DE102022115084A1 - Adjusting device for a vehicle and method for operating an adjusting device - Google Patents

Abstract

An adjusting device (100) for a vehicle has a rotor (105), stator (110), at least one pin unit (115), magnetorheological medium (120) and at least one coil (125). The pin unit (115) has a housing (140), an elastic means (145) and a pin element (150). The pin element (150) is partially arranged in the housing (140). The resilient means (145) is disposed in the housing (140) and configured to bias the pin member (150) into engagement against an outer periphery of the rotor (105). The pin element (150) can be moved linearly relative to the housing (140) by a rotational movement of the rotor (105). The medium (120) is designed to assume different states depending on a magnetic field acting on the medium (120), which cause different resistance characteristics for the movement of the pin element (150) and the rotational movement of the rotor (105). The coil (125) is designed to put the medium (120) into different states depending on the current intensity of the coil (125).

Description

The present invention relates to an actuating device for a vehicle, to a method for operating an actuating device, to a corresponding control device and to a corresponding computer program.

Magnetorheological fluids (MRF) can, for example, be used to implement adaptively adjustable dampers and resistors for mechanical movements. An operating principle in which the fluid flows around a rotating disk and which brakes the rotational movement by means of shear forces when a magnetic field is applied is known. This makes it possible to adjust end positions and locking positions as well as movement resistance during rotation. This principle can be used, for example, for a multifunctional rotary shifter, in which, in addition to the switch position, other functions such as steering, multimedia operation and interior operation can be implemented, whereby each function can be assigned individual movement profiles. As an alternative to the shear stress on a moving disk, magnetorheological fluids can also be used to regulate a flow rate through changes in viscosity on a throttle.

Against this background, the present invention creates an improved actuating device for a vehicle, an improved method for operating an actuating device and an improved control device as well as an improved computer program according to the main claims. Advantageous refinements result from the subclaims and the following description.

The advantages that can be achieved with the approach presented are, in particular, that an actuating device can be created which has a coil arrangement and magnetorheological medium, with different types of current supply being able to bring about different resistance characteristics for actuation of the actuating device in a simple and precise manner.

An actuating device for a vehicle has a rotor, a stator, at least one pin unit, a magnetorheological medium and at least one coil. The rotor can be coupled to an actuating element. The rotor is rotatably mounted relative to the stator. The pin unit is arranged on the stator. The pin unit has a housing, an elastic means and a pin member. The pin element is partially arranged in the housing. The resilient means is configured to bias the pin member into abutment against an outer periphery of the rotor, the pin member being linearly movable relative to the housing by rotational movement of the rotor. The magnetorheological medium is arranged within the pin unit and designed to assume different states depending on a magnetic field acting on the magnetorheological medium, which cause different resistance characteristics for the movement of the pin element and the rotational movement of the rotor. The coil is arranged on the pen unit. The coil is designed to put the magnetorheological medium into the different states depending on the current intensity of the energization of the coil.

An adjusting device can be a device for operating any vehicle function of the vehicle. The adjusting device can be designed as an operating device or as an actuating device or an actuator. For example, such an operating device can be operated by an occupant of the vehicle. A rotor can be understood as a movable, rotating part of the device. A stator can be understood as a fixed, immovable part of the device. The stator can be arranged on the outside and the rotor on the inside. The stator and the rotor do not mean parts of an asynchronous machine, but rather parts of an adjusting device that can be operated manually. A pin element can be a pin-shaped element of the pin unit. The pin element can be accommodated in the pin unit in an axially linearly movable manner. The elastic means can be arranged in the housing or outside the housing. An elastic means can be, for example, a compression spring, which can only be magnetically non-conductive, for example. A magnetorheological medium can be a heterogeneous mixture of magnetically polarizable particles. The magnetorheological medium can also be referred to as a magnetorheological fluid. The medium may be magnetorehological (MR) fluid, comprising a carrier fluid, e.g. B. oil, and MR particles, or an MR elastomer comprising MR particles in an elastomer matrix (rubber). Alternatively, the magnetorheological medium can also be a powder. MR particles can also be used as a powder with, if necessary, admixtures as the medium. By applying the magnetic field, viscoelastic or dynamic mechanical properties of the magnetorheological medium can be changed quickly and reversibly. When a magnetic field is applied, caused by energizing a coil, the magnetorheological medium solidifies. The coil can be an electrical construction act as an element that has turns to generate a magnetic field when current flows. The different states of the magnetorheological medium can be a rest state, a medium activation state and an activation state. The coil can be controllable in an analogous manner, whereby continuous state changes between the rest state and the activation state or, in other words, a plurality of different means activation states can be brought about. The rest state, i.e. a low resistance characteristic of the magnetorheological medium, can be brought about when the coil is not or is not energized and therefore no magnetic field acts on the magnetorheological medium. In the idle state, the movement of the pin element and the rotational movement of the rotor are possible without a braking torque acting on the rotor or with a minimal braking torque acting on the rotor. The medium activation state, i.e. a medium resistance characteristic of the magnetorheological medium, can be brought about when the coil is or is energized with a first current intensity and thus a magnetic field acts on the magnetorheological medium. In the middle activation state, the movement of the pin element and the rotational movement of the rotor is possible to a limited extent; a low braking torque acts on the rotor. The activation state, i.e. a high resistance characteristic of the magnetorheological medium, can be brought about when the coil is or is energized with a second current intensity and thus the magnetic field has a stronger effect on the magnetorheological medium. In the activated state, the movement of the pin element and the rotation of the rotor is hardly possible; a high braking torque acts on the rotor. The first current intensity can be smaller in magnitude than the second current intensity. The medium resistance characteristic can lie between the high resistance characteristic and the low resistance characteristic. The current intensity can be changed continuously and therefore the resistance characteristics can also be changed continuously.

The approach presented here can also be understood or referred to as adaptive haptics based on magnetorheological fluid. The actuator of the approach presented here can, in particular, work without strain gauges for detecting the direction of rotation and detecting the torque. This means that the actuator can be manufactured comparatively cheaply. For applications where functions, e.g. B. Display, lighting, buttons, etc., are to be integrated into a cover side of a rotary knob mounted on the actuator or damper, an individual adjustment of the damper can be omitted. The damper does not need to be connected via a gear pair.

The rotor can be mounted eccentrically. This offers the advantage that the rotational movement of the rotor can be reliably influenced, with an interaction between the outer circumference of the rotor and the at least one pin unit being able to be realized in a simple manner by the eccentricity.

According to one embodiment, the rotor can have a locking contour on the outer circumference. The locking contour can be, for example, a tooth contour. The pin element can engage in the tooth contour when the rotor rotates. The pin element can be reliably deflected linearly by the tooth contour.

As an alternative to a radial arrangement or positional relationship between the pin element and the locking contour, an axial arrangement or positional relationship between the pin element and the locking contour can also be provided, for example similar to a radial piston pump. In an axial arrangement, the locking contour can be formed on an axial end face of the rotor. The rotor can be arranged on the inside or outside of the stator.

According to one embodiment, the coil can be arranged on the housing. The magnetorheological medium can be arranged in the housing. This allows a simplified design of the pin unit to be realized, which can also be produced in a time-saving and cost-effective manner. Fewer components can be used, allowing the pen unit to last longer. The adjusting device can thus be implemented with reduced complexity, reduced space requirements and reduced number of components.

In this case, the pin element can be shaped to exert a mechanical load, for example a shear load, on the magnetorheological medium when the rotor rotates relative to the stator. This offers the advantage that the resistance characteristics can be influenced in a simple and precise manner.

According to a further embodiment, the pin unit can have a fluid channel with a first connection and a second connection. The fluid channel can be fluid-mechanically connected to the housing via the connections. The coil can be arranged on the fluid channel, wherein the magnetorheological medium can be arranged in the fluid channel and in the housing. The magnetorheological medium can thus be used during the linear movement of the pin element be pressed out of the housing into the fluid channel. The viscosity of the magnetorheological medium in the fluid channel can be influenced by the coil. In this way, the linear movement of the pin element in the direction into the housing can be dampened when the coil is energized.

In this case, the pin unit may have a throttle element arranged in the fluid channel, wherein the coil may be arranged on the throttle element. This offers the advantage that flow of the magnetorheological medium through the fluid channel can be reduced even more effectively.

In this case, the pin unit can have a valve which is fluid-mechanically arranged parallel to the throttle element in the fluid channel. The valve can be shaped to block or control a flow of the magnetorheological medium.

The adjusting device can have a force sensor that is arranged on the housing. The force sensor can be designed to detect a force exerted by the rotor on the pin unit. The force sensor can be designed, for example, as a piezoelectric sensor. This allows the force sensor to be robust. In addition, a piezoelectric sensor can be insensitive to electromagnetic fields and radiation. Based on the force detected by the force sensor, a rotational force exerted on the rotor via the actuating element can be determined.

The adjusting device can have at least one further pin unit, which can be arranged on the stator. Such an embodiment offers the advantage that a resistance characteristic for the rotary movement of the rotor can be set particularly precisely and reliably. In particular, the more pin units the adjusting device has, the higher the braking torque can be set. By means of a further pin unit with a further force sensor, a direction of rotation and additionally or alternatively a rotational force of the rotor can be detected.

According to one embodiment, the adjusting device can have a further coil which is arranged on the housing. The further coil can be designed to cause a linear movement of the pin element. The additional coil can also be referred to as an actuating magnet. Such an embodiment offers the advantage that a resistance-free smooth running of the rotor relative to the pin unit can be achieved and, additionally or alternatively, a contact pressure of the pin element on the rotor can be increased or reduced.

A method for operating the adjusting device can have a step of adjusting the current intensity of the energization of the coil in order to put the magnetorheological medium into the different states. Optionally, the method can also have a step of energizing the further coil in order to cause a linear movement of the pin element.

The low resistance characteristic can represent a state of the magnetorheological medium in which the magnetorheological medium opposes a rotational movement of the rotor with a low rotational resistance, i.e. exerts a low braking torque on the rotor. As a result, the operator only needs to exert a small amount of torque on the actuating element in order to be able to rotate the actuating element. For example, the control element feels smooth. The high resistance characteristic can represent a state of the magnetorheological medium in which the magnetorheological medium opposes the rotational movement of the rotor with a high rotational resistance compared to the low rotational resistance, i.e. exerts a high braking torque on the rotor. As a result, the operator must exert a high torque on the actuating element in order to be able to rotate the actuating element. For example, the control element feels stiff. The high rotational resistance can also be so great that the control element is blocked. The medium resistance characteristic may represent a state of the magnetorheological medium that lies between the low resistance characteristic and the high resistance characteristic.

The method can additionally have a step of determining a direction of rotation and additionally or alternatively a rotational force of the rotor using a sensor signal, which can represent a force detected by at least one force sensor and exerted by the rotor on the pin unit.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control device.

A control device can be an electrical device that processes electrical signals, for example sensor signals, and outputs control signals depending on them. The control device can have one or more suitable interfaces, which can be designed in hardware and/or software. In the case of a hardware design, the interfaces can, for example, be part of an integrated circuit in which functions of the control device are implemented. The interfaces can also be their own integrated circuits or at least partly consist of discrete components. In the case of software training, the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.

Also advantageous is a computer program product with program code, which can be stored on a machine-readable medium such as a semiconductor memory, a hard drive memory or an optical memory and is used to carry out the method according to one of the embodiments described above if the program is on a computer or a control device is performed.

• 1 eine schematische Darstellung einer Stellvorrichtung gemäß einem Ausführungsbeispiel;
• 2 eine schematische Darstellung einer Stifteinheit einer Stellvorrichtung gemäß einem Ausführungsbeispiel;
• 3 eine schematische Darstellung einer Stifteinheit einer Stellvorrichtung gemäß einem Ausführungsbeispiel;
• 4 eine schematische Darstellung einer Stellvorrichtung gemäß einem Ausführungsbeispiel;
• 5 eine schematische Darstellung einer Stellvorrichtung gemäß einem Ausführungsbeispiel; und
• 6 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Betreiben einer Stellvorrichtung.

The invention is explained in more detail using the accompanying drawings. Show it:

• 1 a schematic representation of an adjusting device according to an exemplary embodiment;
• 2 a schematic representation of a pin unit of an adjusting device according to an exemplary embodiment;
• 3 a schematic representation of a pin unit of an adjusting device according to an exemplary embodiment;
• 4 a schematic representation of an adjusting device according to an exemplary embodiment;
• 5 a schematic representation of an adjusting device according to an exemplary embodiment; and
• 6 a flowchart of an exemplary embodiment of a method for operating an adjusting device.

In the following description of preferred exemplary embodiments of the present invention, the same or similar reference numbers are used for the elements shown in the various figures and having a similar effect, with a repeated description of these elements being omitted.

1 shows a schematic representation of an exemplary embodiment of an adjusting device 100 for a vehicle. The adjusting device 100 is designed, for example, to operate any vehicle function of the vehicle. For example, the adjusting device 100 can be operated manually by an occupant of the vehicle, e.g. B. via an adjusting element. The adjusting device 100 has a rotor 105, a stator 110, at least one pin unit 115, 130 and 135, a magnetorheological medium 120 and at least one coil 125.

The rotor 105 can be coupled to an actuating element. The rotor 105 is rotatably mounted relative to the stator 110. The rotor 105 is arranged on the inside, the stator 110 is arranged on the outside. For example, three pin units 115, 130, 135 are arranged on the stator 110, according to the in 1 illustrated embodiment are identically shaped. The pen unit 115 is described below as an example. According to the exemplary embodiment shown here, the pin unit 115 has a housing 140, an elastic means 145, a pin element 150 and a fluid channel 155.

The housing 145 has a U-shaped sectional profile. The pin element 115 is partially arranged in the housing 145. The pin element 115 has a rotor-side end and a housing-side end. At least the housing-side end of the pin element 115 is accommodated in the housing 145. The rotor-side end of the pin element 115 protrudes from the housing 145.

The elastic means 145 is shaped, for example, as a compression spring and is magnetically conductive only by way of example. The elastic means 145 is arranged completely in the housing 140 according to the exemplary embodiment shown here. More specifically, the elastic means 145 is arranged between an inner wall of the housing 145 and the housing-side end of the pin element 115. The elastic means 145 is designed to bias the pin member 115 against an outer circumference of the rotor 105. The pin element 115 is linearly movable relative to the housing 140 by a rotational movement of the rotor 105. Alternatively, the elastic means 145 may be arranged outside the housing 140.

The magnetorheological medium 120 is arranged in the housing 140 and in the fluid channel 155. The magnetorheological medium 120 is designed to assume different states depending on a magnetic field acting on the magnetorheological medium 120. The different states cause different resistance characteristics for the movement of the pin element 150 and thus also for the rotational movement of the rotor 105. The magnetorheological medium 120 is prevented from exiting the housing by a seal that forms the rotor-side end of the pin element 150 with the housing 140 140 hindered.

The electrical coil 125 is arranged on the fluid channel 155, for example. According to the exemplary embodiment shown here, the coil 125 is arranged on a throttle element 160 in the fluid channel 155. A valve 165 is optional Fluid channel 155 arranged. The valve 165 is fluid-mechanically arranged parallel to the throttle element 160. The valve 165 is shaped to block or control a flow of the magnetorheological medium 120.

The coil 125 is designed to put the magnetorheological medium 120 into the different states depending on a current intensity of the energization of the coil 125. The different states are, for example, a rest state, a medium activation state and an activation state. The current intensity can be changed continuously, which means that the resistance characteristics can also be changed continuously. In the rest state, the pin element 115 is linearly movable relative to the housing 140 by a rotational movement of the rotor 105. In the medium activation state, the linear movement of the pin member 115 has a slight resistance, while in the activation state, the linear movement of the pin member 115 is almost completely or completely blocked by a high resistance. Depending on the resistance for the linear movement of the pin element 115 relative to the housing 140, a respective resistance characteristic for the rotational movement of the rotor 105 results.

The rotor 105 is mounted eccentrically, for example. According to another exemplary embodiment, the rotor 105 can have a locking contour on the outer circumference in addition to or as an alternative to the eccentric mounting. In this case, the locking contour, which can be formed as a tooth contour, is designed to accommodate the rotor-side end of the pin element 150 and to deflect the pin element 150 differently during the rotational movement of the rotor 105, with the pin element 150 dipping into the housing 140 to different extents. Alternatively, the locking contour can be formed on an axial end face of the rotor 105. The rotor 105 can be arranged on the inside or outside of the stator 110.

Energizing the coil 125 creates a magnetic field. The magnetic flux of the magnetic field puts the magnetorheological medium 120 into different states. When the coil 125 is energized with a first current intensity, the magnetorheological medium 120 is placed in a medium activation state. In the middle activation state, the movement of the pin element 150 and the rotational movement of the rotor 105 are possible to a limited extent; a small braking torque acts on the rotor 105.

When the coil 125 is energized with a second current intensity, the magnetorheological medium 120 is put into an activated state. In the activated state, the movement of the pin element 150 and the rotational movement of the rotor 105 are hardly possible; a high braking torque acts on the rotor 105.

When the coil 125 is in a de-energized state, the magnetorheological medium 120 is placed in a resting state. In the idle state, the movement of the pin element 150 and the rotational movement of the rotor 105 are possible without a braking torque acting on the rotor 105.

When the rotor 105 rotates, the outer circumference of the rotor 105 presses against the rotor-side end of the pin element 150. The pin element 150 is therefore pressed into the housing 140. Depending on the state in which the magnetorheological medium 120 is, the pin element 150 is pressed in easily, moderately difficult or not at all. When the pin element 150 is pressed through the outer circumference of the rotor 105, the pin element 150 is pressed against the elastic means 145. Depending on the condition of the magnetorheological medium 120, the elastic means 145 presses in lightly, moderately or hardly or not at all. The magnetorheological medium 120 is displaced when the pin element 150 is depressed when it is in a rest state and/or in a medium activation state. The magnetorheological medium 120 is, for example, partially displaced from the housing 140 into the fluid channel 120.

2 shows a schematic representation of an exemplary embodiment of a pin unit 115 for an adjusting device. These are the ones in 1 mentioned pen unit 115 or a similar pen unit. More precisely, it corresponds to the in 2 shown pen unit 115 of the pen unit 1 with the exception that the pin unit 115 optionally additionally has a force sensor 200 and a further coil 205.

According to the exemplary embodiment shown here, the pin unit 115 has a housing 140, an elastic means 145, a pin element 150, a fluid channel 155, a coil 125, a magnetorheological medium 120, a force sensor 200 and a further coil 205.

The elastic means 145 is arranged in the housing 140 according to the exemplary embodiment shown here. More precisely, the magnetorheological medium 120 is arranged in an interior of the housing 140. The magnetorheological medium 120 surrounds the elastic means 145 and the pin element 150. Alternatively, the elastic means 145 can be arranged outside the housing 140. The elastic means 145 is designed to reset the pin member 150. The pin element 150 is partially arranged in the housing 140 net. The pin element 150 has a rotor-side end and a housing-side end. The end on the rotor side is shaped as a pin head. The end on the housing side is shaped as a T-piece. The pin head and the T-piece are connected to one another by means of an intermediate piece and together form the pin element 150.

The force sensor 200 and the further coil 205 are optionally arranged on the housing 140. The force sensor 200 is designed to detect a force exerted by the rotor 105 on the pin unit 115. The force sensor 200 is designed, for example, as a piezoelectric sensor. The further coil 205 is designed to cause a linear movement of the pin element 150.

The housing 140 is connected to the fluid channel 155. The fluid channel 155 has a first connection 210 and a second connection 215 to an interior of the housing 140, in which the pin element 150 is partially accommodated. The fluid channel 155 is fluid-mechanically connected to the housing 140, more precisely to the interior of the housing 140, via the connections 210, 215. The first connection 210 is, for example, arranged in a region of the elastic means 145. The second connection 215 is arranged in an area of the pin element 150, more precisely the intermediate piece of the pin element 150. A throttle element 160 is arranged in the fluid channel 155. The coil 125 is arranged on the throttle element 160.

Optionally, a valve 165 is arranged in the fluid channel 155. The valve 165 is fluid-mechanically arranged parallel to the throttle element 160. The valve 165 is arranged on an outer channel of the fluid channel 155, the throttle element 160 is arranged on an inner channel of the fluid channel 155. The valve 165 is shaped to block or control a flow of the magnetorheological medium 120.

The magnetorheological medium 120 is arranged in the fluid channel 155 and in the housing 140.

3 shows a schematic representation of an exemplary embodiment of a pin unit 115 for an adjusting device. The pen unit 115 3 resembles one of the pen units 115 1 and/or the pen unit 115 2 . in other words, the adjusting device can 1 also with at least one pen unit such as the pen unit 115 3 be provided.

The magnetorheological medium 120 is arranged within the housing 140. More precisely, the magnetorheological medium 120 is arranged in an interior of the housing 140. The interior is open on one side and sealed on the open side by the pin element 150. The magnetorheological medium 120 surrounds the elastic means 145 and the pin element 150. The coil 125 is arranged on the housing 105. The coil 125 is designed to put the magnetorheological medium 120 into the different states depending on a current intensity of the energization of the coil 125.

The pin element 150 is shaped to exert a mechanical load, for example a shear load, on the magnetorheological medium 120 when the rotor rotates relative to the stator 110.

The force sensor 200 and the further coil 205 are optionally arranged on the housing 140. The force sensor 200 is designed to detect a force exerted by the rotor 105 on the pin unit 115. The force sensor 200 is designed, for example, as a piezoelectric sensor. The further coil 205 is designed to cause a linear movement of the pin element 150.

Energizing the coil 125 causes a magnetic field. The magnetic flux of the magnetic field puts the magnetorheological medium 120 into different states. When the coil 125 is energized with a first current intensity, the magnetorheological medium 120 is placed in a medium activation state. This causes a resistance characteristic for movement of the pin element 150 and for rotational movement of the rotor. When the coil 125 is energized with a second current intensity, the magnetorheological medium 120 is put into an activated state. This causes a high resistance characteristic for the movement of the pin element 150 and for the rotational movement of the rotor. In a de-energized state, the magnetorheological medium 120 is in a resting state. This causes a low resistance characteristic for the movement of the pin element 150 and for the rotational movement of the rotor.

When the rotor rotates, the outer circumference of the rotor presses against the rotor-side end of the pin element 150. The pin element 150 is therefore pressed into the housing 140. Depending on the state in which the magnetorheological medium 120 is, the pin element 150 is pressed in easily, moderately difficult or not at all. When the pin element 150 is pressed through the outer circumference of the rotor 105, the pin element 150 is pressed against the elastic means 145. Depending on the condition of the magnetorheological medium 120, the elastic means 145 presses in lightly, moderately or not at all. The magnetorheological medium 120 becomes when the pin element is pressed 150 displaces when in a resting state and/or in a medium activation state. The magnetorheological medium 120 is displaced from the area of the elastic means 145. However, it remains in the housing 140 and is displaced, for example, up to the pin head of the pin element 150. The pin head serves as a seal and prevents the magnetorheological medium 120 from escaping into the surroundings of the pin unit 115.

The exemplary embodiments already mentioned are briefly explained below with reference to the figures described above.

In order to achieve universal and cost-effective usability of MRF technology, a system such as the one in 1 shown used. Depending on the required degrees of freedom, at least one pin unit 115, which can also be referred to as an MRF pin, runs on a simplified detent contour, whereby a linear, angle-dependent displacement is exerted on the pin element 150, which can also be referred to as a pin. The force realized for the operator is controlled via the viscosity of the magnetorheological medium 120 or alternatively via the shear force between the pin element 150 and the housing wall 140.

In the 1 The adjusting device 100 includes three pin units 115, 130, 135 and an eccentric as a detent contour. In each rotational position, at least one detent displacement always increases during rotation, so that the rotation resistance can be adjusted as desired via the relevant pin unit 115, 130, 135.

In order to detect the direction of rotation without play, force sensors 200, for example piezo elements, are used on the pin units 115, 130, 135. These are cheaper than strain gauges applied by hand and make it possible to detect the direction of rotation and, depending on the angle of rotation, the rotational force via a force shift between the pin units 115, 130, 135. The eccentric can be selected according to the haptic requirements and the inner diameter required for installations.

In the 1 The implementation of the pin units 115, 130, 135 shown does not necessarily have to be in this form. In the simplest case, the pin units 115, 130, 135 can be reduced to a grommet or a housing with a wrapped coil, a pin element and a non-magnetic compression spring, which is just an example, as well as the force sensor, as also shown in 3 is shown. The pin units 115, 130, 135 can be used as standardized components for various products.

In addition to rotational movements, the pin units 115, 130, 135 can be used in various other areas: toggle shifters with or without a mono-stable center position, pressure movements, linear movements, ball movements. Depending on the application, the required number and position of the pin units 115, 130, 135 may vary.

By additionally using a further coil 205, which can also be referred to as an actuating magnet with a coil, for example on the back of the pin unit 115, the pin unit 115 can be made contact-free and pressed more weakly or more strongly against the contour. With this function it is possible to enable smooth running that is largely free of resistance.

By precisely controlling the MRF properties as well as the additional coil 205, the pin units 115, 130, 135 can be used as actuators by specifically pressing certain pin elements 150 onto the contour and lifting others; Defined positions can therefore be controlled.

4 shows a schematic representation of an adjusting device 100 according to an exemplary embodiment. These are the ones in 1 described adjusting device 100 or a similar adjusting device.

The adjusting device 100 has a control device 400, a supply connection 405 and an interface device 410. Coils 125 of pin units are also shown. In 4 The coils 125 of two pin units are shown as an example, each of the pin units being made of the pin unit 2 or 3 corresponds or is similar. Two pin units are sufficient to detect the position of the rotor via their force sensors 200.

The supply connection 405 is designed to feed in electrical energy in order to operate or power the coils 125 of the pin units. The supply connection 405 is electrically connected to the interface device 410. The control device 400 is connected to the interface device 410 so that it can transmit signals. The control device 400 is designed to output a control signal 415 to the interface device 410 to cause the coils 125 to be energized. The interface device 410 is designed to provide electrical energy from the supply connection 405 to the coils 125 for energizing the coils 125 in response to the control signal 415.

The interface device 410 is designed to receive sensor signals 420 from the sensors 200 and to output the received sensor signals 420 to the control device 400.

5 shows a schematic representation of an adjusting device 100 according to an exemplary embodiment. These are the ones in 1 described adjusting device 100 or a similar adjusting device. The adjusting device 100 is arranged, for example, on a steering wheel 500 of a vehicle. For example, an adjusting element 505 is rigidly arranged on the rotor of the adjusting device 100. The actuating element 505 can be manually actuated, more precisely rotatable, by an occupant of the vehicle by a rotary movement 510. According to different exemplary embodiments, the adjusting element 505 is part of the adjusting device 100 or can be coupled to the adjusting device 100.

6 shows a flowchart of an exemplary embodiment of a method 600 for operating an adjusting device. The adjusting device corresponds to or is similar to one in one of the 1 , 4 and 5 the adjusting devices described.

The method 600 has a step 605 of setting the current intensity of the energization of the coil. Step 605 is performed to place the magnetorheological medium into the different states. Optionally, the method 600 has a step 610 of energizing the further coil. Step 610 is performed to cause linear movement of the pin member.

Furthermore, the method 600 has a step 615 of determining a direction of rotation and/or a rotational force of the rotor. Step 615 is performed using a sensor signal. The sensor signal represents a force exerted by the rotor on the pin unit, detected by at least one force sensor.

The exemplary embodiments described and shown in the figures are only chosen as examples. Different exemplary embodiments can be combined with one another completely or with regard to individual features. An exemplary embodiment can also be supplemented by features of a further exemplary embodiment.

Furthermore, method steps according to the invention can be repeated and carried out in an order other than that described.

If an exemplary embodiment includes an “and/or” link between a first feature and a second feature, this can be read as meaning that, according to one embodiment, the exemplary embodiment has both the first feature and the second feature and, according to a further embodiment, either only the first Feature or only the second feature.

Reference symbols

100

Adjusting device

105

rotor

110

stator

115

Pen unit

120

magnetorheological medium

125

Kitchen sink

130

Pen unit

135

Pen unit

140

Housing

145

elastic agent

150

Pen element

155

Fluid channel

160

Throttle element

165

Valve

200

Force sensor

205

another coil

210

first connection

215

second connection

400

Control unit

405

Supply connection

410

Interface setup

415

Control signal

420

Sensor signal

500

steering wheel

505

Control element

510

Rotary movement

600

Method for operating an adjusting device

605

Setting step

610

Step of energizing

615

Step of determining

Claims (15)

Adjusting device (100) for a vehicle, the adjusting device (100) having the following features: a rotor (105), wherein the rotor (105) can be coupled to an actuating element (505); a stator (110), the rotor (105) being rotatably mounted relative to the stator (110); at least one pin unit (115) arranged on the stator (110), the pin unit (115) having a housing (140), an elastic means (145) and a pin element (150), the pin element (150) partially is arranged in the housing (140), wherein the elastic means (145) is designed to bias the pin element (150) into abutment against an outer circumference of the rotor (105), the pin element (150) being activated by a rotational movement of the rotor (105 ) is linearly movable relative to the housing (140); a magnetorheological medium (120), which is arranged within the pin unit (115) and is designed to assume different states depending on a magnetic field acting on the magnetorheological medium (120), which have different resistance characteristics for the movement of the pin element (150) and the cause the rotor (105) to rotate; and at least one coil (125) which is arranged on the pin unit (115), the coil (125) being designed to change the magnetorheological medium (120) into the different states depending on a current intensity of the energization of the coil (125). offset. Adjusting device (100) according to Claim 1 , whereby the rotor (105) is mounted eccentrically. Adjusting device (100) according to Claim 1 , wherein the rotor (105) has a locking contour on the outer circumference. Actuating device (100) according to one of the preceding claims, wherein the coil (125) is arranged on the housing (140) and wherein the magnetorheological medium (120) is arranged in the housing (140). Adjusting device (100) according to one of the preceding claims, wherein the pin element (150) is shaped to exert a mechanical load on the magnetorheological medium (120) when the rotor (105) rotates relative to the stator (110). Adjusting device (100) according to Claim 1 until 2 , wherein the pin unit (115) has a fluid channel (155) with a first connection (210) and a second connection (215), the fluid channel (155) being fluid-mechanically connected to the housing (140) via the connections (210, 215). is, wherein the coil (125) is arranged on the fluid channel (155), wherein the magnetorheological medium (120) is arranged in the fluid channel (155) and in the housing (140). Adjusting device (100) according to Claim 6 , wherein the pin unit (115) has a throttle element (160) which is arranged in the fluid channel (155), wherein the coil (125) is arranged on the throttle element (160). Adjusting device (100) according to Claim 7 , wherein the pin unit (115) has a valve (165) which is fluid-mechanically arranged parallel to the throttle element (160) in the fluid channel (155), the valve (165) being shaped to block or control a flow of the magnetorheological Medium (120) to effect. Actuating device (100) according to one of the preceding claims, with a force sensor (200) which is arranged on the housing (140), the force sensor (200) being designed to act on the pin unit (115) through the rotor (105). to detect the force exerted. Adjusting device (100) according to one of the preceding claims, with at least one further pin unit (130, 135) which is arranged on the stator (110). Actuator (100) according to one of the preceding claims, with a further coil (205) which is arranged on the housing (140) and is designed to cause a linear movement of the pin element (150). Method (600) for operating the adjusting device (100), according to one of the preceding claims, with a step (605) of adjusting the current intensity of the energization of the coil (125) in order to put the magnetorheological medium (120) into the different states. Procedure (600) according to Claim 12 , with a step (615) of determining a direction of rotation and / or a rotational force of the rotor (105) using a sensor signal (420), which is detected by at least one force sensor (200), through the rotor (105) to the pin unit ( 115) represents exerted force. Control device (400), which is set up to carry out and/or control the steps of the method (600) according to one of the preceding claims in corresponding units. Computer program that is set up to execute and/or control the steps of the method (600) according to one of the preceding claims.

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