EP3752698A1

EP3752698A1 - Device having components which are movable with respect to one another

Info

Publication number: EP3752698A1
Application number: EP19708404.9A
Authority: EP
Inventors: Stefan Battlogg
Original assignee: Inventus Engineering GmbH
Current assignee: Inventus Engineering GmbH
Priority date: 2018-02-13
Filing date: 2019-02-13
Publication date: 2020-12-23
Also published as: WO2019158612A3; DE102018103112A1; DE202018106630U1; US20210301579A1; DE112019000763A5; WO2019158614A1; US11965373B2; US11719034B2; WO2019158612A2; US20210254388A1

Abstract

Device (50) having at least two components (32-34) which are movable relative to one another, wherein the first component (32) is equipped with a rotary receptacle (3) and wherein the second component (33) is rotatably received on the rotary receptacle (3). A third component (34) is coupled to the second component (33). Two connection units (151, 152) which are movable relative to one another and a controllable braking device (1) are included, wherein the braking device (1) is designed as a controllable rotary brake in order to provide controlled damping of a movement of a door device (154) at least partially between a closed position (102) and an open position (103). The first connection unit (151) is formed on the first component (32), and the second connection unit (152) is pivotably coupled to the third component (34). The pivot axis (34a) is oriented transversely with respect to an axis of rotation (33a) of the second component (33).

Description

Device with mutually movable components

The present invention relates to a device with

at least two relatively movable components, wherein the first component is equipped with a rotary receptacle and wherein the second component rotatably mounted on the rotary receptacle

is received and wherein a third component is coupled to the second component. There are two relatively movable connection units and at least one controllable braking device comprises. The braking device is designed as a controllable rotary brake, in order to at least partially control a movement of a door device between a closed position and an open position.

It can be a drive device comprising a drive housing and a drive shaft to effect a relative movement of a first to a second component of the components to each other.

In a specific embodiment, a device according to the invention comprises a brake and an electric motor and two relatively movable and in particular rotatable or

swiveling components. For example, a

Device according to the invention be designed as a car door and comprise an actively pivotable door, which via a

has electric drive to allow a motor-driven pivoting.

Various devices are known in the art

at least two relatively movable components become known. The problem is often the space required during operation.

It is therefore the object of the present invention Device with at least two relatively movable components to provide, which has a smaller space requirement during operation.

This object is achieved by a device with the

Features of claim 1. Preferred developments of

Invention are the subject of the dependent claims. Further advantages and features of the present invention will become apparent from the general description and the description of the

Embodiments.

A device according to the invention comprises at least two relatively movable components, wherein the first component is equipped with a rotary support and wherein the second

Component is rotatably received on the rotary receptacle. A third component is coupled to the second component. There are two relatively movable connection units and at least one controllable braking device comprises. The

Braking device is designed as a controllable rotary brake to at least partially control a movement of a door device between a closed position and an open position. The first connection unit is formed on the first component and the second connection unit is pivotably coupled to the third component. The pivot axis is aligned transversely to a rotation axis of the second component.

The device according to the invention has many advantages. On

considerable advantage is that the first

Terminal unit is formed on the first component.

As a result, it is not necessary for an opening of a door device that the device is pivoted at both ends. The required space is considerably smaller. The second

Connection unit is pivotally coupled to the third component. The pivot axis on the third component extends transversely to a rotation axis of the first component. So only a small space is required during operation. The device can be constructed very compact. Preferably, the first connection unit rotates and in particular rigidly connected to the first component. The first connection unit may in particular be formed in one piece on the first component.

Preferably, the third component is pivotable via a (substantially) rod-shaped coupling profile with the second

Coupled connection unit. As a result, there is only one pivot axis on the main body of the device, which is transverse to one

Rotary axis of the second component runs. The main body of the device may also be called a main module. The main body of the device comprises, in particular, the first component, the second component and the third component, and is preferably substantially formed thereby.

Preferably, the coupling profile is pivotally connected at a first end to the third component and / or pivotally connected at a second end to the second connection unit. In this case, the two pivot axes are preferably (at least approximately) parallel to one another at the first and the second end and lie in particular in a plane (preferably approximately vertical in operation).

Particularly preferably, a mounting plate or guide plate for attachment to a door is attached or formed on the first component. The guide plate preferably comprises a

Section through which the coupling profile is performed. The cutout can be designed in particular as a passage opening or the cutout can be U-shaped or V-shaped or L-shaped, for example, and surround the coupling profile at two, three or more sides, but need not have a full wall around the coupling profile.

The cutout preferably has a clear width

Performing the coupling profile on which is less than three times or twice or 1.5 times a width of the

Coupling profile perpendicular to its longitudinal extent. The coupling profile is preferably pivotably coupled to the third component and the second connection unit in each case.

In particular, the coupling profile is elongate and (in particular in a plane) curved. The coupling profile may have one or more curves and in particular may be banana-shaped.

Preferably, the coupling profile along its course at least two curvatures. In particularly preferred

Further developments, the coupling profile along its course on two opposite curvatures. The opposite curvatures can approximately cancel, so that the two ends of the coupling profile almost parallel, but laterally offset, each other.

In particular, the coupling profile is designed so that it is arranged substantially in one plane.

Preferably, at least one drive device with a drive housing and a drive shaft is included, around a

Relative movement of a first or second to a third

Component of the components to effect each other. The

Drive shaft is rotatably coupled to the second component and the drive housing is rotatable on one of the two

Components recorded and controlled by an actuator with the first component rotatably coupled and decoupled from it. Or the drive housing is rotatably coupled to the second component and the drive shaft is by means of an actuator

controlled rotatably coupled to the first component and decoupled from it.

Such a device has many advantages. A significant advantage is that the drive housing controlled by the first component coupled rotatably coupled and decoupled from or that the drive housing is rotatably coupled to the second component and that the drive shaft controlled by means of an actuator rotatably with the first component can be coupled and decoupled from it.

Practically, it is possible that the drive housing is rotatably received on the first of the two components and that the

Drive shaft rotatably coupled to the second component. Via an actuator, the drive housing is rotatably coupled to the first component. This will allow that

For example, for an automatic relative movement of the two components to each other both components each rotatably connected to either the drive shaft or the drive housing. By the drive can then be carried out an adjustment of the two relatively movable components. If, however, a manual adjustment take place so that the door is done purely by hand and without motorized support, so one of the two components can be decoupled either from the drive housing or the drive shaft, so that a manual movement of the two components to each other with low

Force is possible. It is not necessary to rotate the drive housing or drive shaft relative to the drive housing when manual adjustment is desired.

In a simple embodiment, the rotation of the first component, for example, as an axle unit or

Be formed coupling rod and the second component is configured accordingly and rotatably received on the rotary receptacle. But it is also possible that the rotary holder is formed as a hollow cylindrical receptacle or includes such. Then, the second component may comprise an axle component which is rotatable on the hollow cylindrical receptacle

is included. In particularly preferred embodiments, the first component is equipped with a rotary support in the form of an axle unit or coupling rod.

In particular, the third component is rotatably coupled to the second component. In this case, preferably only the second component rotates. Preferably, the second component is rotatable relative to the first and third components. In particular the second component is disposed radially between the first and third components and rotatably received with respect to the first and third components.

Preferably, two mutually engaging spindle units are arranged between the two connection units. Preferably, a spindle unit is designed as a threaded spindle and the other spindle unit as a spindle nut. By two intermeshing spindle units, a linear movement can be converted into a rotational movement or a rotational movement into a linear movement. In advantageous

Embodiments preferably at least the first

Spindle unit at least partially made of a plastic with preferably incorporated lubricant. This can

For example, a self-lubrication can be achieved. In addition, the noise emissions are reduced by a spindle made of a plastic unit, whereby depending on the design, a quiet run can be achieved. Preferably, the spindle units convert a linear movement of the terminal units relative to each other into a rotational movement of the spindle units. However, other mechanisms for converting a rotational movement into a linear movement and vice versa are conceivable, for example, a spur gear, bevel gear, ring gear and / or a

Rack be provided.

Preferably, the second component is a threaded spindle and it is the third component designed as a spindle nut. Then, in a relative rotational movement of the second or third component, an axial displacement of the threaded spindle for

Spindle nut achieved.

Preferably, in a relative movement of the

Connection units to each other a relative axial position of the spindle units to each other. In particular, the surrounds

Spindle nut the threaded spindle radially. Preferably, the threaded spindle is formed at least 30% longer than the spindle nut. In particular, the threaded spindle against the Spindle nut and against the rotary holder rotatable.

In advantageous embodiments is radially between the

Rotary recording and the first spindle unit formed a ring-cylindrical cavity.

In particular, a cylindrical sleeve made of a magnetically conductive material is accommodated in the first spindle unit and in particular in the annular cylindrical cavity. In particular, the cylindrical sleeve is non-rotatably connected to the first spindle unit. Preferably, the (remaining) cavity is partially or completely filled with a magnetorheological medium.

Particularly preferred is a controllable braking device comprises. In particular, the braking device is designed as a controllable rotary brake. Preferably, the device is designed as a door device or comprises such. If the door device is designed as a door component of a motor vehicle, then

preferably one of the terminal units with the body and the other of the terminal units coupled to the door. Then, a movement of the door device is preferably at least

partially between a closed position and a

Open position controlled damped. In particular, the

Movement of the door device braked and preferably the door device in any angular positions can be determined.

Preferably, the first component, the second component and the third component in the interior of a door device

arranged. The coupling profile preferably leads out of the interior of the door device to the outside and is connected to the second

Connecting unit pivotally connected. The second

Connection unit may in particular be attached to an A-pillar or to a B-pillar of a motor vehicle.

A device with a pivotable door device comprising a controllable braking device and wherein the

Door device controlled by a drive device can be motor-assisted opened and / or closed, points many advantages. Particularly advantageous is such

Device, if at a manual opening or at a manual closure of the door device only a small

Braking torque must be overcome. This is achieved here by the fact that a rotationally fixed coupling of the drive housing or the drive shaft with the corresponding component can be generated if necessary and canceled again.

In preferred developments, the braking device is operative between the rotational receptacle of the first component and the second component.

In all embodiments, it is preferred that the

Braking device is designed as a magnetorheological transmission device and comprises at least one electrical coil. In particular, the magnetorheological transmission device is arranged radially inside of the first spindle unit.

The electrical coil preferably has windings wound around the rotary receptacle. In particular, the

magnetorheological transmission device comprises at least one magnetic circuit having an axial section in the rotary receptacle, an axial section in the cylindrical sleeve and / or the first spindle unit, the electrical coil and at least one axial side of the electrical coil at least one in the radial gap between the rotary receptacle and the first

Spindle unit arranged rotary body comprises. In particular, a plurality of magnetic circuits is present.

In all embodiments, it is preferred that in each case at least one rotary body is arranged on both axial sides of the electric coil. The rotary body may be spherical. Possible and preferred is that the

Rotary bodies are cylindrical. Preferably, on at least one axial side of the electric coil is a

A plurality of rotary bodies distributed on the circumference of the rotary recording arranged. In particular, the magnetic circuit includes both axial sides of the electric coil in the radial gap between the rotary holder and the threaded spindle arranged there

Rotary body.

In all embodiments, it is preferred that an electrical connecting cable for the electric coil is fed through a channel in the rotary receptacle. Preferably also becomes

electrical connection cable for the drive device fed through one or the channel in the rotary receptacle. It is possible and preferred that a power cable is designed as a winding spring. In such power cables, the cable can be rotated or wound at one, 2, 3, 4, 5, 6, 7, 8, 9 or 10 revolutions. This allows for a significant lift in both directions. It is also possible that the power cables are designed for even more windings. Alternatively, power can also be transmitted via slip rings and / or at least one coil spring.

Preferably, the rotary receptacle is pivotable about a pivot axis aligned transversely to the coupling rod.

In preferred developments, the first spindle unit is received axially fixed in the rotary receptacle and the first

Spindle unit extends over an axial adjustment range.

In advantageous embodiments, the drive device comprises an electric drive motor. But it is also possible that a pneumatic and / or hydraulic drive motor is provided. It is also possible that two different

Drive motors are provided.

Preferably, an angle sensor detects an angular position of the drive housing. This makes it possible to bring the drive housing targeted in a predetermined or desired angular position. Without an angle sensor, it is conceivable that the electrical connection cable of the drive device is always turned on in one direction. With an angle sensor can be counteracted reliably. In all embodiments, it is preferred that at least one displacement sensor is provided to detect at least one axial position. By means of a fixed coupling between a radial and an axial movement, a defined radial position can also be determined via an axial position. An angle sensor for determining an angular position of the drive housing but also makes sense if a displacement sensor is provided for an axial position, as due to the decoupling between

Drive housing and one of the components or between

Drive shaft and one of the components can give angular displacements. By means of an (absolute) angle sensor, an undesired permanent rotation of the drive cable can be prevented.

In all embodiments, it is possible that the

Drive device comprises a transmission and that the

Drive shaft is the transmission shaft.

In particular, one of the components is designed as a door component and another of the components as a frame component. The connection units are preferably connected to it.

In preferred developments, the actuator is a

Preload unit preloaded into a decoupled position. Then a coupling takes place only when the actuator is activated. The actuator can in particular be operated magnetically, pneumatically, hydraulically and / or (preferably) electrically.

The actuator preferably comprises a non-circular active surface, which with an adapted non-circular effective surface on the

Drive device cooperates. In simple embodiments, an external toothing is formed on the drive device, in which a toothed segment of the actuator positively engages, by means of the actuator targeted a coupled connection

to produce.

In all embodiments, it is possible and preferred that the drive means rotatably on the first and / or the second Component is stored.

Further advantages and features of the present invention will become apparent from the embodiments, which are explained below with reference to the accompanying figures.

In the figures show:

Figure 1 is a highly schematic plan view of a

Motor vehicle with a device with a drivable door with a braking device;

Figure 2a shows a device with a drive device and

a braking device in a schematic section;

FIG. 2b shows a variant of the device according to FIG. 2a in a schematic section;

Figure 3a shows another device with a drive device and a braking device in a highly schematic section;

FIG. 3b shows a variant of the device according to FIG. 3a in a schematic section;

FIG. 4 shows a variant of the device according to FIG. 3a in a schematic section;

Figure 5 is an enlarged schematic detail of devices according to Figures 3, 3a and 4;

Figure 6a is a sectional view of another device;

Figure 6b is a perspective view of the device according to

FIG. 6a in a middle position;

Figure 6c is a plan view of the device of Figure 6a in an extended position;

Figure 6d is a plan view of the device of Figure 6a in a retracted position; FIG. 7 is a sectional schematic diagram;

FIG. 8 shows the force curve of a device according to FIG. 7;

Figure 9 is a schematic view of a training device; and

Figure 10 is a schematic view of a prosthesis.

Figure 1 shows the application of the device 50 according to the invention as a door component 100 to a motor vehicle 200 and here a passenger car. The motor vehicle 200 is in a

schematic top view shown from above. To the

Motor vehicle 200 are here two designed as doors

Door devices 154 are provided. The doors are both in the open position 103. Hatched in, a door is in the closed position 102.

For damping the pivoting movement or to decelerate the

Pivoting movement of the doors 154 up to blocking, the door components 100 each comprise a braking device 1, which is designed as a rotary brake or rotary damper or the like. The door components each comprise connection units 151 and 152, one of which is connected to a supporting structure of the motor vehicle 200, while the other is connected to the door 154, so that during an opening or closing movement of the door 154, a relative movement of the connection units 151 and 152 takes place. The terminal units 151 and 152 move linearly. It is converted into a rotational movement by the

Rotary damper 1 of the device 50 braked or damped or

is blocked.

The device 50 may be formed as a door component 100 and the braking device 1 and terminal units 151 and 152 include and used for damping or braking the rotational movement of doors and flaps on a motor vehicle 200. The device 50 can also be used as a damper device 60

be formed and the braking device 1 and

Terminal units 151 and 152 include and for damping of Rotary movements or, for example, linear movements between the terminal units 151 and 152 are used.

FIGS. 2 a and 2 b show two variants of a device 50 with a drive device 70 and a brake device 1. For example, the device 50 according to FIG

controllable door are used in a building, wherein the first component 32 is connected to the frame or the wall and the second component 33 is connected or coupled to the door leaf. The second component 33 is rotatably supported via the rotary receptacle 3 designed here as an axle unit.

Between the axle unit 3, which can also be referred to as a coupling rod, and the second component 33 are bearings 7th

arranged. Between the bearings 7 electrical coils 9 are arranged, adjacent to the respective rotational body 2 in the axial direction. With the electric coil 9 is a

Magnetic field source 8 provided. If with the

electric coils 9 a magnetic field is generated, this leads to a braking torque between the two components 32 and 33. About the braking device 1, a strong braking torque can be applied in any angular positions, so that a

unintentional change in the opening angle of the door device 154 is prevented.

In addition, according to FIGS. 2 a and 2 b, the device 50 contains in each case a drive device 70, which is designed here as an electric drive motor 75. The drive device 70 comprises a drive housing 71, optionally a gear 74 and a drive shaft 72, on which a pinion 77 is arranged here.

In the exemplary embodiment according to FIG. 2 a, the drive motor 75 is coupled with its drive housing 71 in a torque-proof manner to the second component 33. To an automatic or controlled

To cause relative movement of the components 32 and 33 to each other in the embodiment according to Figure 2a, the drive shaft 72 and the drive pinion 77 rotatably with the first component 32nd be coupled.

This is done via an actuator 80, the one

Preload unit 81 (here in the form of a coil spring) comprises. By means of the actuator 80, the engagement unit 84 with the non-round active surface, which is designed here as a toothing, is brought into contact with the outer surface of the pinion 77. As a result, a rotationally fixed coupling of the drive housing with the second component 33 and the drive shaft 72 with the first component 32 is effected. By a rotation of the motor, a corresponding rotation of the two components is effected relative to each other. For opening a door, for example, 90 ° are regularly 3 or 4

Revolutions of the drive motor 75 needed. Accordingly, the guided here in the channel 21 cable 29 is rotated a corresponding number of revolutions. In a corresponding subsequent closing the cable is rotated in the opposite direction.

In the embodiment of Figure 2, the actuator 80 by a biasing unit 81 in the form of, for example, a

Spiral spring preloaded into the engaged position. By

Actuation of the actuator, the coupling is canceled.

But it is also possible that the preload unit 81 preloaded the actuator in the decoupling position. Then, the actuator is activated to effect a rotationally fixed coupling of the pinion 77 with the first component 32.

In Fig. 2a, in contrast to illustration of FIG. 2b, the

Threaded spindle 4 drawn on the second component 33, which cooperates with the spindle nut 5 of the third component 34. Upon rotation of the second component 33 relative to the third component 34, a linear adjustment is effected (see Figures 6c and 6d).

In Figure 2b is a slightly different embodiment

illustrated, wherein also in Figure 2b, the second component 33 rotatably mounted on the axle unit as a rotary holder 3 of the first Component 32 is stored. It is in turn a braking device 1 is provided to a variable braking torque with the

To produce braking device 1. Not shown in Figure 2b, the threaded spindle 4 and the cooperating spindle nut 5 of the third component 34th

In contrast to the embodiment of Figure 2a, the drive shaft 72 is directly rotatably coupled to the second component 33. The drive housing 71 is rotatably received on the second component 33. On the drive housing 71, a rotatably connected thereto pinion 77 is formed. The

Drive housing 71 is controlled by the actuator 80 rotatably coupled to the first component 32 can be coupled. With a coupling of

Drive housing 71 with the first component 32 and activation of the drive motor 75, the second component 33 is rotated relative to the first component 32. Also in this case, the cable 29 is rotated accordingly.

A rotation of the connecting cable 29 of the drive device 70 is in all cases but no problem, since for a small required tilt angle less than 180 ° only a few

Revolutions with the drive motor are necessary. This is about a corresponding power cable in the form of for example one

Clock spring or a slip ring no problem.

Such a device can be advantageously and widely used in various technical fields, for example in interior and exterior doors of buildings,

public facilities, ships, aircraft, military vehicles, larger vehicles such as buses, tractors or the like and / or even in autonomous taxis, so-called robotic taxis, and / or doors and boxes of kitchens and / or furniture.

FIGS. 3a and 3b show similar examples to FIGS. 2a and 2b, wherein in FIG. 3a the drive motor 75 with its housing 71 is rotatable within the second component 33

is included. If a non-rotatable coupling is desired, the actuator 80 is extended so that a positive

Connection between the first component 32 and the

Drive housing 71 of the drive device 70 is achieved. Upon rotation of the drive motor, the shaft 72 is then rotated, whereby via the rotationally fixed coupling of the pinion 77 with the second component 33, a corresponding rotational movement of the second component 33 is achieved.

Here in FIGS. 3 a and 3 b and also in FIG. 4, a first spindle unit 4 is formed on the second component 33.

Furthermore, a spindle unit 5 is at a third

Component 34 is formed. The internal toothing of the as

Spindle nut formed spindle unit 5 engages in the

External toothing designed as a threaded spindle

Spindle unit 4, so that during a relative rotational movement of the second component relative to the third component, an axial displacement of the terminal units 151 and 152 to each other.

On the third component 34, the coupling profile 153 is pivotably connected to the spindle nut 5 via a pivot axis 34a. The pivot axis 34a is transverse and here perpendicular to the axis of rotation 33a of the second component 33. The coupling profile 153 is approximately rod-shaped and is at the first end about the pivot axis 34a pivotally connected to the third component 34 a related party. The coupling profile 153 is pivotally connected to the second terminal unit 152 at the second end about the pivot axis 152a. The second connection unit 152 may, for. B. attached to the A-pillar or the B-pillar of a motor vehicle or trained.

Figure 3b shows a variant in which the drive motor 75 is rotatably mounted with its drive housing 71 on a receptacle of the first component 32. The drive shaft 72 is rotatably coupled via the pinion 77 with the second component 33. The

Drive housing 71 is provided with a non-round effective surface 85th

equipped, for example, designed as external teeth is. This non-circular active surface 85 can be brought into contact with the non-round active surface 84 of the actuator 80, so that a

rotatable coupling of the non-round active surfaces 84 and 85 is made possible. Then, the drive housing 71 is rotationally fixed to the first component 32 and it is the drive shaft 72 rotatably coupled to the second component 33. Activating the

Drive motor 75 then causes a direct rotation of the two components 32 and 33 relative to each other. Since a threaded spindle 4 is formed on the second component 33, which is in engagement with the threaded nut 5 of the third component 34, thus an axial displacement of the motor

Connection units 151 and 152 causes each other.

In the decoupled position, when the actuator 80 is not rotatably coupled to the drive housing 71, a simple manual adjustment of the angular position of the components 33 and 32 to each other can be effected. If the two components are rotated relative to each other, the drive motor rotates. As a result, the torque required for rotating the two components 32 and 33 relative to each other is considerably less than if the drive shaft 72 and a subsequent transmission would have to be rotated.

The shaft 72 may also be a torsion or spring element. This can also be designed as a spring energy storage and / or supplemented by a spring energy storage.

The device 50 or the drive unit does not necessarily have to be arranged coaxially with the brake device 1. This can also be arranged parallel or offset to it. The torque transmission can take place here for example via a V-belt, toothed belt, gears, chain drive, friction wheels or the like. On the shaft 72 may, for. B. a timing belt be attached. The component 33 may have at the outer end a toothed belt profile, which then by means of a toothed belt with the toothed belt wheel of the device 50th or the drive unit is operatively connected.

FIG. 4 shows a further variant, in which the drive motor 75 is received in the second component 33 in a way that is resistant to rotation. The

Drive shaft is equipped with a non-round effective surface 85 which can be coupled with a corresponding non-round effective surface 84 of the actuator 80.

Also in the embodiment of Figure 4 is a third

Component 34 is provided, wherein the components 33 and 34 having mutually engaging threads or threaded portions. By the spindle units 4 and 5 is a rotational movement of the spindle units relative to each other a

Axial displacement of the first and third components

achieved to each other.

FIG. 5 shows an enlarged detail, the course of the magnetic field 10 or field lines of a magnetic circuit being shown here by way of example.

The magnetic field generated by the electric coil 9 as a magnetic field source 8 passes through a portion of the magnetic

conductive sleeve 17 and passes through a disposed adjacent to the electric coil rotary body 2 passes and enters the also consisting of a ferromagnetic material coupling rod or rotary holder 3 and extends axially back to the next rotary body 2, where the magnetic field lines again radially through a rotary body 2 passes and enters the sleeve 17 and is closed there. Preferably, two separate rotary bodies 2 are provided between two axially adjacent coils. There may be provided a plurality of magnetic circuits which are axially spaced from each other. Each magnetic circuit may, for example, comprise 2 rows of rotary bodies which are respectively distributed on the circumference to the right and left of an electrical coil. Here, the more applies

Magnetic circuits / rotary body units are performed, the higher the maximum braking torque. It is also possible that are provided in the axial direction elongated rotary body, so that one end of a long

elongated cylindrical rotary body of the magnetic field of the adjacent on one axial side electrical coil. 9

is flowed through, while the other end of the cylindrical rotating body 2 is traversed by the magnetic field of the next electric coil 9.

Centrally in the interior of the coupling rod 3 or the rotary receptacle 3, a channel 21 may be formed, for example, includes the branching channels, for example, to the individual electric coils 9 to supply the individual electric coil 9 specifically with power.

The coupling rod or rotary receptacle 3 is in particular fixedly connected to the first component 32 and may optionally be integrally formed thereon or else screwed or welded thereto.

It is possible that between each series of

Rotary bodies 2 each intermediate rings 18 are provided to separate the individual magnetic circuit from each other.

Clearly visible in Figure 5 and the external thread 14 of

Screw 4, which is in engagement with the internal thread 15 of the spindle nut 5.

Inside the component 33, a sleeve 17 is inserted, which is non-rotatably connected to the threaded spindle 4 as a second component 33 and bonded, for example. The use of a sleeve 17 made of a ferromagnetic material allows the

Thread 4 itself, for example, to produce a plastic, in which case the use of special

Plastics is advantageous. This leads to a considerable weight saving. In addition, a self-lubrication of the intermeshing threaded portions of the spindle units 4 and 5 can be achieved, so that the device 50 can be operated maintenance-free and friction. Adjacent to the rolling bearing 7, a seal 13 is arranged, which comprises, for example, a shaft seal and in

touchingly seals all the gaps. Since the rotary holder 3 is preferably made of a ferromagnetic material and

For example, a relatively soft steel is

Preferably, a raceway 28 made of a hardened material in the region of the seal 13 is applied to the rotary receptacle 3 in order to prevent wear.

Inside is in the cavity between the rotary receptacle 3 and the sleeve 17 (if the threaded spindle of, for example

Plastic) or the inner wall of the threaded spindle 4 (if it consists of a ferromagnetic material and no sleeve 17 is present) and the outer surface of the rotary holder 3 is preferably housed a plurality of magnetic circuits. In this case, electric coils 9 are either wound directly on the rotary holder 3 or wound on bobbin holder 11 in the hollow cylindrical interior, which are then pushed onto the coupling rod 3.

Adjacent to the electric coils 9, a plurality of rotary bodies or rolling elements 2 are preferably accommodated on each axial side, through which the magnetic field of the magnetic circuit closes. For example, in an axial position to

Example 8 or 10 rotary body 2 distributed on the circumference

to be ordered.

FIG. 6 a shows a further exemplary embodiment in section, wherein here a door component 100 is provided as device 50.

The device 50 comprises connection units 151 and 152 for mounting on a motor vehicle. The first component 32 is fixedly connected to the door component 100 here, for example. At the first component 32 is a rotary recording 3, here as

Coupling rod 3 is formed, provided. On the rotary receptacle 3, the second component 33 is rotatably mounted, wherein the second component 33 comprises on the outside of a threaded spindle 4 and insofar as a spindle unit 4 is formed. A third component 34 is provided which is designed as a spindle unit 5. The spindle unit 5 comprises a

Spindle nut 5 with an internal thread, which with the

External thread of the spindle unit 4 of the second component 33 meshes. About the mutually engaged spindle units 4 and 5 is an axial movement of the two

Connection units converted relative to each other in a rotational movement. To brake the rotational movement is a

Braking device 1 in the interior of the second component 33rd

educated .

On the third component 34, the coupling profile 153 is pivotally received about the pivot axis 34a. The pivot axis 34a may, for. B. be formed as a bolt or stub axle on the third component 34 and receive an eye of the coupling profile 153 pivotally. The particularly rod-shaped coupling profile 153 is pivotally connected to the second connection unit 152 at the second end about the pivot axis 152a. The pivot axis 152a may, for. B. as a bolt or stub axle on the second

Terminal unit 152 may be formed and an eye of the

Swing coupling profile 153 record.

For active control, a drive device 70 is accommodated in the second component 33. In this case, the drive housing 71 is rotatably mounted on a drive mount 73. A rotationally fixed connection between the drive housing 71 of the drive motor 75 and the first component 32 can be achieved by the actuator 80, which includes a drive 86 here. The drive 86 can be moved in the vertical direction and thus produce a rotationally fixed connection of the drive housing with the first component 32.

The structure in the interior of the second component 33 preferably corresponds to the structure in the interior of one of the embodiments of Figures 3a, 3b and 4, wherein the different receiving and supporting the drive shaft and the drive housing is observed. Figure 6b shows a perspective view of the device 50 of Figure 6a in a middle position, in which the

Spindle nut 5 is in an intermediate position. The here perspectively recognizable and elongated trained

Coupling profile 153 extends a central path through the cutout 32b on the sheet or guide plate 32b. The

Guide plate 32b is fixedly connected to the first component 32 and in particular integrally formed thereon.

It can be seen that the cutout 32b is formed only slightly wider than the coupling profile 153. The structure shown allows a very narrow construction, in which the clear width can be smaller than twice the width of the

Coupling profile 153 perpendicular to its longitudinal extent.

The first component 32 may consist essentially of a bent or folded sheet metal and be screwed directly to a door device. In particular, the

Device 50 mounted inside the door device or inside a door assembly of the door device.

Figure 6c shows a plan view of a fully extended coupling profile 153. The device is located in the

extended end position and the coupling profile 153 extends maximally through the cutout 32b. In the plan view according to FIG. 6c, it can be clearly seen that the coupling profile 153 has a plurality of, and here two, bends 153d and 153e, which run in opposite directions here. As a result, the ends of the coupling profile 153 extend parallel to one another and are offset by less than a width transversely to the longitudinal extent. The exact profile shape depends on the installation situation. Here, in any case, a narrow structure is achieved, which even in operation only a small amount of space when installed in the interior of a

Door device needed.

Figure 6d shows a plan view of the device of Figure 6a in a largely retracted position. The coupling profile 153 is largely retracted and does not extend laterally beyond the diameter of the second component 33 or the third

Component 34 addition.

In the sectional longitudinal section according to FIG. 6a, it can be seen that the device 50 has two relatively movable parts

Components 32, 34, wherein the first component 32 is equipped with a rotary holder 3, at which the second

Component 33 is rotatably received. A third component 34 is coupled to the second component 33. Two connection units 151, 152 which can be moved relative to one another are included, wherein the first connection unit 151 is formed on the first component 32 and the second connection unit 152 is pivotably coupled with the third component 34.

It is a controllable braking device comprises, wherein the

Braking device 1 is designed as a controllable rotary brake to at least partially control a movement of a door device 154 between a closed position 102 and an open position 103. In this case, the pivot axis 34a is aligned transversely to a rotation axis 33a of the second component 33.

The first terminal unit 151 is rigid with the first one

Component 32 connected and the third component 34 is pivotally connected via a rod-shaped coupling profile 153 with the second

Terminal unit 152 coupled. The coupling profile 153 is pivotably connected at a first end to the third component 34 and at a second end to the second connection unit 152.

As shown in FIGS. 6b, 6c and 6d, a guide plate 32a is attached to the first component 32 for attachment to a door device 154. The guide plate 32a comprises a cutout 32b, through which the coupling profile 153 is performed. The coupling profile 153 is connected to the third component 34 and the second

Terminal unit 152 pivotally coupled and is elongated and curved.

FIG. 7 shows a schematic schematic diagram of the mode of operation the magnetorheological transmission device 40 with the basic principle of the rotary damper or the braking device 1. This figure is basically already shown in WO 2017/001696 Al. The relevant description and the entire contents of WO 2017/001696 A1 are therefore included in the disclosure of the present invention.

FIG. 7 shows two components 32 and 33 whose relative movement is to be damped or specifically influenced by the transmission device 40. For this purpose, a plurality of rotary bodies 2, which are embedded in a magnetorheological fluid 6, are arranged in a gap 35 between the components 32 and 33. The rotary body 2 act as magnetic field concentrators, which leads to a wedge effect with applied magnetic field and a relative movement of the components 32 and 33 to each other, resulting in wedge-shaped regions 46 in which the

collect magnetorheological particles and effectively decelerate via the wedge effect a further rotation of the rotary body 2 and a relative movement of the components 32 and 33 to each other.

In this case, the free distance 39 between the rotary body 2 and the surface of the components 32 and 33 is generally greater than a typical or average or maximum

Particle diameter of a magnetorheological particle in the magnetorheological fluid. This "MRF wedge effect" achieves a considerably greater influence than would be expected, which in particular leads to a high static force, which can be used as holding force.

The rotary damper or braking device shown in the exemplary embodiments in FIG. 1 preferably all work according to this "MRF wedge effect".

The high static force can be effectively used as a holding force and can be advantageously exploited, as Figure 8 shows, in the force curve of the braking force of the magnetorheological transmission device 40 and the braking device 1 on the Number of revolutions of the rotary body (and analogously, the rotatable spindle unit) is shown. It turns out that at

Standstill of the rotary body 2 a very high braking force is generated. The user overcomes the braking force affecting the door

keeps open, so the braking force decreases even when still

applied magnetic field with increasing speed considerably, so that the user can easily close the door even with the applied magnetic field after overcoming the sufficient holding force.

This effect means that in principle in any angular position, a high holding force is generated, the

But users can easily overcome to close the door. This will be a very comfortable feature for

Provided. The closing function can be motorized

be supported so that at any time only light forces

must be applied.

Figure 9 shows an embodiment, wherein the device 50 is designed as a training device 300. In this case, a plurality of devices 50 and / or braking device 1 may be included, each having separate drive means 70 and

Braking devices 1 have.

FIG. 10 shows a configuration of a prosthesis, wherein the prosthesis 400 here has a device 50. At the

Device 50 is also a braking device 1 between

Terminal units 151 and 152 are provided.

In addition, the following possibilities for the execution of doors of motor vehicles can be realized:

1. Active doors. Ie. the door moves actively at the push of a button or by another control command, powered by an electric motor; and is braked by means of a brake. All without external influence. Detect sensors

necessary stop positions. 2. Passively executed doors. The door is moved by the user and is itself passive (and is maximally braked). By means of sensors can be intelligently attenuated and z. B. be stopped in front of an obstacle.

3. Passive "active" door: The electric motor, etc. will

disengaged and the otherwise active door can passively move with low and at least reasonable effort.

A new possibility is a semi-active door:

The door is moved by the user as in the previous Mode 2 (passive), however, the electric motor in combination with the brake supports the movement. So the door z. B. can be moved as desired with a finger. As long as the finger

(Hand) the door leads, as long as the door follows with minimal counterforce of the hand movement or the specification of the user.

The force with which the door follows can be pre-set (eg in the vehicle settings menu, or in the ignition key, in an app, etc.) The door can also be easily pushed and then moves very slowly, with one finger stopped again The person "leads" the door, the door makes (preferably) nothing (or almost nothing) independently.The art here is to divine the user request (sensor ...) and to regulate the engine so that the door no Moves that are "unnatural" (jerking, too much deceleration, too tight, reversing the direction of rotation are critical ...).

This is also possible in the slope. The electric motor then compensates for the changing forces (otherwise the door would be lighter in one direction, heavier in the other). The door always moves "elegant" or quasi

gravity free.

Using a movement pattern or button, the door can be in the position desired by the user (braked) will be fixed (braked) so that he / she can hold onto it when getting in or out (exit / boarding assistance).

An advantage of this solution is also that could be dispensed with disengaging. This is a big advantage in terms of cost, weight and installation space.

It is advantageous if a user can passively close a car door. This is particularly advantageous when a low closing force is needed.

The door then does not open "by itself" but is guided with minimal effort. The drive motor provides the support and the braking device brakes when needed

adjusted so that a minimum force is needed at all times.

The electric motor and gearbox should be relatively strong, as the door forces and traversing speeds are high (exit assistance: up to 2,000N, actuation force up to 1,000N). Therefore it is possible that one the engine including transmission (as with the electric

Tailgate) hears what is not desired. Gear with

Plastic gears and encapsulation in the form of sound insulation provide only limited help.

For most vehicles in the door is also one

Speaker arranged. This is usually only a few centimeters away from the active door adjuster (= drive motor). Counter-sound can now be emitted via the loudspeaker when the door adjuster is active. The noise from the door adjuster does not change very much in the frequency spectrum. In addition, the door adjuster is controlled, so you know what he is doing or should do. He is not an undefined source of noise. Due to the sensor signals, the load is known (eg yaw sensor: angle from the vehicle). Thus, it is possible to work with counter-sound very efficiently. Preferably, in all embodiments, a control of a door device by voice input is possible. For this purpose, speech recognition can be carried out (locally or remotely). The

Transmission of commands can be done by voice. Possible are z. For example, commands like:

"Open door" or "open"

"Close door" or "close"

"Door stop"

"Block the door" (for example: when getting out)

"Close the door quietly"

It is also possible to name a concrete door:

"Close front left door" or "open" etc.

If an exit help is integrated, it may have or require its own button to activate. That can

be disadvantageous (where should it be placed, cable connection, etc.). It's easy and inexpensive with a voice command. It may be possible and necessary for a voice command to be acknowledged before it is executed. The execution can also be denied, z. B. while driving. Preferably

at least one microphone installed.

In all embodiments, the drive motor 75 can also be a synchronous motor, asynchronous motor, disc rotor,

Ultrasonic motor, piezo motor or axial gap motor, with or without gear 74, without being limited thereto.

The transmission 74 may be, but is not limited to, a planetary gear, conventional transmission, harmonic transmission (CVT), CVT. The transmission elements (such as the gearwheel) can be made of steel, plastic,

fiber reinforced materials, non-ferrous metals or the like. List of reference numbers:

1 braking device,

Swivel brake, rotary damper 35 gap

2 rotary bodies, rolling elements 36 separate part

3 turntable, axle unit, 39 free space

Coupling rod 40 transmission device

4 spindle unit, 42 rotation axis

Threaded spindle 46 Wedge shape

5 spindle unit, 50 device

Spindle nut 51 Distance sensor

6 magnetorheological fluid 60 damper device

7 bearings 70 drive device

8 magnetic field source 71 drive housing

9 electric coil 72 drive shaft

10 magnetic field 73 drive input

11 bobbin holder 74 gearbox

12 threaded nut 75 drive motor

13 gasket 76 driver

14 external threads 77 sprockets

15 internal thread 78 angle sensor

16 hole nut 80 actuator

17 sleeve 81 preload unit

18 intermediate ring 82 decoupled position

19 Screw-in part 83 Coupling position

20 mounting bracket 84 non-circular effective area of 80

21 channel 85 non-circular effective area of

22 mounting hole 86 drive

23 angle sensor 100 door component

24 pivot axis 102 closed position

25 joint 103 opening position

26 Mounting hole 151 Connection unit

27 fixing bolts 152 connection unit

28 race 152a pivot axis

29 Cable 153 Coupling profile

30 Force curve 153d Curvature

32 component 153e curvature

32a guide plate 154 door device

32b section 160 sensor

33 component 200 motor vehicle

34 component 300 training device

34a pivot axis 400 prosthesis

Claims

Claims :

1. Device (50) with at least two relative to each other

movable components (32-34), wherein the first component

(32) is equipped with a rotary receptacle (3) and wherein the second component (33) is rotatably received on the rotary receptacle (3),

wherein a third component (34) with the second component

(33) is coupled,

wherein two relatively movable connection units (151, 152) are included

wherein a controllable braking device (1) is included and wherein the braking device (1) is designed as a controllable rotary brake in order to at least partially control a movement of a door device (154) between a closed position (102) and an open position (103),

characterized,

the first connection unit (151) is connected to the first

Component (32) is formed and that the second

Terminal unit (152) is pivotally coupled to the third component (34),

and that the pivot axis (34a) is aligned transversely to a rotation axis (33a) of the second component (33).

2. Device (50) according to claim 1, wherein the first

Connection unit (151) rotatably connected to the first component (32).

3. Device (50) according to claim 1 or 2, wherein the third component (34) via a rod-shaped coupling profile (153) is pivotally coupled to the second terminal unit (152).

4. Device (50) according to the preceding claim, wherein the coupling profile (153) at a first end to the third component (34) is pivotally connected and wherein the

Coupling profile (153) at a second end with the second Connection unit (152) is pivotally connected.

5. Device (50) according to one of the two preceding

Claims, wherein at the first component (32) a

Guide plate (32a) is attached to the attachment to a door and wherein the guide plate (32a) comprises a cutout (32b) through which the coupling profile (153) is performed.

6. Device (50) according to one of the three preceding

Claims, wherein the coupling profile (153) with the third component (34) and the second connection unit (152) is pivotally coupled.

7. Device (50) according to one of the four preceding

Claims, wherein the coupling profile (153) is elongated and curved ausgebi 1 det.

8. Device (50) according to the preceding claim, wherein the coupling profile (153) along its course at least two bends (153d, 153e).

9. Device (50) according to the preceding claim, wherein the coupling profile (153) along its course two

has opposite curvatures (153d, 153e).

10. Device (50) according to one of the three preceding

Claims wherein a drive means (70) is included with a drive housing (71) and a drive shaft (72) for causing relative movement of a first (32) to a second component (33) of the components to each other, and wherein the drive shaft (72 ) is rotatably coupled to the second component (33) and wherein the

Drive housing (71) is rotatably received on one of the two components (32, 33) and controlled by an actuator (80) with the first component (32) rotatably coupled and is decoupled from it,

or wherein the drive housing (71) is non-rotatably coupled to the second component (33) and wherein the drive shaft (71) controlled by means of an actuator (80) rotating test with the first component (32) coupled and decoupled from it.

11. Device (50) according to one of the preceding claims, wherein between two connection units (151) two

Spindle units (4, 5) engaged with each other are arranged, wherein a spindle unit as a threaded spindle (4) and the other spindle unit as a spindle nut (5) is formed.

12. Device (50) according to the preceding claim, wherein the second component (33) as a threaded spindle (4) and the third component (34) as a spindle nut (5) are formed.

13. Device (50) according to the preceding claim, wherein in a relative movement of the terminal units (151, 152) relative to each other a relative axial position of the spindle units (4, 5) to each other and wherein the spindle nut (5), the threaded spindle (4) radially surrounds and wherein the threaded spindle (4) is formed at least 30% longer than the

Spindle nut (5) and wherein the threaded spindle (4) relative to the spindle nut (5) and with respect to the rotary receptacle (3) is rotatable.

14. Device (50) according to one of the previous three

Claims, wherein a ring-cylindrical cavity is formed radially between the rotary receptacle (3) and the first spindle unit (4).

15. Device (50) according to one of the four preceding

Claims, wherein in the first spindle unit (4) a cylindrical sleeve (17) made of a magnetically conductive

Recorded material and with the first spindle unit (4) is rotatably connected.

16. Device (50) according to one of the two preceding

Claims, wherein the cavity is partially or completely filled with a magnetorheological medium (6).

17. Device (50) according to one of the two preceding

Claims, wherein the braking device (1) between the

Rotary support (3) of the first component (32) and the second component (33) is effective.

18. Device (50) according to one of the previous three

Claims, wherein the braking device (1) as

Magnetorheological transmission device (40) is formed and at least one electrical coil (9).

19. Device (50) according to the preceding claim, wherein the electric coil (9) around the rotary receptacle (3) around

having wound turns.

20. Device (50) according to one of the two preceding

Claims, wherein the magnetorheological

Transmission device (40) comprises at least one magnetic circuit having an axial portion in the rotary receptacle (3), an axial portion in the cylindrical sleeve (17) and / or the first spindle unit (4), the electrical coil and at least one axial side of the electrical coil (9) at least one in the radial gap between the

Rotary receptacle (3) and the first spindle unit arranged rotary body (2).

21. Device (50) according to one of the three preceding

Claims, wherein in each case at least one rotary body (2) is arranged on both axial sides of the electric coil (9).

22. Device (50) according to any one of the preceding claims, wherein an electrical connection cable for the electric coil (9) through a channel (21) in the rotary receptacle (3) is supplied.

23. Device (50) according to one of the preceding claims, wherein the first spindle unit (4) axially fixed to the rotary receptacle (3) is received and wherein the first Spindle unit (4) extends over an axial adjustment range.

24. Device (50) according to one of the preceding claims, wherein the drive device (70) has an electrical

Drive motor (75) includes.

25. Device (50) according to one of the preceding claims, wherein an angle sensor (78) has an angular position of

Drive housing detected.

26. Device (50) according to one of the preceding claims, wherein a displacement sensor (51) detects an axial position.

27. Device (50) according to one of the preceding claims, wherein the drive device (70) comprises a transmission (74) and wherein the drive shaft (72) is the transmission shaft.

28. The device (50) according to any one of the preceding claims, wherein one of the components (32) as a door component (100) and wherein another of the components (34) is formed as a frame component.

29. Device (50) according to one of the preceding claims, wherein the actuator (80) via a biasing unit (81) in a decoupled position (82) is biased.

30. Device (50) according to one of the preceding claims, wherein the actuator (80) is operated magnetically, pneumatically, hydraulically and / or electrically.

31. Device (50) according to one of the preceding claims, wherein the actuator (80) comprises a non-circular active surface (84), which cooperates with a matched non-round active surface (85) on the drive device (70).

32. Device (50) according to one of the preceding claims, wherein the drive device (70) is rotatably mounted on the first and / or second component (32, 33). 