DE19848962A1 - Oscillation system with motor drive has sensor measuring force coupling between oscillating system and drive with sensor measuring actual and desired measuring values - Google Patents

Abstract

The sensor (TAST) measures a differential value or a tension value or an impact force value. The sensor carries out an actual value measurement, and a desired value measurement that corresponds to the oscillating movement of the oscillation system. A mode changeover is produced, which records the actual value measurement as the specified desired value in a comparator memory, to regulate the drive.

Description

Rocking device and method refers to the Registration baby cradle from 29.03.97 with the double file characters 197 13 203.6 / 197 13 294.4, being the registration accidentally got two file numbers, which already has been objected to.

Overview

• 1.0 Brief introduction
• 1.1 Task / solution: see section 5.2.
• 1.2 In advance, the solution feature of the invention reproduced.
• 1.21 Special properties which the rocking device obtained by the invention.
• 2.0 Introduction to what the new invention does.
• 3.0 on the procedure described in application 197 13 203.6 / 197 13 294.4
• 4.0 new areas of application and advantages of the present registration
• 5.0 for the cable drive
• 5.1 Calibration calibration of the sensor
• 5.2 Power supply / TASK
• 5.3 The decoding of the turning points of the rocking movement
• 6.0 working examples
• 6.1 Rope guidance

1.0 Brief introduction 1.1 Task / solution: see section 4.2 1.2 the solution feature of the invention is reproduced in advance give

Solution feature for a method
with a rocking device in which the rocking vibration of the device is motor-influenced on the rocking device by means of one or more drive (s) and the drive each has a sensor for measuring the force coupling between rocking device and drive (distance measurement and / or tensile force measurement and / or Impact force measurement),
due to the solution feature in particular that both an actual value measurement and a setpoint measurement, which corresponds to the rocking vibration of the device, are carried out by means of a measuring transducer, and that a changeover mode is generated via a signal curve detection, which switches the process of writing the actual value measurement as a setpoint value into a comparison memory for the actual value - Setpoint control of the drive is carried out in each case.

1.21 Special properties which the rocking device obtained by the invention

This solution feature gives the rocking device the special property when a predominant Rocking vibration through external influence in it Rocking movement or in its amplitude and / or Direction of movement, or vectorial together determination of the direction of movement and / or swing frequency is changed, this change from the motor drive is taken over immediately.  

This invention is particularly to support the Method according to 197 13 203.6 / 197 13 294.4 suitable for primarily a motorized damping one derives from the nature of the swing vibration resulting pendulum or resonance vibration is made.

Two options are provided for signal curve detection in the present application:
one without a periodicity check of the change, in which a change in the current vibration carried out by the rocking device still determines the further control behavior of the drive within the current period so that the drive directly supports the changed vibration of the rocking device,
and another option with periodicity check of the change, in which one, two or more periods of the changed vibration are required before a changed vibration is adopted in the further control behavior of the drive. The number of periods is determined by the program of the processor concerned with the engine control.

In the case of the first option, the signal ver run detection for decoding for switching to a new setpoint of the motor control on the Extent of the deviation of the signal curve with respect to Amplitude and / or frequency of the rocking movement.

In the second option, the periodic repetition is the changed specification necessary that with a corresponding Deviation of the signal curve responds to the switchover. Thus, the response threshold for setting the Deviation can be interpreted less, since it is periodic repeats itself from the original waveform must differentiate. For the correspondence of yourself changing waveform over two or more periods  you can set your own tolerance, or the permissible deviation results exclusively from the specified deviation from the original signal curve.

The inclusion of the periodicity check of each detected change in vibration leaves a differentiated response threshold test for the valid one Detect waveform detection too. Therefore suitable the invention also applies to regulations in which not only the motor damping of a swing vibration is made, d. H. concerns a vibration whose Energy oscillates around a zero position, but e.g. yourself too well suited for vibrations that are a potential Energy position oscillates, in which the zero point by a Force is raised. With such a scheme caused one acting against the force of the zero position of the vibration Force only a small deviation of the vibration that at the second option then by evaluating the periodicity, avoids a wrong response of the switchover.

Another operating state is also an option provided, which deviates from the automatic Switching, which is a change state as each remaining vectorial orientation of the vibration saves, only an actual value recording of the signal curve enables, with switched off or reduced influence the motor drive (manually activated Recorder operation).

The present invention thus enables that automatically made change of the setpoint specifications for the vectorial multiple drive of the vibratory structure. The drive in the simplest case, even from one Drive can exist.

For both options with and without periodicity check Change, the two variants that the Comparison check of waveform detection either only for one or some striking values, such as  

Zero crossing or maximum positions of the swing vibration is made (first variant), or in a second Variant to test the waveform detection via Time-based sampling of a large number of values is made, the addressing of the values derives the time grid, which in turn with distinctive signal values is synchronized, e.g. by resetting the incremented with the time grid Address counter at the turning point of the swing, or in their zero crossing. The flank can also be used of the time grid itself by deriving from an over Divider shared higher clock frequency with a striking Signal value can be synchronized, e.g. by reset this divider with this signal value (maxima / minima / - or zero crossing).

The operating variations with a Remote control switched, e.g. via HF or Infrared switches the operating modes. E.g. with the Selection over how many oscillation periods an oscillation change for the input is to be tested (p = 1, 2, 3), where only the current period is decisive for p = 1 (Option 1), or the choice of p = 2 or 3 one of the higher ones Period number corresponding response threshold (see later REF) enables (option 2) corresponds.

Furthermore, e.g. also provided a stop button after the actuation of the drive without substantial feed one moment of the rocking movement just continues, further a button in which in this operating state only the Recording of the vibration without automatic switching he follows. And still entering the response threshold for the Sampling the signal change.

2.0 Introduction to what the new invention does

As in application 197 13 203.6 / 197 13 294.4 indicated, is the variety of applications of the invention very universal and not only on baby cradles limited. This registration extends the possibilities  the application specified in the registration in which several drives to swing one any swing object (hammocks, luxury beds, etc.) are used.

The invention is intended as an introduction to the application 197 13 203.6 / 197 13 294.4, especially the procedure again be briefly outlined.

The application 197 13 203.6 / 197 13 294.4 is taken from it while retaining the figure designation, where Fig. 12.xx means: xx = figures # from 197 13 203.6 / 197 13 294.4.

Fig. 12a, Fig. 12b, Fig. 12c, Fig. 12d, Fig. 13 and Fig. 16.

In Fig. 16 four drives generate corresponding rope pulls rope-L, rope-R, the rocking movement of the basket, e.g. in push-pull drive.

The present invention starts with this control. It enables one by directly changing the Rocking movement, e.g. about body movement of the user on a sofa or bed, or by hand a cradle, automatic adjustment made for the new tax direction corresponding to this change, which are made up of individual direction vectors different points of attack of the drive excitation feed composed. This drive excitation feed then serves as in application 197 13 203.6 / 197 13 294.4 already stated the maintenance of the swing Move. The invention enables from registration 197 13 203.6 / 197 13 294.4, especially those for each drive, or point of attack of a respective drive Rocking movement absolutely synchronized feed to compensate for the loss of mechanical vibration educated. All drives used can be their Make control completely self-sufficient, without the control the other drives would have to take into account. This  Advantage arises from the interaction of the in the 197 13 203.6 / 197 13 294.4 disclosed regulatory principle and the procedure of the present application. Everyone has Drive a preferred sensor according to 197 13 203.6 / 197 13 294.4.

3.0 on the procedure described in application 197 13 203.6 / 197 13 294.4

The one specified in the application 197 13 203.6 / 197 13 294.4 Process has been known to all others control technology an enormous advantage: The Swingbe maintained by motor feed movement is not imprinted in its swing frequency, but depends on the resonance behavior according to a pendulum principle, the reverse movement the resonance vibration is recognized and the motor Infeed the drive direction at the recognized reversal point switches accordingly.

The samples taken from the application figures Fig. 12a and Fig. 12b illustrate this rotation check for a rotational direction DM, which corresponds to a downward movement of the traction cable (rope or SKB-wire), Fig. 12c and Fig. 12d on the other hand, in the reverse rotational direction, corresponds to an upward movement of the pull rope (rope or SKB rope). The difference in the test can be seen in the fact that for a direction of rotation (DM, Fig. 12a and Fig. 12b) of the drive, which corresponds to a downward movement of the traction cable, with a relative reduction in speed of the drive (by dDM), the traction force sensor a relative reduction the tractive force (Fzmin) must register so that the direction of rotation is NOT changed. In contrast, for a direction of rotation (-DM, Fig. 12c and Fig. 12d), which corresponds to an upward movement of the traction cable, with relative reduction in speed of the drive (by dDM) the traction force sensor must register a relative gain in traction force (Fzmin), so that NO switching of the Direction of rotation takes place. If there is no relative change in tractive force (dFz) expected for a relative speed reduction (dDM) or if it occurs in the opposite direction, then the direction of rotation is switched, which in the diagrams Fig. 12b and Fig. 12d with DM = -DM for the relevant one Direction of rotation query (DS) is specified. The motor current reduction dDM can, for example, also be part of the control oscillation, which is e.g. in claim 65 of the application is expressed. Claim 66 of the application is a preferred variant, which uses only the phase of the speed reduction for determining the direction of rotation, or a reversal point, particularly suitable for the preferred variant of a cable drive.

See FIG. To FIG. 12 through FIG. 12d also Case 1 and Case 2 in the modification further below summary of the preferred control method from the application 197 13 203.6 / 197 13 294.4.

Furthermore, in Fig. 12b is shown in dashed lines (-DM) at the beginning of the timing, as in a first search (e.g. when switching on) the cable drive with a completely sagging cable (see also DH in Fig. 1) until it stops in one direction (-DM) runs, then detects the anchor point (AS), and is immediately controlled in the opposite direction of rotation with this detection until a tensile force (Fzmin) is detected at the tensile sensor (FS).

Fig. 13 illustrates the vibration path ( 1 ) of the pull rope, equivalent to the vibration path of the cradle or swing. The free oscillation is drawn according to the pendulum principle with the line "ideal (1)", as if it were an undamped oscillation. Preferred lines are drawn with a thick line, for which (alternatively or alternatively) the pulling torque is fed in, BES1 an acceleration torque after detection of the upper maximum position, BES2 also an acceleration torque after detection that the speed exceeds a certain value, and BM1, BM2 braking torques are. BM1 and BM2 each recognize that the speed exceeds a certain value. With the injection of braking torques, special vibration effects can still be generated, if this is desired.

When the pulling force (Fzmin) of the pulling sensor (FS) is very loose, the speed of the cable pull movement is sensed by the motor control via the motor voltage. The ripple on the control means Fzmin vibration in to Fig. 12a can also be evaluated at the same time for the decoding of the reversal point to FIG. 12d described manner.

In addition to in principle any controllability is in the Registration 197 13 203.6 / 197 13 294.4 the following Preferred synchronization:

The cable drive first moves the cable in a relevant direction (e.g. in the direction of the arrow according to FIG. 2 and in FIG. 1) until a slight pull is detected on the pull cord (rope) via the pull sensor (FS), which is still the case is small that it practically does not hinder the pendulum movement of the cradle. In response to this sensor signal, the rotary movement of the drive is decelerated and at the same time the tensile sensor (FS) measures how this deceleration works: ie whether this deceleration causes a reduction in the tensile force on the pull cord or an increase.

Is a reduction in traction due to the tension sensor found this means that the rope through the free Vibration of the basket (KB) from its attachment point is moved downwards, accordingly is the Direction of rotation of the drive in the direction indicated by the arrow maintained. An increase in the tensile strength of the rope means, however, that the pull cord through the  Pendulum movement is moved upwards. On this sensor signal hin (for the example of the specified Direction of rotation) the direction of rotation of the drive immediately reversed polarity.

The direction of rotation of the drive is therefore reversed whenever by the preferred method it is found that the drive is opposite to Cable direction of the free oscillation of the cradle running.

If the direction of rotation is determined in each case, then the rotational speed of the drive which can be operated in both directions of rotation is regulated by the tensile force measured at the tensile sensor. A distinction is made here whether the drive runs in a previously decoded direction of rotation, in which the pull cord is moved downward (arrow direction in FIG. 2), or whether the drive runs in a direction of rotation, in which the pull cord is moved upward (against the Arrow direction according to Fig. 2).

case 1

The pull cord is moved downwards (drive runs in the direction of the arrow in synchronism with the pull cord movement, Fig. 2):
For a determined increase in tensile force at the tension sensor, the drive is decelerated or braked, whereas, for a loose tensile force, the drive is accelerated to such an extent that the tension sensor returns to its setpoint measuring range.

Case 2

The pull cord is moved upwards (the drive runs in the opposite direction to the arrow, synchronized with the pull cord movement, Fig. 2):
The drive is accelerated for a determined increase in tensile force at the tension sensor, on the other hand, for a loose tensile force, the drive is braked to such an extent that the tension sensor returns to its setpoint measuring range.

Both for case 1 and for case 2 is for everyone Braking determined whether the tensile force at the tension sensor decreased or enlarged, if necessary, the corresponding switchover of the direction of rotation of the drive (relative to the current direction of rotation), so as explained above.

In this way the turning point is also the free one Pendulum oscillation of the cradle is determined, which of the reversal the pulling cord moving upwards, with the consequence of the Corresponds to the beginning of the movement from top to bottom, see above that by accelerating the drive in sync with the beginning an additional acceleration torque from top to bottom can be fed to dampen the vibration (incremental injection of an acceleration torque).

It can be done only by choosing the intensity with which a Acceleration torque is fed, and the pause time between the injected pulses the intensity of the Deflection intended for rocking the cradle, or through an additional path or angle measuring system, which measures the deflection of the rocking cradle. The offense or train impulses are then only in the reversal point of the Swing motion fed so that with a minimum Drive the rocking motion of the cradle out of the Standstill started and maintained can.

Analogous to the determination of the upper reversal point, the lower reversal point can also be found at which in following the start from the bottom up the pull rope is moved, with a short braking torque fed can be to decay the vibration prematurely let or dampen (incremental feeding of a  Braking torque). The injection of a braking torque in corresponding reversal point of the free oscillation of the cradle can also be so violent that a gentle Shaking noticeable, being at the other turning point is accelerated accordingly again. This results in a somewhat more intense rocking motion.

If the control determines that the upper reversal point and lower reversal point of the rocking motion near lie together, and this despite repeated Infeed does not change (e.g. through the controlling microcontroller is determined), then the cradle blocked by a lever (rest position) and the The control switches the drive off again. Likewise, could the blocking lever e.g. with a sensor (e.g. Proximity switch) to be equipped with this status detect.

The present application relates to further training Invention, which the principle of application 197 13 203.6 / 197 13 294.4 further concerned in such a way that not only the natural frequency of the rocking device at Maintaining an undamped vibration with is decisive, but also that the amplitude with which the swing arrangement initiated or changed is, from the preferred electronic Schwingungsent cushioning is always taken over.

4.0 new areas of application of the present application

The field of application is thus expanded in such a way that it is now possible to have a variety of on one Swing device acting damping drives at a wide variety of vibrations to dampen motion without being subject to control should be coordinated controlled. It turns out each damping drive is always self-sufficient to the external Action of predetermined vibration excitation of the swing arrangement automatically, and takes a damping regarding the losses of the mechanical vibratory structure  in front.

In the present invention, the setpoint is specified the drive control to maintain the Rocking movement of the rocking device simply through their appropriate use. I.e. by corresponding Rocking the swing arrangement or making one Change of direction and / or change in the deflection of the Rocking motion.

For the easy use of a baby cradle, hammock, or pendulum bed, this happens through appropriate rocking or change in deflection.

This principle is particularly interesting, however Use multiple drives, e.g. on water beds, or Air cushion beds, or air cushion sofas, as these objects can be caused to rock in any direction can, e.g. also in circular movements, etc.

The user only needs to be in the desired one Rocking motion and can move after finishing this The rocking movement is calm, with the motor drive, each trained swing movement maintained.

This also applies to a change in the vectorial Direction of rocking motion.

The motor-driven multiple drives take one Electronic damping in such a way that after quitting the feeding of the rocking movement through the body movement of the user to maintain the swing movement is as it was suggested by the user. Are there all variants possible, as they are due to the air cushion shape of the corresponding air cushion seat furniture. Dito with a water bed, etc.

Because the present invention is particularly good for Air cushion furniture is suitable for special versions  also described in the present invention.

Fig. 5 shows an example - for an air cushion bed, which has welded (or glued) mounting rings on the side, into which with e.g. Carabiner hooks the traction ropes (rope or FS) with the preferred drives (housing GH) are attached.

5.0 for the cable drive

In the application 197 13 203.6 / 197 13 294.4, a cable drive is proposed, in which an electronic spring balance (FS) is suspended for measuring the tensile force. In addition to this, in the present application to Fig. 6a and Fig. 6b described a further drive variant in the wound, the pull cable of the drive to a drive wheel (PLN) and over a resilient deflection (see FIG. Deflecting roller ULRL) is deflected, wherein about the spring travel (1Fz, Fig. 6a) of the deflection, the tensile force of the pull rope is measured.

In the example of Fig. 6a, Fig. 6b, the deflection takes place about a mounted on a leaf spring (BFDR) guide roller (ULRL).

It is sufficient to wind up the pull rope (SeilTR) with only one turn on the horizontally lying flat winding reel (PLN). This part of the traction cable is shown in Fig. 6a / Fig. 6b designated SeilTR that of the deflecting roller at the fastening point (Befring, Fig. 5) of the rocking device (fe. With hoes) moored part is denoted by rope.

The preferred construction according to FIG. 6a enables a particularly flat drive, the winding roller (PLN) on the drive motor can also be driven in a step-down manner via transmission (see application 197 13 203.6 / 197 13 294.4). The winding roller (PLN) is then not directly over the motor axis or gear axis, but driven by the motor belt via a pulley.

In a continuation option, one can also Counter-noise compensation must be made, whereby Vibration sensor or micro, and speakers in the flat housing are housed. The vibration The recipient is e.g. in the radiation center one very thinly kept cover plate of the housing and  can also be used as a metal pin on the vibration center of the Cover plate sits and in a coil Lx, which by Loss measurement of the pin measures its vibration, be executed. The coil is e.g. component of a parallel resonance circuit oscillator (C), which thus with the vibration of the cover plate is amplitude modulated. The vibration of the cover plate can be reduced by demodulation Counter noise generation, e.g. through a speaker will be fed. This counter sound generation is regulated so that the sound radiation on the cover plate goes to zero.

Fig. 6c shows an example of this Gegenschallkompen polymerization.

In addition to the state of the art, this method offers one cheap alternative.

The cover plate of the drive housing is kept very thin, while the side walls and base plate are solid, soundproofed on the inside. At the same time, another very thin plate is clamped under the cover plate in the housing frame and serves as a vibrating plate (SWP), in the center of which is an electromagnetically excited surface that is set in motion by a shell core (SK) arranged on the underside, and in such a way that the vibration of the vibrating plate is opposite in phase to the sound radiation from the upper cover plate, so that the vibration of the cover plate is substantially reduced or is extinguished. The oscillating plate (SWP) then has a slot for the cable guide that competes with the cover plate. The core shown in Fig. 6c is taped to SWP when SWP e.g. wooden. Tripod. . . Holder for the coils, attached to the base plate (with through holes in SWP).

The deflection of the leaf spring (BFDR) is measured using a distance measurement (1FZ) with an alternating field coil (LMS) via the loss coupled into the alternating field coil due to the approach of the plate spring, due to the electrical conductivity of the leaf spring. Fig. 6b shows a detailed view of the leaf spring BFDR with the raised by fork on a neck side portions of the sheet fixed axis for the ball bearing (KGLR) or with a plastic bearing mounted roller (ULRL). The spring action of the corrugated sheet can still be influenced by corrugated grooves. The corrugated iron spring bracket is then attached to the base plate using a mounting pin (tripod), ie the scanning coil LMS).

The winding pulley (PLN) of the cable is also pre-tensioned by a spring coil (spiral spring) so that the cable is tensioned over the deflection roller when the motor is de-energized. Since the control cable never sags freely, which is ensured by measuring the spring travel of the leaf spring, the cable can never slide out of the groove guide of the rollers. In the de-energized state, the rolled-up cable is held on the cover plate at the feedthrough hole of the cover plate by means of a disk (SANS, FIG. 6a) attached to the cable pull. In a further development, this guide hole is designed as an elongated hole, as will be described below.

5.1 Calibration calibration of the sensor

Furthermore, it is provided, at a preferred point on the cable pull path, where the complete relaxation of the cable pull occurs, e.g. With each change in the direction of rotation of the drive and / or while the drive runs the freely swinging cable (see cable movement upwards Fig. 12c / Fig. 12d) with the cable being held practically loosely, the measured spring force while approaching zero approaches its change monitor. If the reduction in the distance no longer changes, then the value zero is reached and stored as the respective zero point. Which is how the sensor is recalibrated.

This recalibration is carried out in the area between the changeover points between which the cable is moved from bottom to top (Tmeß-CAL, Fig. 1a). During this phase, the drive of the cable pull (e.g. by unwinding PLN, Fig. 6a) follows the swinging movement of the rocking object (by winding with PLN in Fig. 6a) to such an extent that the spring travel is completely loose (FS relaxed or the leaf spring BFDR relaxes). Only minimal braking pulses at the corresponding times in a time pattern cause a slight, also pulse-like tightening of the spring force + dFz (from FS or BFDR), cf. see Fig. 12d.

After the braking impulse of the drive fed in at a corresponding point in time (DS) has detected a detectable increase in tractive force, the drive continues to relieve the traction cable until it is determined that the relative change in the traction force sensor (BFDR) means no further relative reduction in the traction force indicates on the traction rope, ie the falling trailing edge of the traction force pulse dFz in FIG. 12d has ended, which is detected by differentiation (digital or analog) of the measured value. If this is the case, then the measured value in question is stored as the current zero point value, a very small amount of traction being regulated in order to maintain a minimum rope tension, while the drive runs after the freely oscillating rocking object.

For the drive-independent control to dampen the Vibration is a tensile force sensor for every drive sufficient, additional angle or length measuring systems can be used, but are not essential required.

5.2 Power supply

Takes place between the switching points between which the cable is moved from top to bottom (Tmeß-AMPL, Fig. 1a). During this phase, the mean value of the zero point values obtained in the previous phase Tmeß-CAL at the corresponding test times DS is used as the zero point value of the sensor.

The feed already described in connection with FIG. 13 in the application 197 13 203.6 / 197 13 294.4 then takes place to further support the downward movement of the pull rope by means of a pull drive (corresponds to winding with PLN in FIG. 6 a).

Both in the application 197 13 203.6 / 197 13 294.4 and in the present application, the dosage of Torque feed-in (from PLN) or pull-in torque feed via the tensile force measurement on the sensor (FS or BFDR).

In the application 197 13 203.6 / 197 13 294.4 is however provided, the target value for the tractive power feed either feed manually, or the vibration of the Swing object about the movement of the swing object sensing sensors to the deflection of the vibration regulate.

TASK The present application is therefore a To achieve the target value for the control in such a way that the regulation is carried out by the user Senses movements on the swing object and these movements, if they are no longer exercised by the user as undamped vibration is maintained. To this Procedures are several application applications (product variables).

In advanced training, the is already used for measuring the Pull rope force Fz (or as an alternative, for measuring the Game play of a rocker or a lever cf. Registration 197 13 203.6 / 197 13 294.4) already existing Sensor (FS or BFDR) of the drive for both for the Setpoint specification, as well as for the actual value acquisition at Scheme used. Likewise for those already in the registration 197 13 203.6 / 197 13 294.4 discussed detection of the Reversal point of vibration.  

By using the in the application 197 13 203.6 / 197 13 294.4 it is the principle already described possible a variety of each with the preferred Sensor-equipped rope drives on a common Swing object at different points of attack Cable (train) and / or rocker or lever (hub) act in this way to let them practice each swing object any rocking movement of the object can capture, and after the movement subsides this swinging motion continues through motor drive like this dampen that the movement on the swing object more upright hold is until again from outside this movement is modified again, or by Switching off the drive is stopped.

The task is solved accordingly Claim 1.

5.3 The decoding of the turning points of the rocking movement

Is carried out as in the application 197 13 203.6 197 13 294.4 described and explained again above (from Registration taken from 197 13 203.6 / 197 13 294.4).

6.0 working examples

A preferred application on an air cushion bed has already been discussed above in relation to FIG. 5, a plurality of cable pull drives being equivalent to this also being able to be used on an air sofa or armchair, etc. The cables are fastened in appropriate fastening rings (ring), or the fastening rings can also be strapped to any swing object using straps, etc.

FIG. 8 shows a variant of an air cushion bed, in which the size of the mattress at the head and foot ends is increased by inflation (RK) by inflation. The raised ends of the mattress are shown cross-hatched.

Even smaller ones can be fixed in this roller (RK) inflated (WZint.) arranged in the horizontal Mattress give a firmer support, thus the outer (RK) have a greater scope for expansion can.

The air rollers placed under the mattress are e.g. fixed to the mattress with Velcro fastener ( Fig. 7 top view, cross hatched).

Fig. 9 shows the example of an inflatable rocking chair, with the length of the tensioning rope on the side of the backrests also makes the curvature similar to that of a deck chair, curved plastic strips with Velcro strips are attached to the underside of the rocking chair and form the runners. As with the beds, the tension cables are provided on both sides of the rocking chair via the AK drive boxes, the drive can not only support rocking but also rocking movements, ditto rocking processes, etc.

With reference to the figures Fig. 1a, Fig. 1b, Fig. 2, Fig. 4a, Fig. 4b, Fig. 4c and Fig. 4d will be the preferred method of the present application, in one embodiment for two variants explained. A first variant, in which one (or more) entire oscillation period (s) is (are) required to change the respective final vibration damping of any number of drives (drive with sensor for each drive), but in the second variant this change is also covered over parts of the vibration period.

Fig. 1a shows such an oscillation period, which occurs on a cable drive in question. If several cable pull drives are provided for damping the rocking movement, then these vibrations occur with a phase shift of the individual drives corresponding to the rocking movement. The vibration amplitudes and phase shifts of the individual drives set themselves according to the desired vibration impressed by movement of the rocking object, without the drives having to be controlled centrally by control technology. So each drive can have a completely self-sufficient control via its associated sensor. Of course, all drives and sensors can be controlled via a single common processor.

FIG. 1b illustrates the change in the cable tension (sensor signal Fz) which occur by feeding the brake pulses in the time frame T.

Fig. 2 illustrates the cable route taking into account the braking pulses in the time grid T to obtain the test measurements DS. The test measurements DS correspond to the changes in the cable tensile force (dFz) when the drive is braked. A small pulse-like reduction in the driving force is already sufficient. The small variation in the cable pull change obtained by the low braking pulse is compared with the variation from the previous oscillation period (at the equivalent time) and then corrected again by regulating the drive. If a change in the tensile force that goes beyond the extent of the loss compensation is determined, then the value renewal described for FIG. 4a takes place for the determination of the desired value assigned to a specific time value of the vibration.

Fig. 3 relates to a circuit for feeding the braking pulses.

FIG. 4a illustrates the query to determine whether the vibration changes to a drive in each case by the external force (DIFF <REF). The optional information relates to the optional extension if partial ranges of the amplitude are also to be recorded (variant 2).

FIG. 4b relates to the variant 2 for generating a reset signal for the counter array (#T, wherein T... Time frame T).

FIG. 4c illustrates the dosing of the control for the damping of the vibration by the drive, the optional information again relating to variant 2.

FIG. 4d relates to variant 2 for dosing the control variable obtained according to FIG. 4c.

Further explanation of the procedure

The braking pulses are in a regular time grid T. DS fed in, which causes the tensile force at the sensor output changes in the DFz have been received. Preferably during the Tension phase Tmeß-Ampl the control is dosed for the motor feed.

When to measure whether the desired swing movement changes, is evaluated depends on the respective application fall off.

It is either only for a defined amplitude position le according to variant 1 (e.g. zero crossing of the vibration phi = 0), or also for each time grid value T (according to variant 2) determined whether the amplitude value is different from the Value from the previous oscillation period essential changes. For variant 1 is e.g. the zero crossing of the Vibration determined when the sensor output for the change in tensile force dFz its maximum momentum brings (with periodically equal over the sampling time grid Brake pulse feed with the same delay and the same Duration).

By determining the deviation from current tractive effort impulse (dFzmax) and identical time of the previous one Period corresponding tractive force impulse (dFzmax_alt), by Ratio or difference formation (DIFF) DIFF = dFzmax / -  dFzmax_alt or DIFF = dFzmax-dFzmax_alt is determined whether the difference (DIFF) has a specific reference value REF exceeds, e.g. is also adjustable from the outside, or also via a behavior pattern recognition of the controlling processor is specified. If so, then it will the relevant value from the previous period (-dFzmax_alt) renewed with the current value (dFzmax) (dFzmax_alt = dFzmax). If the difference DIFF is less than that Reference value REF, then the old value remains saved he maintain value.

Since the stored value (dFzmax_alt) is also used as the setpoint for the control ( Fig. 4c), the controlled vibration damping only takes place after the new value if its deviation from the current value had exceeded the reference value REF, otherwise the current value adjusted by the controlled vibration damping. In a further alternative, a braking torque (Bm1, Bm2) can also be fed in, in deviation from the explanation given for Tmeß-CAL (section 4.1), as explained for FIG. 13, cf. Registration 197 13 203.6 / 197 13 294.4.

The exact adjustment of the control procedure depends on the desired movement behavior of the application.

A refinement of the method is obtained if variant 2 is used, in which both the determination of the impression of a new amplitude, and the associated setpoint amplitude values for the electronic drive control for damping, are carried out over the complete swing amplitude (recorded separately for each sensor). extend after a sampling time grid. The time grid T used here is the time grid of the brake pulses, via which the associated changes in tension Fz of the tension sensor (FS or BFDR) are obtained. According to FIG. 4b, the address (#) of the stored comparison value (dFzmax_alt) associated with the time grid value (dFzmax_alt) is used for each time grid value of the measurement sample DS ( FIG. 2) both for evaluating the deviation of the reference value ( FIG. 4a) and for determining the target value of the Control variable (RGX, Fig. 4c) incremented (INCR #). This is based on a reset signal of the time slot counter that occurs within the oscillation at a defined point in time (maximum or minimum value).

Thus, instead of the unique sample value dFzmax_alt associated with a zero crossing of the oscillation, the amplitude value dFz_alt (T) associated with a time slot value (T) or its address (#T) is stored under the array address (#) or used as a comparison value. The array address (#) is then periodically assigned to the defined position of the swing, e.g. reset at their reversal point, cf. R (#) in Fig. 2 and Fig. 4b, wherein the edge of the time slot value (T) is also synchronized with the reset signal (derived from a higher clock and divider with R (#) reset). For a periodic signal, therefore, the values dFz (#) are the same for all periods, or no longer match for a changing signal.

Fig. 4d illustrates the expansion as well the control variable RGX is called from a table stored in a RAM table forth, which is charged depending on the detected controlled variable RGX a new vibration of an EPROM available (RGX selection address range).

It is clear from the control procedure described that it is highest is universally applicable. For example, the user can on Air cushion seat or reclining piece of furniture by changing the Configure cable attachment points freely without that a certain coordination by a computer program of the drive would be required.

The user simply puts their air cushion furniture in the desired vibration and can then become free relax, the piece of air furniture then this vibration motor-driven until the User again a corresponding change over his  Movements renewed.

A further development is that the array evaluation described in Fig. 4a and Fig. 4c shows a current period is compared not only via in each case, but that a plurality of periods each corresponding samples (#T) of the same array address (#) are involved in the comparison, e.g. by using a two-dimensional array: value (#, p), where p. . . Period number relative to the current period.

E.g. the last two or three periods are taken into account.

All ratings of the same (#) address from p, p-1, p-2, etc. are then evaluated in coincidence, so that if a value the multiple comparison p, p-1,. . . falls out of line and does not correspond to REF, the change input via the required number of periods was not periodic. Hence the the corresponding stored value dFz (#T) is not renewed becomes.

Thus two (p, p-1) or three (p, p-1, p-2) Periods required for a new vibration input the system then no longer responds when the User e.g. just lounging on the bed or seat. Dito the response threshold = REF can still be reduced.

The following information illustrates this comparison:
Here means:
dFz (#, p). . . current value at time #T
dFz (#, p-1). . . Value from previous period at time #T
dFz_alt (#). . . only if change << REF renewed comparison value.

Based on the comparison value dFz_alt (#) stored under the address (#) of #T, the following test is therefore carried out: If both dFz (#, p) AND dFz (#, p-1) are OUT OF tolerance, the comparison value becomes dFz_alt (#) renewed:
dFz_alt (#) = dFz (#, p).

Is dFz (#, p) OR dPz (#, p-1) still WITHIN the tolerance then the old comparison value dFz_alt (#) is retained (no renewal). I.e. in this case (no renewal of the comparison value) it is sufficient if the Comparison value of # one period of all in the comparison included periods (p, p-1,...) of the current vibration of the signal for #, where # is the identical time slot point is.

For dFz_alt (#) there is only one one-dimensional array under the Address (#) required.

For the one-dimensional array of dFz (#T) _alt as well as for the two-dimensional array of dFz (#, p), the corresponding increment (INCR #) of address # takes place with the time interval clock #T. Furthermore, the reset R (#) and the edge synchronization of the time clock T at the turning point s as already explained for FIG. 4b, or as a further variant for the zero crossings.

The progression of p of the two-dimensional array dFz (#, p) occurs synchronously with the resetting of address #.

Fig. 3 shows an example of the drive of the DC motor (M) of the cable drive, wherein a constant current set by the manipulated variable of the controlling processor is fed into the motor. This current control enables direct short-circuiting via a short-circuit switch semiconductor, HS. The semiconductor HS acts as an armature current brake for the duration of the short circuit (TAST). Since the fed motor power only undamps the frictional losses of the swing device, the power loss in the constant current source is also relatively low. Furthermore, the constant current can also be pulsed in accordance with the required regulation. If braking is required, this can also be done via the TAST button input from DS. The switching of the current direction of the constant current source then corresponds to the direction of rotation changeover discussed in FIG. 12 / FIG. 12b to Fig. 12c / Fig. 12d.

6.1 Rope guidance

An improved cable guide Figs. 6d, Fig. 6e and Fig. 10, Fig. 11.

The improved rope guidance has the property that the tensioned rope is not only allowed to move in its exit inclination angle (β Fig. 6b along the guide groove of the deflection pulley ULRL), but also in its plane, which is provided by rotating the entire drive box AK on a footplate is.

The drive boxes are preferably designed as round plates and embedded in corresponding circular recesses in the base plate. The drive boxes can be plugged into the footplate (e.g. with a bayonet or screw lock) and have a concentric two-pole plug contact at the plug-in point, which is guided over the drive shaft (fixed in socket BU in the footplate). The drive axle is attached to the cover plate, possibly with further support by a bracket attached to the base plate. The motor drive (DM) of this axis (fixed) is also screwed to the cover plate and base plate, a transmission wheel (FIX) being flanged to the axis (fixed), which is driven by the motor drive. The con centric two-pole contact of the axis to the plug-in socket (BU) of the footplate forms a ground contact. In a further development, blind boxes are also provided which can be used in the base plate instead of the drive boxes. Furthermore, the insertion holes (countersinking Fig. 11) still have centering rings (centering AK), in which the drive boxes can be used. E.g. made of plastic. The drive boxes or blind boxes are then provided with a facet on the edge for easier insertion into the footplate.

This gives you a kind of podium in which the Drive boxes or dummy bodies are to be used.

Fig. 11 illustrates how by rotating the drive box AK by angle α, inclined positions (by angle β) of the cable are always balanced so that the plane in which the cable moves, ie in which the angle β lies, is always perpendicular is aligned with the base plate, so the cable in the slot never rubs against the edge of the slot.

. 6e relate to FIG. 6D and the sensory sensing whether the cable also passes in the middle of the long-hole slot, wherein in case of deviation, a control signal is generated, which through rotation of the drive box AK to angle α (Fig. 11) compensates for a deviation.

Fig. 6e shows a plan view, Fig. 6d shows a section, to show the elongated hole for the rope leadthrough. This elongated hole is aligned with the winding groove of the rope deflection roller (ULRL, Fig. 6b), so that the rope can be moved at an angle β (see. Fig. 6b) within the elongated slot. SA1, SA2 correspond to the light channels of a dual reflection meter, which scans the two long sides of the slot with visual lines (S1, S2) running parallel to the long sides.

To Fig. 10: shows a side view of the detail, which relates to the drive for the rotation of a drive box on the base plate.

Description: Cradle

The present invention relates to an object of the invention P 197 47 779.8 and 197 13 293.6. It is a Cable operated vibration abutment device, which under Consideration of the natural vibration behavior of the triggered Movement mechanism makes a vibration drive.

In these applications, an unwinding device ( 23 ) of a cable pull (cable + FS + SKB) is used, the winding thereof, in particular its direction of movement independent of the winding (when the object is held in a swinging motion by the cable pull) by an in the cable pull suspended electronic spring balance (FS) is regulated. A method is used which detects the reversal point in accordance with the natural vibration behavior of the movement mechanism initiated and controls the cable drive accordingly. Preferably in applications of all kinds of swings, such as baby cradles, beds, Hollywood swings or hammocks, etc.

The present application describes a particularly simple winding device of the cable pull, furthermore a device for the rocking of a pushchair for a push-pull drive already used in the above-mentioned applications. Here again, value is placed on universality, ie the preferred swing drive can be used for rocking cradles, children's swings, Hollywood swing, or rocking strollers. In addition, a simple device ( 9 ) for the design of a stroller is described as a supplement, in which the bed attachment ( 10 ) of the stroller can be removed from the chassis ( 9 ) and a cradle can be hung in a weighing frame (equivalent to 9) as a weighing bed. (See buckles 8 , Fig. 3).

For the rocking of strollers, a footprint ( 7 = 7 a, 7 b, 7 c) is preferably provided for the stroller, which in a further development is formed from strips ( 7 a, b, c) that can be opened with hinges ( 22 ). The stroller ( 10 ) is placed on this footprint and is guided in ruts ( 25 ) in a further development (cf. FIG. 8).

At both ends of the stroller ( Fig. 9), the footprint has snaps, e.g. Plug-in holes with embedded fixing thread for fixing the preferred drives ( 23 ) using a screw.

For each of the two drives ( 23 ) fixed to the front surface of the stroller on the shelf ( 7 ), a cable pull (SKB) goes to the stroller, but not directly, but rather via the spring scale (FS). This is then attached to each side via a fixed length cable (cable), for example in the middle of the axis ( 1 or 2 ). The motor flushing of the cable pulls (SKB) with the two drives ( 23 ) is carried out so that on the one hand the cable pulls (SKB) are kept tensioned on both sides, furthermore the "swing" movement given by the forward and backward rolling of the stroller also by the Mass of the pushchair given given natural vibration movement. In a further development of the above-mentioned applications, the spring force of the spring balance (FS) is not only used to measure the point of reversal of the vibration, but also forms a springy pendulum for the horizontally pushed pushchair together with the drives.

In this method, as in the previous reports mentioned, the vibratory structure, in this case the pushchair ( 10 ) pushed back and forth, is initially accelerated with a pulse. However, since the stroller is set up horizontally, therefore no mass is alternately raised or lowered via the force of gravity (pendulum), the spring forces of the spring scales of the push-pull drive are used in a further development of the present invention to form the necessary mutual force action for a pendulum.

The mutual control of the drive takes place as follows: Starting from a central position ( Fig. 3), in which the stroller ( 10 ) is in the middle of its displacement, the push-pull drive ( 23 , Fig. 9) is wound on a pull rope side and thus a drive pulse is fed in, while on the other side the push-pull drive winds on the pull rope relief.

I.e. as in the aforementioned pre-registrations, the spring tension the spring balance of the pull cable concerned when relieving the load of the pull cable drive concerned is kept to a minimum.

The point of reversal of a linear vibration back and forth movement of the stroller is done by one Braking of the relieving pull rope drive initiated, whereby the spring balance is wound up and the previously Drive impulse feeding drive no longer winds up the cable, but unwinds while pulling its spring balance relieved. Thus, the traction rope of the spring balance opened of the braked and previously relieving pull rope drive in the reverse direction on train and powered by infeed a corresponding drive pulse continues to be supported.

Thus, the mutual rolling movement of the pushchair ( 10 ), which is pulled by the cable pulls ( Fig. 9) in the push-pull method of the two drives ( 23 , right and left), takes place on the one hand through the mutual pulling movement of the two pull cable drives, and on the other hand at least part of the braking energy is used when the direction is reversed used again as drive energy (by transferring the spring force paths). That is, the linear back and forth movement of the object (stroller) between the cable pulls corresponds to a pendulum movement determined by the interaction of the motor-fed drive force and the compensation of the spring forces.

Several push-pull drives can also work together, as already suggested in the aforementioned applications has been.

Furthermore, path coding ( 5 , 6 ) can optionally be provided as an extension alternative on the mounting plate of the stroller, e.g. a center coding ( 5 ) in which the speed of the stroller moving back and forth has a maximum, and / or a reverse coding ( 6 ) in which the speed of the stroller becomes zero in each case. If tightly wound cable lengths are always used, these decodings can also be omitted and the drives can be controlled accordingly via the tensile forces of the spring carriages. Or it is e.g. only a central coding is provided, with further use of the spring balance tensile forces for the decoding of the reversal points. The tensile forces of the spring scales available for center coding then give the control a measure of the energy pulse fed in or its readjustment. A two-point control with reciprocal pulse control of the motors (motors on / off) is sufficient to maintain the sliding rocking movement.

Devices

In connection with the methods described, the following are Design measures for the device are still preferred.

Footprint (7)

The footprint consists of strips ( 7 a, b, c) fixed together with hinges ( 22 ), e.g. three strips that can be opened by means of the hinges.

Length measuring system

In a further training option, a horizontal stripe pattern ( 5 with 6 , zebra pattern) is printed on the lasts ( 7 c). The center coding ( 5 ) is highlighted in the middle of the taxiway (RW), e.g. due to different contrast of the horizontal stripe mark concerned (e.g. kept darker).

The horizontal stripe pattern (each counting the stripes 6 ) of the footprint is scanned by a reflection meter ( 4 ), which is mounted on the underside of the stroller via a linkage ( 21 ) that is easy to attach to the axles, and in a preferred development via the Pull-wire rope hoists (rope) still performs the power supply and signal routing with the motor control of the pull rope cable guide. The linkage ( 21 ) can also be designed as a telescopic linkage ( 21 with length variation x) to adapt to different axis distances.

regulation

Thus, the horizontal stripe marking ( 5 , 6 ) in the middle ( 5 ) can be used to reset an incremental length measurement in which each zebra crossing ( 6 ) on both sides (depending on the controlled direction of movement) in cooperation with the measured spring force of the the spring scales hanging on the cables for the control value specification of the motor controls are counted or used.

When switching on what e.g. can also be done by pushing the stroller by hand, one of the two drives ( 23 ) is fed into the cable a pulse that tensions the cable, the other cable, however, is relaxed by its drive to a minimum tension of the spring balance (FS). The drive directions of the two drives are locked after a "toggle function" (flip-flop switchover function).

This toggle function also assigns the counting direction of the marked zebra stripes ( 5 , 6 ), starting from the highlighted median stripe ( 5 ). When a relevant strip ( 6 ), which indicates the end of the taxiway (RW), is detected, the drive that relieved its cable pull is stopped, e.g. by means of an armature current brake, and the drive ( 23 ) which initially pulled its cable, regulated to a minimum voltage of the relevant electronic spring balance (FS). Then it is determined when the increased tension on the spring balance caused by the stopping of the drive ( 23 ) decreases again, which corresponds to a reversal of movement. If this is the case, the "toggle function" of the drives switches over and a pulse is fed into the relevant drive in the new direction of pull. If the end of the taxiway (RW) or the strip counted from the absolutely decoded center position is recognized, then the reversal of the movement is initiated, as described above with a corresponding switchover of the "toggle function".

Electronic feeder scale: It is based on the registrations P 197 47 779.0 and 197 13 293.6. referred. Each spring balance (FS) is connected, for example, to the installation surface ( 7 ) with a coiled cable connection ( 26 ). The unrolled pull rope part (rope) from the spring scale to the pram e.g. immediately formed as a single-core cable and forms a connection point for the power supply and the data transmission of the reflection meter ( 4 ), which has a two-pole connection over the two sides of the train, each of which carries the two spring carriage connections (cable 26 ) a pole. Via the respective spiral cable ( 26 ), as already described in P 197 47 779.0 and 197 13 293.6, the supply voltage and measuring signal of the spring carriage are guided, e.g. also as a performance data signal (whereby the supply voltage is supplied via a data signal (e.g. modulo 2 data signal). Another option, ie variant, is to make the wound ( 15 ) wire rope hoists (SKB) single-core electrically conductive, and those of the To design spring carriages of fixed length, fixed-length cables attached to the moving object, to which the reflection meter ( 4 ) is also connected with two poles.

From this two-wire bus, one line is then routed via the right and one via the left coiled pull cable SKB, as shown as a further example in FIG. 11. This design then has the advantage that the spring scales (FS) do not have to be supplied with a separate cable ( 26 ), but the signal routing of the two spring scales can be carried out via a two-wire bus. (cf. GND = OV or reference potential furthermore the performance data signal from which the supply voltage is derived).

For this two-wire transmission are already mentioned in Proposals have been made to registrations.

The individual figures show:

FIG. 15a is a side section of the cable drive (23) with the drive, consisting of the engine-transmission combination (MOT), which is mounted upwardly rotatable on an axle (10) via a corresponding chassis support (27) according to. This chassis ( 27 ) is bent at its lower support ( 28 ) and fixed with a laterally inserted fixing bolt ( 17 ), an elastic rubber ( 29 ) pressing the fixing bolt against the chassis ( 17 ) on the underside.

Fig. 15b shows the side view corresponding to plan view highlighting the chassis axis of rotation (18) and the fixing bolt (17).

The fixing bolt ( 17 ) can be pulled out to the side of the housing ( 23 ) with a handle ( 16 ), ( 15 ) after pulling out the fixing bolt ( 17 ) the chassis ( 27 ) via its axis of rotation ( 18 ) by twisting it as far as it will go ( 20 ) can be raised with the tape winding roller ( 15 ). Here, as for the fixing bolt ( 17 with 16 , no longer shown on the opposite side of the housing), a rotary knob is also provided on the outside for the axis of rotation ( 18 ) of the chassis.

This fulfills the purpose that a required rewinding of the cable (SKB or tape in the case of the slot slot SL outstanding tape winding roller 15 ) can be performed quickly by hand. First, a certain number of turns are wound at an angle, then the tape winding roller with the drive chassis ( 27 ) is folded in again. A holding disc or button ( 30 ) provided on the belt ensures that the cable is held against the housing slot (SL) after the drive has been lowered.

The high reduction of the transmission gear (G1 to G8) keeps the tape winding roller ( 15 ) when the motor is de-energized (MOT) so that the tape tension can be attached to the object in question (cradle, swing, stroller, etc.) without any problems. However, the wound tape or rope can still be tensioned against the holding button by turning the tape winding roller at its handle end ( 31 ).

This is done in such a way that the part of the band (SKB) held in the hand when winding onto the band winding roller ( 31 ) is first unhooked from the spring balance (FS), and is re-hung after winding up and the rope at the other end of the spring balance (ES) until the spring scale is slightly stretched and its drive is readjusted until the end of the band is attached to the cradle, swing, axle of the stroller, etc. Or the readjustment of the cable during winding takes place at the push of a button until it is switched off when the motor current is increased. With push-pull control, this is done when the cables are hooked in by switching off the toggle function, which is only activated after the push-pull cable control has been hooked in using a corresponding operating state switch (e.g. button).

Fig. 16 shows a plan view from which the optional length coding of the footprint of the decreases linearly back and forth is seen moving the baby carriage.

Fig. 17 shows a relevant application in which a children's scales is rocked back and forth via cable pulls attached to each of the wheel axles 1 or 2 , with an optional reflection measuring system ( 4 ) scanning the zebra stripe marking on the footprint.

Fig. 18 shows an example of the attachment of the holding frame ( 21 ) for the reflection measurement system ( 4 ), the necessary if the holding frame ( 21 , as a tube part) is made horizontally displaceable as a telescopic displacement (x, Fig. 17). BEF. . . is a bolt on which the traction cable is fixed, the bolt (BEF) being inserted into a spring contact ( 12 ) on the axis ( 1 or 2 ) using a knurled screw ( 14 ) fixing pliers (FIX from 21 ). An alternative to this attachment is shown in the coupling piece according to FIG. 25 with a snap fastener 50 for two superimposed parts, to each of which cable cables are attached via an eyelet ( 52 ).

Fig. 19 shows a front view (also corresponds rear view) of the pushchair (10), see FIG. see also side view from FIG. 17.

Fig. 20 and Fig. 21 show an example for the (by hinges 22 ) foldable footprint ( 7 = 7 a, 7 b, 7 c). In Fig. 20 the installation surface is folded, in Fig. 21 it is being opened.

Fig. 22 shows a side view of a set up on the supporting surface (7), the stroller (10) with the following features:

In addition to the possibility of holding tube linkage ( 21 ) for the optional reflection meter ( 4 , measures reflection of the zebra stripes 5 , 6 ,... Fig. 17) to adapt to different axis distances of the strollers ( 10 ) can be moved (x, Fig. 17) to make, a track groove with adjustable track width is provided as a further option, which is embedded in the installation surface ( 7 ). This is done in such a way that in the area of the wheel contact a wide groove ( 24 ) is let into the mounting surface ( 7 ), which is dimensioned such that the wheels can still run within this groove for different wheel spacings (A). However, adapter strips ( 25 ) are inserted into these grooves ( 24 ), which have a centering notch (notch of 25 ) for each wheel track, in which the respective wheels on one side roll. The width of the adapter strips (bADP of 25 ) is considerably narrower than the width (BL) of the grooves ( 24 ) embedded in the installation surface (e.g. edge strips 7 a and 7 b), into which the adapter strips ( 25 ) are placed so that they cannot move are. The adapters are e.g. fixed in the grooves ( 24 ) via the bore and the plug-in pins engaging in the bore, or via e.g. Velcro strips ( 40 ) glued transversely into the grooves, whose counterparts ( 41 ) adhering to the underside of the adapter strip (aligned in the longitudinal direction of the strips) are placed crosswise (cf. FIG. 21b).

The drives 23 for the push-pull drive of the traction cables ( FIG. 9) are fixed to the mounting surface ( 7 ) via latching or plug-in or screw connections, whereby different mounting surfaces can be provided for changing the drives for different uses, for example. a footprint for the operation of a cradle or bed according to the design according to P 197 47 779.8 and 197 13 293.6 can be provided in order to use the same drives for different applications according to different control programs of the microprocessor used (with appropriate switchover via rotary switch or PC , Etc.).

Fig. 22 shows a side view completely, corresp. Fig. 17.

Fig. 22 shows the drive cassette ( 23 ), how the winding shaft 15 = 15 'is raised, or is folded flat for operation in the housing. The cable is guided through the SL elongated hole.

Compilation of the reference designations used in the figures:
SZT. . . Sheet metal chassis for the drive attachment, with angled sheet metal parts (STZ) forming the bearing of the transmission wheels of the transmission gear.
G1 / G2. . . first pair of drive wheels (G1... sitting on motor shaft).
G3 / G4. . . second pair of drive wheels,
G5 / G6. . . third pair of drive wheels,
G7 / G8. . . fourth drive wheel pair.

The drive wheel pairs are each with drive belts correspondingly reduced with transmission belts. The wheel pairs are coupled by flanging (hatched bushing pieces) the output wheel with the input wheel of the next wheel pair. The corresponding wheel pairs sit on bearings or axles held above the sheet metal supports (STZ). 18 axis of rotation of the chassis 27 / STZ with external turning handle (outside the housing, handle no longer shown).
17 Locking pin with handle 16
19 plug-in hole in which the locking bolt can be inserted instead of the plug-in hole of 17 in order to lock the bent chassis part 28 on the underside when the drive is raised (shaft 15 = 15 'by angle α.
20 stop for raising the chassis. Against this attack there is trapping over 19 . The plug pin ( 16 ) is pulled out of position 17 and brought into position 19 after the chassis has been folded up (position α or 15 ').
29 Elastic support or spring at kink 28 of the chassis, which is used for locking.
SKB around rope 15 of the drive wound rope or tape, the free end of which is suspended in the spring balance (FS). For example, the free end of SKP is attached or coupled to the FS. via a Velcro fastener, which is also designed as a snap fastener.
43 mounting ring with the SKB is attached to shaft 15 of the drive.
30 button disc wound on SKB and fixed. Fulfills the purpose that the wound-up rope SKB is held at the slot SL on the outside of the housing (from 23 ) in the de-energized state. In a preferred embodiment, this disk is made of metal and forms a closing contact k1 / k2, which is used as a signal for switching off the winding drive (MOT), when it is pressed onto the housing cover via contact strips attached to the edge of the slot (k1, k2, FIG. 1b) . e.g. as a supplement or alternative to the current overload cut-off.
42 'sliding cover of the housing, housing eg. from wood too.
9 frame as part of the chassis of the stroller, in which the upper part is inserted and fixed with buckles ( 8 ).

The other reference names are explained in the text.

Further alternatives: For the described device according to FIG. 17 or FIG. 23, protection is also sought if the spooled cable pulls execute a corresponding oscillation directly without a spring balance (FS), in particular in connection with the preferred stroller application. The tensile force of the spring scales is then measured, for example, via the motor current of the drive.

It is also provided that the preferred encoding of the vibration path on the footprint (e.g. using zebra crossings 5 , 6 ) is also carried out for vibrations which are carried out using several coordinates (cf. P 197 47 779.8 and 197 13 293.6), in which in In a further alternative, all of the cable pulls are equipped with an optical displacement sensing system, ie reflection meter ( 4 ) or equivalent system, in addition to or instead of the spring balance (FS). The cable is e.g. designed as a rolled band (with roller 15 ), in which the zebra marking is provided on the path over the path that is moved back and forth over the installation surface ( 7 ), which is attached to the belt by an optical system attached to the belt and directed downwards Reflection meter is scanned.

Claims (47)

1. A method for a rocking device in which the rocking vibration of the device is motor-influenced on the rocking device by means of one or more drives and the drive has a measuring sensor for measuring the force coupling between rocking device and drive (distance measurement and / or tensile force measurement and / or Anschlagkraftmes solution), characterized in that by means of a sensor both an actual value measurement and a setpoint measurement, which corresponds to the rocking oscillation of the device, and that a changeover mode is generated via a signal detection system which records the process of writing the actual value measurement as a setpoint value into a comparison memory for the actual value setpoint control of the drive. 2. Method for a rocking device, in which the rocking vibration of the device is motor-influenced on the rocking device by means of one or more drives (s) and the drive each has a sensor for measuring the force coupling between rocking device and drive (distance measurement and / or tensile force measurement and / or impact force measurement) or method according to claim 1, wherein the following method is carried out:
A tracking control of the drive takes place under controlled force coupling between the rocking device and the drive (via pull rope or rocker or pressure lever) when the reversal points of the oscillation of the rocking device are detected by the force coupling in such a way that a change in the drive speed (for example pulse-like braking) a corresponding change in the distance and / or the tensile force or compressive force at the force coupling is measured by sensors and from the polarity of the sensor signal corresponding to this change relative to the direction of movement of the drive (or also from the disappearance of the change) the required switching of the direction of movement of the drive at the reversal point the vibration is derived and made
characterized in that the setpoint specification for feeding a force influencing the oscillation of the rocking device is determined by the following method steps:

• a) in relation to a reference variable, the extent of a change in the oscillation of the rocking device in the force coupling is sensory-detected (by distance and / or the tensile force or compressive force measurement) and for exceeding the reference variable at a specific phase position of the oscillation (e.g. Zero crossing or inflection point or time grid), the sensor signal is stored as a comparison value [dFzmax_alt, or dFz_alt (#)] associated with the phase position, or a comparison value that has already been stored in relation to the phase position in question is retained if no exceedance of the reference variable is detected,
• b) The tracking control of the drive under controlled force coupling between the rocking device and the drive (via pull rope or rocker or pressure lever) is carried out in such a way that the comparison value [dFzmax_alt, or dFz_alt (#)] determined by process step (a) as setpoints for a setpoint / actual value comparison the control is used, the setpoint or actual value being measured via the force coupling sensor or further displacement sensors.

3. The method according to claim 1 or 2, characterized net that the process steps (a) and (b) used sensor values at zero crossing and / or at the maximum / minimum points of the vibration of the Rocking device are scanned. 4. The method according to claim 1 or 3, characterized in net that the process steps (a) and (b) used sensor values in each case via a Rocking device extending vibration Time grid are sampled, the time grid for Process step (a) and (b) is identical. 5. The method according to any one of claims 1 to 4, characterized in that the extent of the change in the vibration of the rocking device relative to a comparison value by comparing the current vibration period with the comparison value [dFzmax_alt, or dFz_alt (#)], as well is measured by comparing a period leading the current oscillation period (or also several leading periods) with the comparison value [dFzmax_alt, or dFz_alt (#)] at the same phase positions of the oscillation (e.g. zero crossing or turning point or time grid), whereby the following evaluation is made for the comparison from all periods:
If the comparison values for ALL periods are OUT OF tolerance, the comparison value [dFzmax_alt or dFz_alt (#) is renewed,
If the comparison values of ONE or more periods are still WITHIN the tolerance, the old comparison value [dFzmax_alt or dFz_alt (#)] is retained (no renewal). 6. The method according to any one of claims 1 to 5, characterized characterized in that the sampling time grid, according to which the change in drive speed (e.g. impulsive braking) with the associated occurring  Influencing the sensor signal is made for Period of vibration of the rocking device stable is held. 7. The method according to any one of claims 1 to 6, characterized in that at least one of the following input functions are provided for performing the method:

• a) a switchover between direct and periodic comparison of the oscillation for the comparison to the respectively stored comparison value [dFzmax_alt, or dFz_alt (#)], the possibility of entering the comparison periods being optionally provided,
• b) a setting option for the dimensioning of the permissible deviation for the response of the switchover mode, which carries out the writing process of the actual value measurement in a comparison memory for the actual value setpoint control of the drive,
• c) a stop function for switching off the drive,
• d) a recording function in which the write-in process of the actual value measurement in a comparison memory for the actual value setpoint control of the drive is constantly activated,
• e) a switch-off function in which the write-in process of the actual value measurement in a comparison memory for the actual value setpoint control of the drive is constantly switched off.

8. The device for method according to claim 7, characterized characterized that relevant functions via a Remote control unit (wired or wireless) the control are passed on.   9. Drive device for performing the method according to one of claims 1 to 8, or according to the preamble of claim 1 or 2,
with a motorized (spooled) pulling rope, furthermore a sensor inserted into the pulling rope path and having a spring travel, which measures the pulling force of the pulling rope over the spring travel,
characterized in that the sensor is designed as a resiliently deflected pulley of the traction cable, which is deflected by the motor pulley to a corresponding fastening point of the rocking device via the pulley. 10. Drive device according to claim 9, characterized characterized in that the resilient mounting of the Deflection roller via a leaf spring made by a Proximity sensor is scanned. 11. Drive device according to claim 9 or 10, characterized characterized in that the winding device of the pull rope is biased in the winding direction by spring force, which tensioned the cable when the motor was de-energized stops, with the cable pulling one at the outlet opening the cable as a blocking stop (e.g. Disc). 12. Drive device according to one of claims 9 to 11, characterized in that the through hole of Housing plate for the implementation of the Deflection pulley outgoing pull rope as in line oblong hole lying with the winding groove of the deflection roller is trained. 13. Drive device according to claim 12, characterized characterized in that the drive device by a Axis, which is perpendicular to the drive housing outside lead rope is rotatably mounted.   14. Drive device according to claim 13, characterized characterized in that in addition to the cable drive further controlled drive is provided, which Chassis of the cable drive with the pulley around the called axis rotates, this further drive from a scanner is controlled, which the Measures the distance of the pull rope to the slotted edges. 15. Drive device according to claim 14, characterized characterized in that as a scanning device which the Measures the distance of the pull rope to the slotted edges, one on each side of the slot edge attached optical reflection meter each is provided, which in the direction of the slot edge Traction rope scans and that over a difference or Ratio signal evaluation of the two reflection measurements signals, the two signals by the said Rotation of the cable drive to the same amplitude are regulated, which means a central position of the cable in the slot corresponds. 16. Drive device according to one of claims 13 to 15, characterized in that a base plate (podium) is provided, in which the drive boxes in corresponding depressions are used. 17. Drive device according to claim 16, characterized characterized in that the drive boxes within the Sinks are interchangeable, and that to the Suitable blind boxes are provided, which instead of the drive boxes in the recesses the footplate (podium) are inserted. 18. Drive device according to one of claims 14 to 17, characterized in that the drive for rotation the chassis of the cable drive mounted on the chassis and on the footplate on which the cable pull drives, (or the chassis of a cable drive) are attached, are firmly coupled.   19. Drive device according to claim 18, characterized characterized in that the coupling of the drive axis of the drive attached to the chassis of the cable drive to the footplate, via a fastened to the footrest Coupling piece is made, which is a concentric Has plug contact, the rotation of the Cable drive chassis acts as a sliding contact, 20. Rocking device using a method after one of claims 1 to 7, or using a Drive device according to one of claims 8 to 19, characterized in that the rocking device a Air-filled seating or reclining furniture affects which Fastening points for the cables of the drives has and that the drives on a base plate are fixed, the air-filled seat or Loungers are assumed. 21. Rocking device according to claim 20, characterized characterized in that the or seating or reclining furniture a carpet is set up, which corresponding Passage window for the drives, the Carpet on the foot or mounting plate of the drives lies on. 22. Rocking device according to claim 20 or 21, characterized characterized in that the attachment points for the Rope hoists are hanging rings in which the ropes are attached. 23. Rocking device according to claim 20 or 21, characterized characterized in that the attachment points for the Cable straps into which the ropes of the motor Drives are attached or hooked in. 24. rocking device according to one of claims 20 to 23, characterized in that as as a piece of furniture underlaid or pinned across to the lying direction (e.g. with Velcro) or welded air rollers stored bed or a mattress,  the cables are attached to the bed are (by hanging rings or belts with side Hanging rings, etc.) and the vibration of the bed against the air rollers. 25. Rocking device according to claim 24, characterized characterized in that as placed on the air rollers Bed one on a resilient pad applied mattress is used. 26. Rocking device according to claim 25, characterized characterized that the base plate of the mattress Joints aligned parallel to the air rollers (Hinges, etc.), each between the Air rollers are provided. 27. Rocking device according to claim 26, characterized characterized in that the washer has a resilient has elastic frame on which, if necessary (Option) joints are attached, being in the frame a slatted frame is used. 28. Rocking device according to claim 27, characterized characterized in that the joints can be locked (e.g. using a slide). 29. Rocking device according to one of claims 25 to 28, characterized in that the mattress as Air mattress is formed. 30. Rocking device according to one of claims 25 to 29, characterized in that the mattress as Water bed is formed. 31. Rocking device according to one of claims 25 to 30, characterized in that the mattress as Standard mattress (also futon etc.) is designed. 32. rocking device according to one of claims 20 to 31, characterized in that the thereby characterized  records that the ends of the seat or reclining furniture are elastically movable or at least bendable and that inflatable air cushions are underlaid, which when inflating, bend the ends upwards. 33. Rocking device according to claim 32, characterized characterized that the air cushion by means of a compressor are inflatable. 34. Rocking device according to one of claims 20 to 33, characterized in that the seating furniture as air filled rocking chair is executed on Sled part has tabs on the underside through which flexible rods or strips are inserted.   35. Vibration initiation device, which taking into account the natural vibration behavior of the initiated movement mechanism must undertake a vibration drive, in its own application or for processes with push-pull control in train length Cables, which one between the tensioned regulated Cable pulls attached object (e.g. stroller) in one linear vibratory movement move, the pull rope tension via electronic spring carriages suspended in the pull cables is measured and the control is based on the vibration characteristics (Mass and / or suspension), characterized, that the linearly reciprocated object in addition to corresponding drive control via the spring forces of the Spring balance or via correspondingly inserted spring forces in a linear vibration is offset, each with a drive a tensioned, pulled rope controls and the other drive to push the pull rope in minimal Tension rope unwinds, and in the reversal point that the Drive cable unrolling drive to drive pulling the pull cable as well as the drive tensioning the pull rope to the pull rope unwinding drive and the one that takes place at the reversal point Brake energy supply via the spring force of the pull rope rolling drive occurs when it is blocked, whereby this spring force after the reversal of movement as an additional Drive pulse is fed. 36. Device for carrying out the method according to claim 35 or for carrying out a method with push-pull cables between which a swinging object (e.g. swing, cradle, stroller, pendulum, etc.) is provided, characterized by the following feature for the cable-winding drive: The drive takes place via a roller ( 15 ) over which a pull rope or belt (SKB) is freely wound on an incline and goes from the roller to the fastening point moved by the cable. 37. Housing for the drive device according to claim 36, characterized in that the housing ( 23 ) has an elongated slot (SL) through which the cable (SKB) is guided. 38. Housing ( 23 ) according to claim 37, characterized in that the drive ( 23 ) or the chassis ( 27 ) is mounted in the housing via a joint ( 18 ) and with its band winding roller ( 15 ) looking out of the slot (SL) can be superscripted ( 15 = 15 '). 39. Housing (23) according to claim 38, characterized in that the axis (19) can be rotated to the vertical position of the tape winding roll (15) on the outside of the housing (23) and the one externally operated latch (28/17/19) of the high position the tape winding roller ( 15 ) is provided ( 16 ). 40. Apparatus for methods according to claim 39 or only according to the preamble of claim 1, characterized in that a stroller ( 10 ) is suspended between the cables (for example. On axes 1 , 2 ). 41. Apparatus according to claim 40, characterized in that a mounting plate (7) is provided with adjustable in the width of the track groove (25/24). 42. Apparatus according to claim 41, characterized in that the track grooves as insert groove ( 24 ) for inserting adapters ( 25 ) which have the actual track grooves for the wheels ( 3 ) and within the wider insert groove (BL) for adjusting the Track width are made slidable, are provided. 43. Device according to claim 42, characterized in that the adapter strips ( 25 ) are held on the insertion groove ( 24 ) via a Velcro strip connection ( Fig. 8b). 44. Detachable pull rope connection ( Fig. 12) between the object moved by rope pull (swing, cradle, bed, stroller) and the mentioned spring carriage and / or between the spring carriage and winding or pulling device of the drive for device according to the preamble of one of the preceding claims, characterized in that a releasable pull cable connection is provided, which is designed as a push-button connection, and in that the surfaces placed on top of each other by push-button connection are still connected by Velcro fastener connection, an electrical contact possibly being conducted via the push-button connection (metal button). 45. Vibration initiation device according to one of the preceding claims or vibration initiation device which carries out an oscillation drive via cable pulls, characterized by a footprint ( 7 ) which (in each case) has an optical scanning pattern ( 5 or 6 ) in one or more coordinate directions, which (respectively ) on the vibration device attached optical sensor or sensors (reflection meter), for detecting the vibration path, or possibly several vibration paths, is scanned. 46. Vibration initiation device according to claim 45, characterized in that a zebra pattern ( 5 , 6 ) extending in the direction of the oscillation path is provided as the optical scanning pattern. 47. Vibration device according to claim 40 and claim 11, characterized in that the device without a spring carriage (FS) is used.