction (78) the extension (E) which is with this interacting primary part structure (80).

46. Drive unit according to claim 45, characterized in that the at least rotationally usable primary part structure (80R) and the at least linear translationally usable primary part structure (80L) are arranged with their mutually facing ends (79) at a distance from one another which is at least the maximum Feed path (V) of the actuator (50) in the longitudinal direction (78) corresponds.

47. Drive unit according to claim 46, characterized in that the at least rotationally usable secondary part structure (70R) and the at least linearly translationally usable secondary part structure (70C) essentially adjoin one another in the longitudinal direction (78).

48. Drive unit according to one of the preceding claims, characterized in that a distance between a side (81) facing a bearing (56, 58) of a primary part structure (80) and the respective bearing is at least the maximum feed path (V) of the actuator (50) in the longitudinal direction (78).

49. Drive unit according to one of the preceding claims, characterized in that the actuator (50) to the longitudinal axis (54) has rotationally symmetrical lateral surfaces (60).

50. Drive unit according to one of the preceding claims, characterized in that the actuator (50) to the longitudinal axis (54) has rotationally symmetrical bearing surfaces (62, 66) which are guided in bearing seats (64, 68) of the bearings (56, 58).

51. Drive unit according to claim 50, characterized in that the lateral surfaces (60) in the region of the secondary part structures (70) are formed coaxially to the bearing surfaces.

52. Drive unit according to claim 51, characterized in that the lateral surface (60) in the region of the secondary part structure (70) has an identical radius with at least one bearing surface (62, 66).

53. Drive unit according to claim 52, characterized in that the lateral surfaces (60) have the same radius as both bearing surfaces (62, 66).

54. Drive unit according to claim 52 or 53, characterized in that the bearing surfaces (62, 66) at least partially overlap the secondary part structure (70).

55. Drive unit according to one of the preceding claims, characterized in that a controller (40) for positioning the actuator (50) in the longitudinal direction (78) and the azimuthal direction (76) is provided.

56. Drive unit according to claim 55, characterized in that the controller (40) comprises a position detection device (100).

57. Drive unit according to claim 56, characterized in that the position detection device (100) comprises a position detection unit (110, 120) and a position detection structure (122) which can be scanned by the position detection unit (120).

58. Drive unit according to claim 57, characterized in that the position detection structure (122) is connected to the actuator (50) and that the position detection unit (120) is arranged on the bearing housing (52).

59. Drive unit according to one of claims 57 or 58, characterized in that the position detection structure (122) extends the azimuthal direction (76).

60. Drive unit according to claim 59, characterized in that the position detection structure (122) is designed as a closed structure in the azimuthal direction (76).

61. Drive unit according to one of claims 57 to 60, characterized in that the position detection structure (122) extends in the longitudinal direction (78).

62. Drive unit according to one of claims 57 to 61, characterized in that the position detection structure (122) is arranged on a surface (114, 130, 152) surrounding the longitudinal axis (54) of the actuator (50).

63. Drive unit according to claim 62, characterized in that the position detection structure (122) on a cylindrical to the longitudinal axis (54) of the actuator (50) extending surface (130, 152) is arranged.

64. Drive unit according to claim 62 or 63, characterized in that the position detection structure (122) is arranged on a cylindrical surface of the actuator (50).

65. Drive unit according to one of claims 57 to 62, characterized in that the position detection structure (122) is arranged on a surface (114) of the actuator (50) running perpendicular to the longitudinal axis (54).

66. Drive unit according to one of claims 57 to 65, characterized in that the position detection structure (122) is arranged in an interior (148) of the actuator (50).

67. Drive unit according to one of claims 57 to 65, characterized in that the position detection structure (122) is arranged on an outside (60) of the actuator (50).

68. Drive unit according to claim 67, characterized in that the position detection structure (122) is arranged on a lateral surface (60) of the actuator (50).

69. Drive unit according to claim 67 or 68, characterized in that the position detection structure (122) extends at least partially over the secondary part structure (70).

70. Drive unit according to claim 69, characterized in that the position detection structure (122) extends beyond the at least rotationally effective and at least linearly translationally effective secondary part structure (70).

71. Drive unit according to one of claims 69, characterized in that the position detection structure (122) has structural bodies (124, 132) arranged in a regular pattern.

72. Drive unit according to claim 71, characterized in that the position detection structure (122) has identical structural bodies (124, 132).

73. Drive unit according to claim 72, characterized in that the structural bodies (132) are arranged with intermediate spaces (134) between them.

74. Drive unit according to one of claims 57 to 70, characterized in that the position detection structure (122) has a stochastic surface pattern.

75. Drive unit according to one of claims 57 to 74, characterized in that the position detection structure (122) can be scanned by at least one sensor of the position detection unit (120 '), with which an angle of rotation of the actuator (50) about the longitudinal axis (54) can be detected ,

76. Drive unit according to one of claims 57 to 75, characterized in that the position detection structure (122) can be scanned by at least one sensor of the position detection unit (120) with which a linear translational movement in the longitudinal direction (78) can be detected.

77. Drive unit according to one of the preceding claims, characterized in that the at least rotationally effective primary part structure (80) can be controlled by the controller (40) with respect to the rotational position of the actuator (50) relative to the bearing housing (52) by means of a position control.

78. Drive unit according to one of the preceding claims, characterized in that the at least linear translationally effective primary part structure (80) by the controller (40) with respect to the linear position of the actuator (50) in the longitudinal direction (78) relative to the bearing housing (52) can be controlled by means of a position control.

79. Drive unit according to claim 77 or 78, characterized in that the position control for the linear translational position of the actuator (50) relative to the bearing housing (52) and the position control for the rotational position of the actuator (50) work parallel to the bearing housing.