DE102021205180A1 - Pedal mechanism for a vehicle - Google Patents

Abstract

Foot pedal mechanism for a vehicle, with a bearing block (2), a foot lever (3) mounted on the bearing block (2) so that it can pivot about a foot lever axis (5), and a resistance device, by means of which a pivoting movement of the foot lever (3) about the foot lever axis (5 ) counteracting moment of resistance (T) can be generated, the resistance device having at least one rotary actuator (12), which has a stator (14) connected to the bearing block (2) and a stator (14) connected to the foot pedal (3) and rotating relative to the stator (14 ) about a rotor axis (18) rotatable rotor (15).

Description

The invention relates to a pedal mechanism for a vehicle, having a bearing block, a foot lever mounted on the bearing block so that it can pivot about a foot lever axis, and a resistance device by means of which a resistance torque counteracting a pivoting movement of the foot lever about the foot lever axis can be generated.

In conventional braking systems, a counterforce when the brake pedals in motor vehicles are actuated is generated by hydraulic pressure in a braking device, which pressure is passed on to the brake pedal as a result of a force-transmitting connection between the brake pedal and the braking device. In more modern braking systems, this connection can be broken, resulting in the advantage that the pedal mechanism and the braking device can be spatially separated from one another and can therefore also be positioned independently of one another. In addition to solving installation space problems, there is also the possibility of reducing costs and weight. Since there is no longer a power-transmitting connection between the pedal and the braking device, it is a brake-by-wire system. With such a system, it is desirable to simulate the counterforce for the driver by an actuator.

the DE 10 2012 213 665 A1 discloses an actuating pedal for a motor vehicle in the form of a clutch pedal or foot pedal for a parking brake, the actuating pedal comprising a pedal body with a profile carrier made from a continuous fiber-reinforced plastic, a bearing device for the pivotable mounting of the actuating pedal and an actuating tread, the bearing device and the actuating tread made of plastic are made. On its underside, the profile carrier is provided with a connection for a toggle lever, which interacts with a spring of a force simulator that is integrated into the actuating pedal. The toggle lever, which is formed from two individual jointed levers brought together at a joint, one of which is rotatably fixed to the profile carrier and the other axially displaceable to the bearing block, is supported on the bearing block via the spring. A cam is formed on the free end of the displaceably arranged articulated lever, which cam is guided in a guideway of a guide element. By guiding the cam formed on the articulated lever in the guideway on the one hand and the spring supporting the deflection lever on the other hand, a special lever kinematics is formed which allows a largely free configuration of the force-displacement curve of the actuating pedal. However, this solution is mechanically complex and cannot be adjusted later.

Proceeding from this, the invention is based in particular on the object of being able to implement a force feedback function in a pedal mechanism as cost-effectively as possible and subsequently adjustable.

According to the invention, this object is achieved by a pedal mechanism according to claim 1 . Preferred developments of the invention are given in the dependent claims and in the following description.

A pedal mechanism for a vehicle, in particular a motor vehicle, with a bearing block, a foot lever mounted on the bearing block so that it can pivot about a pedal axis, and a resistance device, by means of which a resistance torque counteracting a pivoting movement of the pedal about the pedal axis can be generated, is further developed according to the invention in particular in that the Resistance device has at least one rotary actuator, which has a stator connected to the bearing block and a rotor connected to the foot lever, in particular at least indirectly, and rotatable about a rotor axis relative to the stator.

A rotary actuator can usually be obtained inexpensively. Due to the controllability of actuators, the moment of resistance generated can be adjusted in particular.

The or a pivoting movement of the foot lever, which in particular counteracts the moment of resistance, preferably takes place in an actuating direction of rotation. Preferably, the or a pivoting movement of the foot pedal, which in particular counteracts the moment of resistance, is caused by an actuating force acting on the foot pedal. Advantageously, the actuating force applied in particular by a driver acts on the pedal at a distance from the pedal axis.

The foot pedal preferably has a preferably plate-shaped actuating surface, in particular at a distance from the foot pedal axis, which is also referred to as a tread surface, for example. The actuating surface is preferably formed by an actuating plate provided on the foot pedal, in particular at a distance from the foot pedal axis, which is also referred to, for example, as a foot pedal. Advantageously, the or an actuating force applied in particular by the driver acts on the actuating surface and/or on the actuating plate.

According to a further development, the resistance device has two or more, in particular similar, rotary actuators, each of which has a stator connected to the bearing block and have a rotor connected to the foot pedal, in particular at least indirectly, and rotatable about a rotor axis relative to the stator. This makes it possible, in particular, to increase the moment of resistance.

The or each rotary actuator is preferably arranged at the level of the foot lever axis. For example, the foot pedal is arranged between the rotary actuators. The rotor axis of the or each rotary actuator preferably coincides with the pedal axis. For example, the rotor axis of the or each rotary actuator corresponds to the axis of the pedal. Advantageously, the stator of the or each rotary actuator is rigidly or torsionally rigidly connected to the bearing block. The rotor of the or each rotary actuator is preferably connected rigidly or in a torsionally rigid manner to the pedal.

The or each rotary actuator is preferably a semi-active rotary actuator. The or each rotary actuator is preferably a magnetorheological actuator, which is also referred to, for example, as a rotary magnetorheological actuator. The or each magnetorheological actuator is also referred to, for example, as an MRF actuator or as a rotary MRF actuator (MRF=magnetorheological fluid).

Preferably, the or each rotary actuator has at least one electromagnet, by means of which a magnetic field can be generated, and a magneto-rheological fluid, preferably exposed or capable of being exposed to the magnetic field generated or generated by the electromagnet, by means of which the rotor can be connected to the stator, in particular in a torque-transmitting manner , coupled or frictionally coupled. The viscosity of the magnetorheological fluid of the or each rotary actuator can preferably be varied by varying the strength of the magnetic field to which the magnetorheological fluid is exposed, so that in particular the coupling and/or friction between the rotor and the stator of the or each rotary actuator can be varied by varying the strength of the magnetic field. Such a rotary magnetorheological actuator is well suited for realizing the desired force feedback function. The or each rotary actuator preferably comprises, in particular additionally, at least one permanent magnet. For example, the basic viscosity of the magnetorheological fluid can be adjusted by the permanent magnet.

The or each rotary actuator is preferably controllable. The moment of resistance that is generated or that can be generated is thus, in particular, adjustable. A control device connected to the or each rotary actuator is preferably provided, by means of which the or the respective rotary actuator or rotary actuators can be controlled. The control device comprises, for example, a digital computer and/or a microcontroller and/or a digital signal processor.

Preferably, at least one rotation angle sensor is provided, by means of which the or a pivoting angle of the pedal with respect to the pedal axis can be detected. The at least one rotation angle sensor is advantageously connected to the control device. It is thus possible, in particular, to specify a relationship between the moment of resistance and the pivoting angle of the foot pedal, for example in the form of a characteristic curve, and/or to set and/or control and/or regulate the moment of resistance as a function of the pivoting angle of the foot pedal. The at least one rotation angle sensor is preferably integrated in the rotary actuator or in one of the rotary actuators. Such integration can save costs, for example.

For example, two or more rotation angle sensors are provided, by means of which, in particular in each case, the or a pivoting angle of the pedal relative to the pedal axis can be detected. Each rotation angle sensor is preferably connected to the control device. One of the rotation angle sensors is advantageously integrated into each rotary actuator.

The foot pedal is preferably mounted on the bearing block by means of a swivel joint so that it can pivot about the foot pedal axis. The or each rotary actuator preferably acts on the rotary joint. The or each rotary actuator is advantageously connected to the pivot joint and/or to the foot lever via the pivot joint. For example, the rotor of the or each rotary actuator is connected to the swivel joint and/or to the foot lever via the swivel joint. The at least one or each rotation angle sensor preferably acts on the pivot joint. The at least one or each rotation angle sensor is advantageously connected to the swivel joint and/or to the foot pedal via the swivel joint.

According to a further development, a pedal shaft is provided which is connected to the pedal, in particular rigidly or in a torsionally rigid manner, by means of which the pedal is pivotably mounted on the bearing block about the pedal axis. The pedal shaft is formed, for example, by stub shafts provided on both sides of the pedal. Alternatively, the pedal shaft extends, for example, through the pedal. For example, the pedal shaft engages, in particular in a slidable manner, in at least one or more bearing recesses provided on or in the bearing block. The rotor of the or is preferred each rotary actuator, preferably rigid or torsionally rigid, connected to the pedal shaft. As a result, in particular the rotor of the or each rotary actuator is connected, preferably rigidly or torsionally rigidly, in particular at least indirectly, to the pedal. The at least one rotation angle sensor is preferably coupled, in particular directly, to the pedal shaft. Advantageously, the swivel joint includes the foot lever shaft and/or the at least one or the bearing recesses.

The rotor of the or each rotary actuator is connected to the pedal or the pedal shaft by means of a gear, for example. The rotor of the or each rotary actuator is preferably connected directly to the pedal or the pedal shaft.

The or each rotary actuator is preferably arranged at the level of the pedal shaft. Advantageously, the or each rotary actuator and/or the rotor of the or each rotary actuator adjoins the foot pedal shaft, in particular in the direction of the foot pedal axis, preferably laterally. For example, the pedal shaft is arranged between the rotary actuators.

According to one embodiment, the resistance device has at least one spring connected between the bearing block and the foot pedal. Preferably, the foot lever can be pivoted about the foot lever axis against the spring force of the at least one spring, in particular in the or one actuating direction of rotation. The at least one spring can be used, for example, to generate a basic identifier for the foot pedal. Advantageously, by means of the at least one spring, a moment of resistance counteracting the or a pivoting movement of the foot lever, preferably in the or an actuating direction of rotation, about the foot lever axis can be generated, in particular additionally. The foot pedal can preferably be pivoted into a rest position or pivoted back by means of the at least one spring, in particular counter to the direction of rotation or an actuating direction. The at least one spring is, for example, a compression spring, a tension spring or a torsion spring. For example, the at least one spring is a helical spring. The at least one spring is provided redundantly in particular.

According to a further development, a preferably fixed or rigid foot pedal end stop is provided which is connected to the bearing block, by means of which the or a pivoting movement of the foot pedal, in particular in the or one actuating direction of rotation, can be limited to a maximum pivoting angle, preferably in that the foot pedal can be actuated when the maximum swivel angle hits the foot pedal end stop.

The foot pedal is preferably assigned the or a rest position. The swivel angle in the rest position preferably corresponds to a reference angle. For example, the swivel angle is in the rest position and/or the reference angle is equal to zero.

The foot lever preferably consists, in particular at least partially, of preferably thermoplastic, in particular fiber-reinforced plastic. Thus, for example, weight can be saved. The foot pedal preferably has a pedal body that consists and/or is made of organic sheet metal, for example. In particular, the foot lever shaft and/or the actuating surface consists or consist of plastic, preferably thermoplastic. The pedal shaft and/or the actuating surface is or are advantageously molded onto the pedal body and/or onto the pedal. The bearing block preferably consists, in particular at least partially, of preferably thermoplastic, in particular fiber-reinforced plastic.

The pedal mechanism is or is preferably provided and/or used for a vehicle, which is in particular a motor vehicle. The bearing block is preferably fastened or can be fastened to a bulkhead of the vehicle or of a vehicle. For example, the foot pedal is also referred to as a pedal. The foot pedal advantageously forms a brake pedal, a clutch pedal or an accelerator pedal, in particular for the or a vehicle. The at least one or each rotation angle sensor and/or the control device is or are preferably connected to at least one braking device, in particular electrically. The at least one braking device exerts in particular a braking torque and/or a braking force on at least one vehicle wheel of the vehicle, in particular as a function of the swivel angle.

According to one embodiment, the pedal with the pedal shaft connected to it is pivoted in the bearing block about the pedal axis. On the side, the pedal shaft is connected, for example, to the two rotary actuators, which are in particular MRF actuators. The torque and/or moment of resistance is preferably generated by means of these actuators, which simulates a pedal force on a driver's foot via the pedal, for example. In addition, the or a spring is preferably installed which, for example, generates a basic identification of the foot pedal and/or ensures that the foot pedal returns to the or a starting position or rest position if the actuators fail. The or a rotation angle sensor, preferably mounted on the pedal shaft, serves in particular to measure the or a pedal pivoting angle, which preferably characterizes the or a pedal position or position. Optionally, the or a foot lever end stop can be provided and/or integrated.

• - Das Fußhebelwerk ist mechanisch einfach ausführbar.
• - Eine ggf. einfache Fußhebelgeometrie und/oder eine Kröpfung des Fußhebels ermöglichen z.B. den Einsatz von Leichtbaukonzepten für den Fußhebel.
• - Das Fußhebelwerk kann ohne Austausch von Komponenten an unterschiedliche Anforderungen angepasst werden (z.B. Anpassung der Drehmomentkurve an eine Wunschkennlinie).
• - Die Kraft-Weg-Kurve kann an bestimmte Fahrsituationen oder an einen Fahrerwunsch angepasst werden.
• - Es kann ein Force Feedback an den Fahrer in Gefahrensituationen erfolgen.
• - Der Fußhebel kann während eines autonomen Fahrens ggf. in eine „Parkposition“ geschwenkt werden.

In particular, one or more of the following advantages is or are associated with the invention and/or can be achieved:

• - The pedal mechanism is mechanically easy to implement.
• A possibly simple foot pedal geometry and/or a cranked foot pedal enable, for example, the use of lightweight construction concepts for the foot pedal.
• - The pedal mechanism can be adapted to different requirements without replacing components (e.g. adaptation of the torque curve to a desired characteristic).
• - The force-displacement curve can be adapted to specific driving situations or to a driver's request.
• - Force feedback can be sent to the driver in dangerous situations.
• - If necessary, the foot pedal can be swiveled into a "parking position" during autonomous driving.

• 1 eine Draufsicht auf ein Fußhebelwerk mit einem Sensor und zwei rotatorischen Aktoren,
• 2 eine Schnittansicht des Fußhebelwerks entlang einer aus 1 ersichtlichen Schnittlinie A-A,
• 3 eine schematische Darstellung eines der rotatorischen Aktoren und
• 4 ein schematisches Blockschaltbild einer mit den rotatorischen Aktoren und dem Sensor verbundenen Steuervorrichtung.

The invention is described below using a preferred embodiment with reference to the drawing. Show in the drawing:

• 1 a top view of a pedal mechanism with a sensor and two rotary actuators,
• 2 a sectional view of the pedal assembly along a 1 apparent cutting line AA,
• 3 a schematic representation of one of the rotary actuators and
• 4 a schematic block diagram of a control device connected to the rotary actuators and the sensor.

From the 1 and 2 Different views of a pedal mechanism 1 according to one embodiment can be seen, which has a bearing block 2 and a foot lever 3, which is connected in a torsionally rigid manner to a foot lever shaft 4, by means of which the foot lever 3 is pivotably mounted on the bearing block 2 about a foot lever axis 5. At a distance from the foot pedal axis 5, the foot pedal 3 has a treadle 6 at one end. If an actuating force F is applied to the footplate 6, the foot pedal 3 pivots in an actuating direction of rotation 7 about the foot pedal axis 5. To limit the pivoting movement of the foot pedal 3 in the actuating direction of rotation 7, a foot lever end stop 8 is provided, which is firmly connected to the bearing block 2, on which the foot lever 3 stops when a maximum swivel angle is reached. The bearing block 2 is preferably attached to a bulkhead 9 of a vehicle. The foot pedal 3 preferably forms a brake pedal of the vehicle. Between the bearing block 2 and the foot pedal 3, a spring 10 is connected, which is designed here in particular as a compression spring. The foot pedal 3 can preferably be pivoted about the foot pedal axis 5 against the spring force of the spring 10 in the actuating direction of rotation 7 . In particular, the spring 10 pushes the foot pedal 3 out after a deflection in the actuating direction of rotation 7 2 apparent rest position of the pedal 3 back.

The pedal mechanism 1 has a rotation angle sensor 11, by means of which a pivoting angle α of the pedal 3 with respect to the pedal axis 5 can be detected. The swivel angle α is determined in particular based on the rest position, so that in 2 shown position of the foot pedal 3 of the pivot angle α is zero. If the maximum pivoting angle defined by the foot pedal end stop 8 is denoted by α_max, the following applies to the pivoting angle α: 0≦α≦α_max.

Pedal mechanism 1 also has two rotary actuators 12 and 13 , each of which has a stator 14 connected to bearing block 2 and a rotor 15 connected to pedal shaft 4 and rotatable about pedal axis 5 relative to stator 14 . The rotary actuators 12 and 13 have the same structure and are designed as magnetorheological actuators, with the actuator 12 being shown in a schematic sectional view in FIG 3 is shown. The two rotary actuators 12 and 13 are part of a resistance device, by means of which a resistance torque T counteracting a pivoting movement of the foot pedal 3 in the actuating direction of rotation 7 about the foot pedal axis 5 can be generated. According to a possible modification of the embodiment, only the actuator 12 is present, so that the actuator 13 is omitted.

Out of 3 It can be seen that the actuator 12 has an electromagnet 16 by means of which a magnetic field B can be generated or is being generated as a function of an electric current I flowing through the electromagnet 16 . Furthermore, the actuator 12 has a magnetorheological fluid 17 which is exposed to the magnetic field B and by means of which the rotor 15 is coupled to the stator 14 . The viscosity of the magnetorheological fluid 17 is dependent on the strength of the magnetic field B. If the rotor 15 is rotated about a rotor axis 18 relative to the stator 14, friction occurs between the rotor 15 and the stator 14, which depends on the viscosity of the magnetorheological Liquid 17 and thus dependent on the strength of the magnetic field B is. Since the strength of the magnetic field B depends on is the strength of the electric current I, the friction between the rotor 15 and the stator 14 can be controlled by the electric current I. If the rotor 15 is rotated about the rotor axis 18 by actuating the foot pedal 3, which here coincides with the foot pedal axis 5, the friction between the rotor 15 and the stator 14 leads to a friction torque R, which can be controlled by the electric current I and the Part of the actuator 12 at the moment of resistance T forms. In this case, the moment of resistance T is made up of the frictional moments R of the actuators 12 and 13 in particular. If, according to the modification of the embodiment, only the actuator 12 is present, the resistance torque T corresponds in particular to the frictional torque R of the actuator 12.

Out of 4 A schematic block diagram of a control device 19 connected to the rotary actuators 12 and 13 and to the sensor 11 can be seen. The control device 19 is preferably also connected to at least one braking device 20 of the vehicle. The moment of resistance T can be controlled by means of the control device 19 as a function of the swivel angle α. The at least one braking device 20 can also preferably be controlled by means of the control device 19 as a function of the swivel angle α.

Reference List

1

pedals

2

bearing block

3

foot pedal

4

pedal shaft

5

pedal axle

6

Foot pedal pedal

7

direction of rotation

8th

pedal end stop

9

bulkhead

10

Feather

11

angle of rotation sensor

12

rotary actuator

13

rotary actuator

14

Stator of the rotary actuator

15

Rotor of the rotary actuator

16

electromagnet

17

magnetorheological fluid

18

rotor axis

19

control device

20

braking device

a

swivel angle

R

friction torque of the actuator

T

Moment of resistance

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102012213665 A1 [0003]

Claims (12)

Foot pedal mechanism for a vehicle, with a bearing block (2), a foot lever (3) mounted on the bearing block (2) so that it can pivot about a foot lever axis (5), and a resistance device, by means of which a pivoting movement of the foot lever (3) about the foot lever axis (5 ) counteracting moment of resistance (T) can be generated, characterized in that the resistance device has at least one rotary actuator (12), which has a stator (14) connected to the bearing block (2) and a stator (14) connected to the foot pedal (3) and mounted relative to the Stator (14) has a rotor axis (18) rotatable rotor (15). foot pedal mechanism claim 1 , characterized in that the rotary actuator (12) is a magnetorheological actuator. foot pedal mechanism claim 1 or 2 , characterized in that the rotary actuator (12) has at least one electromagnet (16), by means of which a magnetic field (B) can be generated, and a magnetorheological fluid (17) which can be exposed to a magnetic field (b) generated by the electromagnet (16), by means of which the rotor (15) is coupled to the stator (14). Pedal mechanism according to one of the preceding claims, characterized by a control device (19) which is connected to the rotary actuator (12) and by means of which the rotary actuator (12) can be controlled. Pedal mechanism according to one of the preceding claims, characterized by at least one rotation angle sensor (11) by means of which a pivoting angle (a) of the pedal (3) relative to the pedal axis (5) can be detected. Pedal mechanism according to the claims 4 and 5 , characterized in that the at least one rotation angle sensor (11) is connected to the control device (19). Pedal mechanism according to one of the preceding claims, characterized in that the rotor axis (18) of the rotary actuator (12) coincides with the pedal axis (5). Pedal mechanism according to one of the preceding claims, characterized by a pedal shaft (4) connected to the pedal (3), by means of which the pedal (3) is mounted on the bearing block (2) so that it can pivot about the pedal axis (5), the rotor (15 ) of the rotary actuator (12) is connected to the pedal shaft (4). foot pedal mechanism claim 8 , characterized in that the at least one rotation angle sensor (11) is coupled to the pedal shaft (4). Pedal mechanism according to one of the preceding claims, characterized in that the resistance device has at least one spring (10) connected between the bearing block (2) and the pedal (3), against the spring force of which the pedal (3) can be pivoted about the pedal axis (5). . Pedal mechanism according to one of the preceding claims, characterized by a pedal end stop (8) connected to the bearing block (2), by means of which a pivoting movement of the pedal (3) can be limited to a maximum pivoting angle. Pedal mechanism according to one of the preceding claims, characterized in that the resistance device has two identical rotary actuators (12, 13), each of which has a stator (14) connected to the bearing block (2) and a stator (14) connected to the pedal (3) and positioned relative to have the stator (14) rotatable about the pedal axis (5) rotor (15).

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