EP3924586A1

EP3924586A1 - Assembly and method

Info

Publication number: EP3924586A1
Application number: EP20707573.0A
Authority: EP
Inventors: Stefan Battlogg; Mathias Brandl
Original assignee: Inventus Engineering GmbH
Current assignee: Inventus Engineering GmbH
Priority date: 2019-02-11
Filing date: 2020-02-11
Publication date: 2021-12-22
Also published as: JP2022523757A; WO2020165179A1; EP3924588A1; US20220145689A1; CN113412360B; DE102019121640A1; CN113423910B; US20220149761A1; US11828099B2; CN113412360A; CN113423910A; WO2020165187A1

Abstract

A method and an assembly (100) for pivoting a movable component (104) with a drive device (70) having an electric drive motor (75) in order to influence a pivoting of the component (104) between a first position (102) and a second position (103). A position sensor (19) is used to detect a position measurement (20) for a position of the component (104) and a speed characteristic (22) for a displacement speed (23) of the component (104). In the event of a displacement of the component (104), the speed characteristic (22) is used to determine an electrical setpoint current strength (24) for the electric drive motor (75) and to set an associated setpoint voltage (25). The current strength (26) flowing through the drive motor (75) is then determined. The setpoint voltage (25) is increased if the current strength (26) flowing through the drive motor (75) is lower than the electrical setpoint current strength (24) and the setpoint voltage (25) is reduced if the current strength (26) flowing through the drive motor (75) is higher than the electrical setpoint current strength (24).

Description

Assembly and procedure

The invention relates to an assembly and a method for

Displacement of a movable component of the assembly with a drive device with an electric drive motor in order to at least partially influence a displacement of the component between a first position and a second position.

In the prior art there are in motor vehicles z. B. the

Door movement of a car door by the driver without assistance (passive mode) and the active door, in which an electric motor moves the door independently. When the mode is active, the door is opened via e.g. B. the spindle unit of the damping unit from one

Drive device (electric motor) actively moved, no additional force has to be used by the user. After the movement command from the user, the movement is then controlled by the

Drive device started and stopped, a brake, e.g. B. the magnetorheological brake unit, can the motor during braking or blocking in an end position

support.

In the passive mode, the entire force for moving a component of an assembly such as the door of a motor vehicle must be applied by the user. An electric motor, if available at all, does not help, nor does it consume any electricity. A z. B. magnetorheological rotary damper brakes or holds the door in the desired position. In both modes, the braking device can be equipped with sensors

be equipped to measure the position and speed of the two connection units relative to each other and around

Recognize obstacles in front of a movable component and brake the component before collisions or undesired operating states can occur.

It is the object of the present invention to provide a method and a device with which a simple, improved and, in particular, more comfortable displacement of a movable component is made possible.

This object is achieved by the method with the features of claim 1. The device according to the invention is

Subject matter of claim 17. Preferred embodiments and

Further developments are the subject of the subclaims. Further advantages and features are the subject of the subclaims.

A method according to the invention is used for (guided) movement or displacement and z. B. in particular pivoting a

movable component of an assembly with a

Drive device with at least one electric

Drive motor to displace the component at least partially between a first position and a second

To influence position, with at least one

Position sensor a position measure for a position

(Relative position, angular position, etc.) of the component and a speed index for a displacement speed of the component can be detected. In this case, when the component is shifted with the speed index, an electrical default current strength for the electric drive motor is determined and an associated default voltage is set.

Then the flowing through the drive motor

Amperage determined. The default voltage is increased in particular when the current intensity flowing through the drive motor is less than the electric default current intensity. The The preset voltage is reduced in particular when the current intensity flowing through the drive motor is greater than that

electrical default current.

The invention has many advantages. A significant advantage is that the user has control over the component at all times. Moving the component can be "feather-light" practically at any time. The user only feels a very low weight (low moving masses). The component moves almost by itself. Nevertheless, he is always in control and does not have to, for example, slow down Service servomotor The user specifies the speed.

The invention enables a simple, improved and

in particular, a more comfortable relocation of a component with, in particular, as few additional costs as possible

Sensors. Preference is given to using existing sensors and supplementing them with the most cost-effective sensors or measuring methods possible so that the total manufacturing costs do not become too high. In particular, it is made possible to dispense with an expensive torque or force sensor in the drive train of the component for recording the forces on the component.

The first position can e.g. B. be a closed position or a further closed position. The second position can be an open position or a more open position.

It is also possible that the first position is a pivoted or pivoted position and the second position is a less pivoted position.

The "guided mode" differs from the two previously described operating modes (passive; active) from the prior art in that a motor supports the movement desired by the user and thus reduces the effort required by the user. Ideally, the user moves (guides) the relocatable component only with very little force or, for example, with the fingertips and the Combination of drive unit and brake try to keep the necessary leadership / movement force of the user at a constantly low level.

Such a configuration is z. B. possible if the assembly comprises an external support structure such as an exoskeleton or is designed as such an external support structure. Then a user can move, carry or relocate a considerably larger load with very little forces, in particular move, carry or relocate in a controlled manner. A light finger pressure can be enough for control if the outer support structure is a kind of exoskeleton for e.g. B. forms one finger or all fingers of a hand. Likewise, the outer support structure on the arm or z. B. be used on a knee joint or the foot, etc.

It is also possible to use it for other purposes in which an assembly is equipped with at least one movable component.

The component can be a

be a movable component of an assembly or as a

Connection for a movable part or a movable component can be formed. In this respect, the term component also includes only a holder or a connection for a movable one

Component. The actually moving part does not have to be part of the component.

The current intensity flowing through the drive motor can also be referred to as the motor current intensity.

Preferably, the flowing through the drive motor

Amperage detected via a resistor arranged in series with the drive motor.

The drive motor is preferably arranged in an H-bridge. In particular, the preset voltage is regulated via a proportional-integral regulator.

When determining the electrical

Default current for the electric drive motor and / or an associated default voltage the position measure

considered .

In particular, a spatial and z. B. horizontal

Alignment of the assembly taken into account. In particular, a position sensor or a location sensor can be used for this purpose. An at least partially vertical movement in space requires greater forces than a purely horizontal movement. The forces can be very different, depending on whether the movement is (also) going up or down. In the case of an inclined position, a pivoting movement or a linear movement is depending on

Direction of movement exposed to different forces.

At least one value for the spatial position of the assembly is preferably obtained with a position sensor. In particular, with a

Current sensor determines a value for the current strength of the drive device. Preferably contains a stored table

Correction values. Particularly preferably, the position dimension is taken into account when determining the electrical default current intensity and / or an electrical default voltage.

A sensor with satellite support such as GPS (Global Positioning System / Position Determination System) or Glosnass etc. is preferably used and map material and

Online recordings (image recognition) taken into account. Image recognition is a sub-area of pattern recognition and image processing. In image recognition, one tries to segment objects in an image. A symbolic description is assigned to these, but connections between the objects are not necessarily searched for, as is usual in pattern analysis. For this purpose, the existing or Additionally, built-in camera systems can be used.

A wind sensor can also be used to determine the wind strength.

It is preferred that on request or at periodic intervals automatically a measure for an internal

Movement resistance is determined. As a result, the required support forces for normal cases can be recorded on the level, which are then compensated. Other influences such as the temperature are preferably used in addition in order to adjust the force appropriately.

Preferably with the measure for the internal

Movement resistance carried out a recalibration.

In certain applications it is advantageous if a sensor or image recognition (pattern recognition,

Image processing) or a hand sensor, hand recognition is carried out and the drive device is only activated when a user's hand is in the immediate vicinity of the displaceable component or touches it.

In all embodiments, it is preferred that in a z. B. dog-initiated relocation of the component after detection of the movement a (first) speed index is determined. A (first) electrical default current strength for the electric drive motor and an associated (first) default voltage are then determined. The (first) default voltage is set. Then the (first) current intensity flowing through the drive motor becomes the (first) electrical

Set current compared.

If deviations (in particular greater than 2% or 5%) occur, a (second) specified voltage is preferably changed accordingly. The (second) default voltage is set higher, when the (first) current flowing through the drive motor is smaller and the (second) preset voltage is set smaller when the flowing (first) current is greater. This enables the speed to be continuously adjusted.

In particular, a new (second) speed index is determined periodically (at the same or also variable time intervals). It then becomes a (second) electrical one

Specified amperage for the electric drive motor and an associated (second) specified voltage determined. The (second) default voltage is set and dependent on the (second) current intensity flowing through the drive motor

adjusted if necessary.

The preset voltage is preferably set according to a time function. The time function is in each case preferably continuous up to the respective default voltage. The course can be linear. The course can also be one

Correspond to a power function or a sine function or be approximated thereby. Several periods or cycles can elapse before the determined specified voltage is reached.

It is possible and preferred that a cycle for measuring and setting the preset voltage differs from the interval between the measurement of the current intensity flowing through the drive motor. An entire period can contain different numbers of measurements of the current intensity and settings of the default voltage and

Have measurements of the amperage flowing through the drive motor.

In a preferred embodiment, in a method for pivoting a movable component of an assembly, a drive device with an electric drive motor is used

used to pivot the component at least partially between a first position and a second To influence position. A position measure for a position (e.g. angular position) of the component and a speed index for a

Movement speed of the component recorded. At a

Pivoting the component with a sensor device, at least one electrical variable of the electric drive motor is detected and taken into account when controlling the electric drive motor, so that, for. B. in the case of an at least partially dog-like and / or changed pivoting of the door leaf, the electrical variable induced in the drive motor is detected and then the drive motor is activated accordingly.

Another inventive method for pivoting a component of an assembly is carried out with a drive device with an electric drive motor to a

Swiveling of the component by a user, possibly by a user's hand, at least partially to influence between a first position and a second position.

A position value for a position of the component is recorded with a position sensor and at least one value for the spatial position of the component is recorded with a position sensor and a value for the current intensity of the drive device is determined with a current sensor. A stored table contains correction values. When the component is pivoted, a control device controls the drive device with the measured values and the correction values stored in the table.

In a preferred development, the user can

Movement forces in a selection register, a toolbar and / or a menu, such as B. preselect a display or an operating menu. Such an operating menu can preferably be a vehicle menu.

Preferably, the drive device is fast by a switching braking device supplements and is in interaction with this via the control device.

The applicant reserves the right to apply for protection for a further procedure. Such a method is used to pivot a movable component of an assembly. A drive device with an electric drive motor is used for the drive in order to influence a pivoting of the component by a user, possibly by a user's hand, at least partially between a first position and a second position. A position value for a

Position of the component recorded. With a position sensor, at least one value for one or the spatial position of the component or the assembly is recorded. A current sensor is used to determine a value for the current strength of the drive device. A stored table contains correction values, in particular for the spatial position and / or a position value. When the component is pivoted, a control device is used and the movement of the component is calculated from these values (spatial position and / or position value and possibly further values) and the drive device is controlled by varying the specified voltage, in particular controlled so that the component is the user can be moved with little force. In particular, the forces are small compared to the maximum forces that occur during displacement or pivoting. The forces are preferably low in many everyday situations.

A device according to the invention comprises in particular a component for an assembly with a drive device with an electric drive motor and two connection units which can be moved relative to one another and which can be adjusted relative to one another by means of the drive motor. One of the two connection units is equipped with a basic component (or also a first component) and the other of the two connection units with a movable component (or also a second component) connectable in order to influence a movement of the second or movable component at least partially between a first position and a second position. The first position can be a closed position and the second position can be an open position. A position sensor is included, with which a position measure for a position of the two

Connection units relative to each other and one

Speed index for a speed of movement of the two connection units can be detected relative to one another. At least one sensor device is assigned to the electric drive motor, with which at least one current intensity flowing through the drive motor can be detected. The control device is designed and set up for this purpose when the movable component (or second component) is pivoted with the

Speed index to determine an electrical default current strength for the electric drive motor and to set an associated default voltage. The control device is designed and set up to use the sensor device to determine the current intensity flowing through the drive motor at the specified voltage. A comparison device is included which is designed and set up for this purpose, which is determined by the

Compare drive motor flowing amperage with the specified amperage. The control device is designed and set up to increase the preset voltage when the current intensity flowing through the drive motor is less than that

electrical default amperage and to reduce the default voltage if the flowing through the drive motor

Amperage is greater than the electrical default amperage.

The assembly can be for a vehicle and preferably a

Motor vehicle and in particular a passenger car (passenger car). The assembly can also be used on trucks, buses, autonomous vehicles, self-driving taxis, or on off-highway vehicles. An image recognition system is preferably included, with which the near field of the assembly or of the movable component

is (dynamically) detectable.

In particular, the coupling profile is articulated on both sides and its shape is so designed that, despite the changing kinematic conditions when moving the component due to the mutually spaced connection points or door leaf pivot points and the attachment points of the

Drive unit always (almost) in the middle (in particular with a deviation of less than +/- 25%, preferably less than +/- 10%) in the

Cutout lies.

The position sensor (position sensor) and the sensor device are preferably read out periodically and in particular the data are recorded periodically. A frequency of data acquisition is in particular> 10 Hz and preferably> 100 Hz and particularly preferably greater than> 1 kHz and can be 10 kHz or

exceed .

The motor current intensity is preferably detected when the position measure for the angular position of the component changes (by a predetermined amount). It is also possible that

Motor current to be recorded continuously and periodically.

In all of the configurations, the control device is preferably assigned at least one storage device.

In particular, at least one table is stored in the memory device. Correction values for different environmental conditions can be found in the table or tables

as well as the kinematics of the door

(Hinge distances, articulation points ...). One is possible

Interpolation of the data in a table. It is also possible to store parameters of a function in the table so that a function or different functions can be used for adaptation can be.

A table with position data (inclination in longitudinal and transverse directions) is preferably available or calculation rules for inclination angles are stored.

A braking device is preferably included. The

Braking device is particularly active at least in the end positions or at angular speeds that exceed a predetermined value.

At least one position sensor is preferably included. In particular, at least one angle sensor for detecting an inclination about the longitudinal axis and / or the transverse axis.

In all configurations, it is preferred that the

Drive device supports the manual force of the user (torque) in the direction of rotation.

A failsafe function is preferably integrated and the

Drive motor stops in the event of a power failure or accident

disengaged or decoupled. Then it will z. B. It is easier for children to open a door in an emergency.

A maximum speed of the component when opening can be limited. It may be possible that movement of the component is stopped when e.g. B. hand contact with the component is no longer present in a gust of wind.

A controllable braking device is preferably included.

In particular, the braking device is designed as a magnetorheological transmission device and comprises at least one electrical coil.

A hand sensor is preferably included, with which a Touching the component by z. B. a hand of a user is detectable. In particular, the hand sensor includes a

Near field sensor and / or a capacitive sensor.

In all configurations, some or all of the following features are possible:

The user gives a stationary and movable component a start (start) and movement impulse, whereupon the

Drive unit (electric motor) starts up and moves with it

supported (servo effect). The movable component should move at the same speed as the guiding hand of the

User. Preferably, the user does not notice any difference in the speed that the user specifies with his movement and the speed at which the motor rotates the movable component or the spindle in a supporting manner.

If the assembly (e.g. mounted on a vehicle) is in the horizontal position, this is done with less effort

execute. It becomes complex in terms of actuator and control technology when the assembly is in a sideways inclined position, which means that very different forces occur depending on the direction of movement (e.g. the movable component falls on its own or falls on its own).

moves by itself, the counter-movement or closing requires a lot of force and the customer quickly changes the direction of movement).

The damping unit can be designed in different variants. It can e.g. B. be a damper, which is designed as a cylinder. The cylinder is divided into two chambers by a piston, which by a

Damping valve are connected to each other and contains a magnetorheological fluid as the working medium (patent application

WO 2017/081280). Or you can use a magnetorheological rotary damper, which with a spindle a linear movement in z. B. converts a rotary motion and dampens it (Patent application DE 10 2017 111 032 A1). The drive device can comprise any desired electric motor which can apply sufficient force to move the two connection units against one another.

Further advantages and features of the present invention emerge from the exemplary embodiments which are explained below with reference to the accompanying figures.

In the figures show:

Figure la is a highly schematic plan view of an assembly on a motor vehicle with a device with a drivable door as a component with a

Braking device;

Figure lb a highly schematic view of an assembly for a

Exoskeleton with a movable component;

Figure 2 shows a device with a drive device and

a braking device in a schematic section;

FIG. 3 shows an enlarged schematic detail for devices according to FIG. 2;

FIG. 4 shows a perspective view of the device according to FIG

FIG. 2 in a middle position;

FIG. 5 shows a plan view of the device according to FIG. 2 in an extended position;

FIG. 6 shows a plan view of the device according to FIG. 2 in a retracted position;

FIG. 7 a sectioned schematic diagram;

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

FIG. 9 shows a control scheme; FIG. 10 shows a basic diagram with influences recorded by sensors that can be taken into account;

FIG. 11 shows a circuit diagram for operating the drive motor;

Figure 12 shows the course of the current intensity of the drive motor over the

Time; and

FIG. 13 shows the course of the preset voltage over time.

Figure la shows the application of the assembly 100 according to the invention on a motor vehicle 200 and here on a passenger car. The motor vehicle 200 is shown in a schematic plan view from above. Two movable components 100 designed as doors, each with a door device 154, are provided on motor vehicle 200. The door device 154 is designed here as a door leaf 104. The doors are both in the second position, which is an open position 103 here, here at an angle 61. A door is shown hatched in the first position 102, which here is a

closed position 102 is.

For the controlled damping of the pivoting movement or for braking the pivoting movement of the movable components 104 (and here doors 104) through to blocking, the assemblies 100 each include a controllable braking device 1, which acts as a rotary brake or

Rotary damper or the like is formed. The components each include connection units 151 and 152, one of which is connected to a basic structure or support structure of the motor vehicle 200 such as the body, while the other is connected to the movable component 104 (here the door leaf 104) so that when an opening or Closing movement of the component 104, a relative movement of the connection units 151 and 152 takes place. The connector units 151 and 152 move linearly. There is a conversion into a rotary movement which is braked or damped in a controlled manner by the rotary damper 1 of the assembly 100 or is blocked.

The assembly 100 comprises the braking device 1 and the

Connection units 151 and 152 and is used for the guided movement of the movable components and here the doors and thus for targeted acceleration and targeted damping or damping.

Braking of the rotational movement of the movable components or doors (and possibly flaps) on a motor vehicle 200.

The assembly or the motor vehicle 200 has sensors 160 for scanning the surroundings or for recognizing the surroundings. Is on or in the motor vehicle 200 or on or in the assembly 100

comprises at least one GPS sensor 63 and / or one position sensor 62. It is possible that only one central GPS and / or position sensor 62 is present. It may also be possible to determine the current position of the assembly 100 or of the motor vehicle 200. Using the map material present in the assembly 100 or in the motor vehicle or using a central one

Memory of the motor vehicle or in z. B. the memory device 57 contained or online retrieved map material, the current location can be called up. It is possible to use this to determine current position and inclination information for the assembly 100 or the motor vehicle and the individual components or to recognize the surroundings by means of image recognition or to optimize the recognition.

Inclination information in the horizontal longitudinal and transverse directions can also be recorded directly via an inclination sensor 64 or the position sensor 62. In any case, it can preferably be determined whether the assembly 100 is oriented obliquely or whether the car is on a slope and in which direction which inclination

present. It can also be deduced whether the movable components 104 (doors) are in the

closed or biased to an open position. On an inclined plane (e.g. the left one)

Side door in the closed position and the other (e.g. the right) side door are preloaded into the open position, depending on the orientation of the motor vehicle on the inclined plane.

A control device 55 is used to control the assembly 100 with the movable component or the door leaf 104. The

Control can also be from a central control of the

Motor vehicle 200 are performed. Then can for everyone

Assemblies 100 (and possibly further control tasks) can be provided in a central control in the motor vehicle 200.

The control device 55 here comprises a proportional-integral controller 53, a comparison device 56, a memory device 57 with z. B. stored therein tables 58 or data. The control device 55 can comprise a position sensor 62, a GPS sensor 63 (or any other satellite-based location or positioning system), an inclination sensor 64 and at least one hand sensor 59. Or at least one of the named sensors is assigned to the control device 55 or the control device 55 obtains measurement data from them

Sensors. A current sensor 65 of the sensor arrangement detects the current flowing through drive motor 75 and controls the position-dependent with the correction data stored in table 58

Motor current.

A hand sensor 59 can be used, for example, to detect whether a user is touching or grasping motor vehicle 200 or, in particular, a door. Or it can be detected with the hand sensor 59 whether the hand is in the immediate vicinity of the door leaf 104. This can also be done through image recognition. It is possible for a motor-assisted movement only

is carried out when a hand 90 or a body part of the user is in electrically conductive connection with the door leaf 104 or the body. It is also possible that, for. B. a capacitive measurement is carried out and an active one

Control of movement occurs when a hand is 90 in short distance from z. B. less than 10 cm or preferably less than 5 cm or 2 cm from the

Door leaf 104 is located. Such a hand sensor can be in the

Door leaves 104 or other components of the motor vehicle 200 can be integrated.

A position sensor 19 can directly detect the angle of the door. Or the position sensor 19 detects a position that is representative of the angle of the door. In any case, an angular position of the door can be derived from the position dimension 20 (see FIG. 9). From the change in the angular position of the door or the position dimension 20 over time, an angle

speed 23 and a speed index 22

be derived. It is also possible to use z. Tie

Exterior mirrors or integrated in the body

Sensor devices 60 derive a position measure 20.

FIG. 1b shows a highly schematic view of an assembly 100 for an exoskeleton 300 with here two components 104, 105 which can be moved relative to one another and which can be pivoted towards one another. The assembly 100 can, for. B. an outer

Form a support structure for a finger of a hand (or also the hand itself, the arm, the back and / or a leg) and comprise two components 104, 105 which can be pivoted relative to one another. The pivoting is detected by sensors and can be assisted with a drive device 70 and braked in a controlled manner with a braking device 1.

The assembly 100 comprises two components 104 and 105 which are movable relative to one another and which are connected to one another in an articulated manner here. The assembly can, for. B. be designed as an outer support structure for a finger or several fingers of a hand of a user. The two components 104, 105 are shown here at an angle 61 relative to one another, which here can be varied between approximately 0 ° and approximately 180 °. The movement of the fingertip in the component 104 is controlled by the mechanics of Module 100 supported. For this purpose, a joint mechanism is provided, the several levers 96, 97 and 98 and several

Swivel joints 91 to 95 includes. Also the body portions of the components 104, 105 between the pivot joints 91 and 92

on the one hand, and 91 and 95 can be viewed as levers.

Overall, the joint mechanism represents a lever mechanism with an integrated drive device 70 and an integrated one

Braking device 1 available, with which movement forces of the finger picked up can be increased and also decelerated. The controller can (physiologically) specifically slow down or prevent impermissible movements in order to, for. B. a

Avoid overstretching the finger joint safely. The intelligent networking of several fingers is also preferably possible. At the same time, a considerable increase in finger strength can be achieved. The control takes place practically by itself. The user first has to exert some force and the support from the drive device follows directly.

When the user starts braking, the brakes

Drive device automatically fits with. It must

preferably braking (braking force / torque) or the

Support (driving force / torque) must not necessarily be in the same ratio (as a factor), this can also be adjusted variably. E.g. In gaming, the virtual pressing (pulling) of a trigger of a rifle can be supported by first braking the finger with increasing force when bending, then the braking is greatly reduced when the trigger is dynamically pushed through to the stop after triggering and then the finger is returned to the original position with the assistance of motor power. The latter simulates the return spring of the trigger. For example, if the virtual attacking and pressing of an object such as guided by a rubber ball

supported, the closing of the hand (a fist is formed, swiveled in) is braked by increased moments at the joints and the compression of the rubber ball is simulated. Opening the hand (swinging it out) is controlled by the Motor supports what simulates the rebound of the rubber ball. In all of these processes, the user (human / hand) gives the

Always move forward, he leads his fingers.

A control device 55 is again provided, which can be provided centrally or can also be integrated into the assembly 100. A proportional-integral controller 53 may be included, as well as a controller with artificial, depending on the configuration

Intelligence and / or machine learning. A comparison device 56, a storage device 57 with tables 58 or data stored therein is also present. The control device 55 can include a position sensor 62 and can also include a GPS sensor 63, an acceleration sensor, an image recognition system and an inclination sensor 64 and other sensors (data glasses such as Google Glass; virtual reality device ...). The listed and other sensors can also be assigned to the control device 55. A current sensor 65 of the sensor arrangement detects the current flowing through the drive motor 75 and controls the motor current and the braking device 1 as a function of the sensor values.

The other figures show assemblies 100 and devices which can be used in particular on the exoskeleton 300 according to FIG. 1b and also on the motor vehicle 200 according to FIG. La. The assembly 100 can also be used in other applications.

FIG. 2 shows an exemplary embodiment in section, a movement influencing device 50 being provided here for an assembly 100 or a movable component 104.

The assembly 100 or the movement influencing device 50 comprises connection units 151 and 152 for mounting on further parts or a structural unit. For example on a motor vehicle.

But it is also possible that the assembly 100 z. B. is part of a prosthesis or an exoskeleton and is attached to support or control movements. The first coupling unit 32 can here, for example, be permanently connected to a movable component. At the first

Coupling unit 32 is a rotary mount 3, designed here as a coupling rod 3. The second coupling unit 33 is rotatably mounted on the rotary mount 3, the second coupling unit 33 comprising a threaded spindle 4 on the outside and being designed as a spindle unit 4.

A third coupling unit 34 is provided, which is designed as a spindle unit 5. The third coupling unit 34 is coupled to the second coupling unit 33. The spindle unit 5 comprises a spindle nut 5 with an internal thread which meshes with the external thread of the spindle unit 4 of the second coupling unit 33. About the mutually engaged spindle units 4 and 5 is an axial movement of the two

Connection units 151 and 152 relative to one another in a

Turning motion converted.

A controllable braking device 1 is located inside the second coupling unit 33 in order to brake the rotary movement

educated. The braking device 1 is designed as a controllable rotary brake in order to at least partially dampen a movement of a movable component 104 between a closed position 102 and an open position 103 in a controlled manner. To the controlled

The drive device 70 with the drive motor 75 serves to move.

The coupling profile 153 is on the third coupling unit 34

pivotally received about the pivot axis 34a. The pivot axis 34a can, for. B. as a bolt or stub axle on the third

Coupling unit 34 can be designed and pivotably accommodate an eye of the coupling profile 153. The pivot axis 34a lies transversely and here perpendicular to the rotation axis 33a of the second coupling unit 33. The particularly rod-shaped coupling profile 153 is connected to the second connection unit 152 at the second end so as to be pivotable about the pivot axis 152a. The pivot axis 152a can, for. B. can also be designed as a bolt or axle stub on the second connection unit 152 and an eye of the coupling profile 153

record pivotable. The coupling profile 153 is pivotably connected at a first end to the third coupling unit 34 and at a second end to the second connection unit 152. The second connection unit 152 can e.g. B. be attached or formed on the A-pillar or the B-pillar of the motor vehicle or on a part of the exoskeleton.

For active control or active guidance of the movable

The component is the drive device 70 in the second

Coupling unit 33 added. The drive housing 71 is rotatably mounted on a drive receptacle 73. A standard non-rotatable connection between the drive housing 71 of the

The drive motor 75 and the first coupling unit 32 can be canceled by the actuator 80, which here comprises a drive 86.

The drive 86 can be moved in the vertical direction and thus cancel a rotationally fixed connection of the drive housing with the first coupling unit 32 or create it again. The actuator 80 is only provided as an option and, if installed, enables an undisturbed and simple pivoting of the movable ones

Component z. B. a motor vehicle or an exoskeleton in a "manual mode" without motor assistance. In many

The actuator 80 is not included and the embodiments

Drive motor 75 is continuously engaged.

The first spindle unit 4 is formed on the second coupling unit 33. Furthermore, the second spindle unit 5 is formed on a third coupling unit 34. The internal toothing of the spindle unit 5 designed as a spindle nut engages with the external toothing of the threaded spindle

Spindle unit 4, so that when the second coupling unit rotates relative to the third coupling unit, there is an axial displacement of the connection units 151 and 152 with respect to one another. Activating the drive motor 75 then causes a direct rotation of the two coupling units 32 and 33 relative to one another. Since the second coupling unit 33 has a threaded spindle 4

which is in engagement with the threaded nut 5 of the third coupling unit 34, an axial displacement of the connection units 151 and 152 with respect to one another is thus effected via the motor.

In the decoupled position, when the actuator 80 is not rotatably coupled to the drive housing 71, a simple and purely manual adjustment of the angular position of the coupling units 33 and 32 to one another can be effected.

The drive unit does not necessarily have to be coaxial to the

Braking device 1 can be arranged. This can also be arranged parallel or offset to it. The torque transmission can for example be via a V-belt, toothed belt,

Gears, bevel gears, chain drives, friction wheels or

the like take place. On the shaft 72, for. B. a

Toothed belt pulley are attached. The coupling unit 33 can have a toothed belt profile at the outer end, which is then connected to the toothed belt wheel by means of a toothed belt

Movement influencing device 50 or the drive unit 70 is operatively connected.

Figure 3 shows an enlarged detail of the

Movement influencing device 50 with the drive device 70 and the braking device 1. Of the three coupling units 32,

33 and 34 is the first coupling unit 32 with z. B. is connected to a part of the exoskeleton or a body of a motor vehicle 200, and the second coupling unit 33 is connected or coupled to the movable component 104. The second coupling unit 33 is rotatably mounted via the rotary mount 3, which is designed here as an axle unit. Between the axle unit 3, which is also called

Coupling rod can be called, and the second

Coupling unit 33 bearings 7 are arranged. Between the bearings 7 electrical coils 9 are arranged, each of which is adjacent to the rotating body 2 in the axial direction. With the electrical coils 9, a magnetic field source 8 is made available. If a magnetic field is generated with the electrical coils 9, this leads to a braking torque between the two coupling units 32 and 33. Via the braking device 1, a strong braking torque can be applied in any position or angular position so that an unintentional change in the position of the

movable component 104 (z. B. the opening angle of a

Door leaf) is prevented.

In Figure 3, the course of the magnetic field 10 or field lines of a magnetic circuit are shown as an example.

The magnetic field generated by the electric coil 9 as a magnetic field source 8 runs through a section of the magnetically

conductive sleeve 17 and passes through a rotating body 2 arranged adjacent to the electrical coil and enters the coupling rod or rotary mount 3, which is also made of a ferromagnetic material, and runs axially back to the next rotating body 2, where the magnetic field lines again radially through a rotating body 2 pass through and into the sleeve 17 and are closed there. Two separate rotating bodies 2 are preferably provided between two axially adjacent coils. Several magnetic circuits can be provided, which are axially spaced from one another. Each magnetic circuit can, for example, comprise two rows of rotating bodies 2, which are each arranged to the right and left of an electrical coil 9 distributed around the circumference. The rule here is the more

Magnetic circuits / rotating body units are executed, the higher the maximum braking torque.

It is also possible for rotating bodies elongated in the axial direction to be provided, so that one end of a long

elongated cylindrical rotating body from the magnetic field of the electrical coil 9 adjacent on one axial side is traversed, while the other end of the cylindrical rotating body 2 is traversed by the magnetic field of the next electrical coil 9.

Centrally in the interior of the coupling rod 3 or the rotary mount 3, a channel 21 can be formed, which includes, for example, branching channels that run, for example, to the individual electrical coils 9 in order to supply the individual electrical coils 9 with current in a targeted manner.

The coupling rod or rotary receptacle 3 is in particular firmly connected to the first coupling unit 32 and can optionally be formed in one piece with it or also screwed or welded to it.

It is possible that between the individual series of

Rotary bodies 2 are each provided intermediate rings 18 to separate the individual magnetic circuits from one another.

The external thread 14 of the can also be clearly seen in FIG

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

The sleeve 17 is rotatably connected to the threaded spindle 4 as a second coupling unit 33 and, for example, glued. The use of a sleeve 17 made of a ferromagnetic material enables the threaded spindle 4 per se, for example from a

Manufacture plastic, the use of special plastics is advantageous here. This leads to a considerable saving in weight. In addition, self-lubrication of the interlocking threaded areas of the spindle units 4 and 5 can be achieved, so that the movable component 104 or the assembly 100 can be operated maintenance-free and with low friction.

A seal 13 is arranged adjacent to the roller bearing 7, which seal comprises, for example, a shaft sealing ring and is in

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

for example, a relatively soft steel is made

preferably a race 28 made of a hardened material in the area of the seal 13 is applied to the rotary mount 3 in order to prevent wear.

Inside is in the cavity between the rotary seat 3 and the sleeve 17 (if the threaded spindle is made 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 mount 3, preferably accommodates a plurality of magnetic circuits. In this case, electrical coils 9 are either wound directly onto the rotary mount 3 in the hollow cylindrical interior or wound onto the coil holder 11, which is then pushed onto the coupling rod 3.

A plurality of rotating bodies or rolling bodies 2, through which the magnetic field of the magnetic circuit is closed, are preferably accommodated on each axial side adjacent to the electrical coils 9. For example, in an axial position for

Example 8 or 10 rotating body 2 distributed on the circumference

to be ordered.

Figure 4 to Figure 6 show different positions of the

Movement influencing device 50 according to Figure 2. Figure 4 shows the movement influencing device 50 in a central position in which the spindle nut 5 is in a

Intermediate position. The coupling profile 153, which can be seen here in perspective and is designed to be elongated, extends a middle path section through the cutout 32b on the sheet metal or guide sheet 32b. The guide plate 32b is firmly connected to the first coupling unit 32 and, in particular, is formed in one piece thereon.

It can be seen that the cutout 32b is only slightly wider than the coupling profile 153. The structure shown enables 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. This is achieved in that the coupling profile 153 is articulated on both sides and is designed in its shape so that it is spaced apart from one another despite the changing kinematic conditions when moving the movable component

standing connection points or attachment points 152a of the

Drive unit is always centered in cutout 32b.

The first coupling unit 32 can consist to a large extent of a bent or folded sheet metal and directly connected to a movable component 104 via z. B. screws 151a are screwed. The device can be inside the assembly 100 and e.g. B. be mounted inside a door structure of a door leaf. External attachment is also possible, e.g. B. at one

Exoskeleton.

FIG. 5 shows a top view of a fully extended coupling profile 153. The device is located in FIG

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

Assembly 100 required.

Figure 6 shows a plan view of the

Movement influencing device 50 according to Figure 2 in a largely retracted position. The coupling profile 153 is largely retracted and does not extend laterally over the Diameter of the second coupling unit 33 or the third

Coupling unit 34 addition.

As FIGS. 4, 5 and 6 show, on the first coupling unit 32 there is a guide plate 32a for attachment to a movable one

Component 104 attached. The guide plate 32a comprises a cutout 32b through which the coupling profile 153 is passed. The coupling profile 153 is pivotably coupled to the third coupling unit 34 and the second connection unit 152 and is elongated and curved.

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

Figure 7 shows two coupling units 32 and 33, whose

Relative movement is to be damped or specifically influenced by the transmission device 40. For this purpose, a plurality of rotating bodies 2, which are embedded in a magnetorheological fluid 6, are arranged in a gap 35 between the coupling units 32 and 33. The rotating body 2 are separate parts 36 and act as magnetic field concentrators, which is when applied

Magnetic field and a relative movement of the coupling units 32 and 33 to each other lead to a wedge effect, resulting in wedge-shaped areas 46 in which the magnetorheological particles collect and effectively brake further rotation of the rotating bodies 2 and a relative movement of the coupling units 32 and 33 to each other via the wedge effect.

The free distance 39 between the rotating body 2 and the surface of the coupling units 32 and 33 is basically greater than a typical, average or maximum

Particle diameter of a magnetorheological particle in the magnetorheological fluid. This “MRF wedge effect” results in a considerably stronger influence than would be expected. This leads in particular to a high static force that can be used as a holding force.

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

The high static force can effectively be used as a holding force and can be used advantageously, as Figure 8 shows, in which the force curve of the braking force of the magnetorheological transmission device 40 or the braking device 1 is shown over the number of revolutions of the rotating body (and analogously also the rotating spindle unit) is. It turns out that with

Standstill of the rotating body 2 a very high braking force is generated. If the user overcomes the braking force that keeps the movable component open, the braking force drops considerably with increasing speed even if the magnetic field is still applied, so that the user can use the movable component even if the magnetic field is applied after overcoming the sufficient one

Holding force can easily close.

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

However, users can quite easily overcome it to close the movable component. This provides a very convenient function. The locking function can be supported by a motor so that only light forces have to be applied at all times.

With the invention, the drive device can be regulated. An essential aspect lies in the regulation of the

Drive device 70 and / or the braking device 1 and at the speed at which the braking device 1 control and move or slow down. In particular the speed with which the direction can be changed.

The control of the drive motor 75 takes place via the set current. The control sequence is shown in FIG.

Initial state: The movable component is e.g. B. closed or when open: braked / blocked. Will the movable

Component moved from the outside (i.e. by the user), the

Brake device 1 released, the parts move towards each other. The movement of the drive motor 75 (E-

Motor) a first current is induced in the drive motor and this is measured. The control device 55 (regulation) then actively increases the current in the opposite direction until the induced current is compensated and then outputs a small offset current over it. The drive motor moves the movable component 104 or the

Connection units 151, 152 with little additional force, as long as the movable component is moved by the user.

If the user changes the speed of movement,

the induced current also changes and the proportional-integral controller 53 also regulates the current to the drive motor 75 accordingly. This will increase the force (torque) that the

Drive motor expends adapted to the change in speed of the user. If the user brakes the movement, the offset current of the drive motor 75 becomes too large and the controller 53 regulates it back.

The control device 55 controls the assembly 100 and the movable component 104. A position sensor 19 is used to detect a position measure 20 for an angular position of the movable component 104 and a speed index 22 for an angular speed 23 of the movable component 104. The values can be recorded periodically. Will be a

If displacement (e.g. pivoting) of the movable component 104 is detected, one of the movement speed 23 becomes one Speed index 22 is determined (or vice versa). With the speed index 22, the in the

The table 58 stored in the storage device 57 determines an electrical default current intensity 24 for the electrical drive motor 75. The associated preset voltage is then 25

set.

The associated default voltage 25 is determined from empirical values. For example, in a horizontal position without external loads, basic values for the friction can be determined, which are then taken into account in order to achieve practically force-free guidance of the movable component

(Consideration of aging or wear).

Then the flowing through the drive motor 75

Amperage 26 measured or determined. The current intensity 26 actually flowing is compared with the specified electrical current intensity 24 (for the speed index 22).

The default voltage 25 is increased when the through the

Drive motor 75 current intensity 26 flowing is less than the electrical default current intensity 24. It is then assumed that the user wants to accelerate the movable component 104.

The default voltage 25 is reduced when the through the

Drive motor 75 current intensity 26 flowing is greater than the specified electrical current intensity 24. It is then assumed that the user would like to brake the movable component 104.

In particular, the spatial position and orientation of the component to be moved is taken into account. An inclined position, in which the movable component has to be moved against gravity, is taken into account accordingly and that resulting from it

resulting forces balanced. The last steps are continued iteratively in order to always give the user the feeling of "powerless guidance".

The temperatures of the movable component and / or the surroundings can also be taken into account. Different resistance forces and moments occur when the assembly is exposed to solar radiation in summer and when the assembly is used outside in winter.

The drive motor 75 is preferably operated via an H-bridge 52 (FIG. 11). This circuit is used when a drive motor 75 is to be operated in both directions. If a current is induced in the drive motor 75 against the operating direction, this current flows via the shunt resistor 27 and is measured there via the voltage drop. FIG. 11 shows a circuit for operating a direct current motor as drive motor 75 in both directions. The mosfet transistors with

Free-wheeling diodes control the possible current direction (and the sign of the voltage) via the so-called bridge arm to which the DC motor is connected. The current can be measured at the shunt resistor 27 via the voltage drop. Depending on which Mosfet current lets through and in which direction, the current flows in a different direction. The voltage is measured across resistor 27.

FIGS. 12 and 13 show the course of the voltage over time (FIG. 13) and the current intensity over the motor angle (FIG. 12). The end of the diagram shows the state in the second position, the z. B. can be a fully open state.

It can be clearly seen that the user pushes the movable component out of the first position (e.g. a closed state or retracted position). A current is induced in the drive motor 75 by the forced movement. The

The voltage initially remains 0. The control device then recognizes that the movable component 104 is to be moved (opened) and readjusts the preset voltage 25 so that the current intensity 26 corresponds to the preset current intensity 24. At the point in time 4.5 seconds, the second position (e.g. complete opening or extended position) is reached and the user brakes the movable component slightly. The system recognizes this immediately and brakes practically immediately. There is an extremely rapid drop in time. The system reacts very quickly to changes. The tension is increased as the motor rotates (pushing the movable component). The tension is increased linearly and not suddenly. When the movable component is no longer accelerated by the user, the tension is reduced again.

The course of the motor current 26 shown in FIG. 12 when the movable component is moved as a function of the position (e.g. the angle) shows that a negative current flows at the beginning of the movement, the motor generates current. The controller regulates the voltage and a current begins to flow in a positive direction, thus driving the motor.

FIG. 12 shows the current curve when the movable component is moved, e.g. B. opening a door or extending or pivoting part of an exoskeleton. In the first second or the first rotation of the motor on the spindle, a current of slightly less than -1A is induced (the motor generates current, the current flows in the opposite direction than in load operation). The controller detects the current and increases it

Voltage according to FIG. 12. A current then flows in the positive direction and the drive motor 75 actively rotates with it until the movable component is no longer pushed by the user. The induced current is about 1/3 (but negative) of the current that the motor consumes during active assistance.

An angle sensor is also used in the engine or in the drive train or on the movable component. When a

If the angle change is measured, the motor switches on. In all cases, the variables are preferably controlled via PI controller 53 (proportional-integral controller). The PI controller 53 can be implemented on any computer unit, e.g. B. on a microcontroller, on an on-board computer of the assembly, etc. This control device 55 (control unit) gives a control signal for the drive and braking unit of the depending on sensor data and a calculation algorithm

movable component.

The magnetorheological braking device 1 can support the drive motor 75 in braking the movable component 104. The drive motor 75 then does not stop itself, but is actively braked. At a standstill, the braking device 1 brakes in order to prevent the movable component from moving unintentionally (opening or closing). In addition, such an input or

Exit aid can be realized in that the movable component is held in one position by the braking device 1 or MRF brake.

For example, a person can hold onto a door as a movable component and pull it out of a motor vehicle (exit aid). Or a person supports himself. This can be very beneficial in tight spaces.

The advantage of an additional braking device 1 to the motor 75 is the low power consumption. If an electric motor is used for braking, it needs more electricity than an MRF brake. If the drive motor 75 is used for holding (blocking), high currents flow, causing it to heat up and, because of the resulting increase in resistance in the windings, the current continues to rise. Very high currents then flow.

The assembly or the braking device is preferably equipped with at least one position sensor 19 in order to be able to determine the position and the speed of the movement of the movable component 104. The movement of the movable component 104 is recorded in high resolution so that the braking device 1 can be switched / released quickly. This is necessary if the movable component is braked heavily in front of an obstacle and is then to be moved in the other direction. If the braking does not decrease immediately, the movable component cannot be immediately moved again in the opposite direction. In the case of relatively heavy moving components, an abrupt braking process immediately leads to load peaks and vibrations, which are then difficult to control. A gentle (harmonious) braking is usually desired, which is possible with the rapidly and continuously switching MRF braking device 1.

Fast switching is also required (in

Millisecond range), because lagging switching of the electric motor and / or the braking device 1 would lead to the moving component oscillating or unwanted counter-movements. The braking of the movable component preferably follows a square root function. The closer the movable component comes to the desired position (e.g. closed), the more the brakes are applied. The movable component is not braked abruptly, but "gently", which results in a better haptic feeling for the user. For this, it is necessary to be able to measure the exact position of the movable component in order to implement this function well.

The signal from the sensors (position sensor, angle sensor,

Displacement sensor, acceleration sensor in the assembly) is filtered with a filter (for example with a Kalman filter) in order to eliminate noise from the sensor. A resolution of lpm can thus be achieved with a displacement sensor.

The spindle used moves by 30mm per revolution, the

The resolution for the revolution of the drive motor 75 is thus 0.012 °. The displacement sensor sits here z. B. on the spindle unit.

A resolution of 1 micrometer in the axial direction of the spindle results in a resolution of approx. 0.012 ° angle of the Drive motor 75. There are thus more than 1000 signals per 1 ° change in angle of a pivotable component. 1 ° rotation of the drive motor 75 corresponds to a 0.065 ° pivoting of the movable component. 1 ° pivoting of the movable component corresponds with the spindle used to an angle of 15.38 ° for the drive motor 75. The accuracy of the angular determination of the pivoting of the movable component results in << 0.1 ° and the pivoting of the movable component results thus an angular resolution of <0.1 °, corresponding to the

Displacement sensor. Due to the play of the spindle units and the drive motor 75, the resolution is higher.

A position sensor or acceleration sensor in the movable component or on another area of the assembly or an area assigned to the assembly measures the direction of the

Acceleration. This allows conclusions to be drawn about the position of the assembly. If the assembly is inclined, the acceleration due to gravity points in a different direction. As a result, the control device 55 knows what force is acting on the movable component, even if no user is moving the movable component.

The movable component can also be equipped with touch sensors (hand sensor 59) (resistance sensor or capacitive sensor) so that the control of the braking device recognizes when a person touches and guides the movable component. So it can be excluded that the movable

Component z. B. is moved by the wind and the control interprets this as a user hand 90 and additionally supports the movement of the movable component by the wind. Will the

If the assembly is brought into a downward slope / inclined position and the movable component 104 is moved upwards, this can prevent the movable component from moving back inadvertently.

Conversely, an unintentional opening (particularly at an opening angle that is too large) is prevented when the movable component 104 is moved downwards. A detection of whether the wind or the user is guiding the movable component 104 can also take place by the near-field sensor system (including with image recognition, among other things). This recognizes whether a user is standing by the movable component or not. What is wanted can also be recognized from the movement pattern.

The user opens z. B. a door and usually closes it again. This is a continuous process that takes just a few seconds and is clearly guided by the user. However, is z. If, for example, the door is left open for a long time, wind influences can be decisive.

Networking the control unit with a weather app and / or GPS (position data) also helps to increase the control quality.

In an interior, wind is less likely to be a disturbance than at Mount Washington. If the user always uses the same parking lot or garage with a car, the control can learn from this with deep learning and optimize itself so that the user receives better quality of support and door guidance. This also applies to the user himself (left / right-handed; woman / man / child ..) and the habits of the

User or with increasing play in the components or with wear.

The power assistance can also be varied intelligently. At night, that is, time-dependent (and / or position-dependent), the movable component can always be guided more slowly and quietly into a closed position around the family and

Not to disturb or wake up neighbors. The same applies when children close the rear doors of a motor vehicle so that unintentional trapping of their fingers causes as little pain as possible. The other managers and the wishes of children can also be taken into account in this way. A voice assistant could also provide additional security. The user can also have different strengths

Set the support levels on the assembly (computer or via app). So every user can get the one they want

Choose the intensity of support.

It is advantageous if the assembly 100 also has

Sensors 160 distance sensors are equipped (e.g.

Ultrasonic sensor, optical sensors, inductive sensors,

Light barrier, camera systems, lidar, radar etc.) in order to

recognize whether there are any obstacles in front of the movable component. In this way, the control can force braking to prevent damage to foreign objects.

Sensors between the movable component and the assembly can detect when something is in between (e.g. hand, finger, etc.) and the controller gives the braking device a signal to stop the movable component.

Due to the inertia of the movable component and the

Unavoidable play of the individual parts of the braking device 1 results in a slight oscillation of the movable component after a desired movement. In the present invention, the fast regulation (kHz) and possibility of fast

Switchable braking exploited to reduce the inertia or the

Swinging the movable component directly again to use it to move in the opposite direction. When opening, the movable component is stopped in an open end position and oscillates due to the play or softness of the parts after braking. The user wants to close the movable component again immediately. The sensors detect when the movable component swings in the closing direction and release it

Braking device 1 exactly then and very quickly (single-digit millisecond range), whereby the oscillation pulse is equal to the

Closing the movable component is used and thus the starting current from the drive motor 75 (electric motor) is reduced. If the braking device 1 would be released too slowly and the movable one If the component is already swinging in the opening direction again, the electric motor would have to work against it, resulting in high starting torques / currents

needed. In addition to the increased power consumption and component load, this would also have an unpleasant haptic and acoustic quality

Behavior of the movable component result. The motor

"Whines" at such loads, which is interpreted by the user as a poor quality feature. If the user does not move the movable component, it is detected by the (MRF-)

Braking device 1 held. The spindle unit can be pretensioned with the drive motor 75, i. That is, the motor is operated with a low current (a few mA), as a result of which it tries to rotate the spindle unit against the braking device 75. When the user moves the movable component, the braking device 1 is released and the drive motor 75 rotates with it immediately. The required start time of the drive motor 75 is shortened and the user does not feel any dead time in supporting the motor.

The movable component can be fixed (braked) in the position desired (guided there) by the user by means of a movement pattern (e.g. fast opening / closing of the movable component in the desired position) or a button. This can hold on to a movable component designed as a door when getting in or out (getting in / out aid).

Advantages of the guided mode:

• The movable component can be moved easily (without being too large

Effort) can be opened in motion, no matter in which

Position is the vehicle assembly (horizontal, inclined, ...)

Easy to use, no buttons, gestures, etc. necessary. • Safety: The user must always specify the movement, the movable component is not moved independently (e.g. opened and closed). Sensors prevent damage from collision; Pinching on the assembly.

• As long as the user guides the movable component, he is responsible for the movement. Therefore you need less of the expensive sensor technology (less

Near field detection sensors).

The braking device 1 is preferably in a holding or holding position during oscillating movements of the movable component 104

Direction of rotation reversal position opened so that with one of the

User requested movement in one direction lower

Driving forces are necessary.

In particular, the control device 55 recognizes whether a

User is near the movable component.

In all configurations, it is preferred that a control via wired or wirelessly connected or

coupled control switches or control surfaces is possible.

Control of the movable component by voice input is preferably possible. For this purpose (locally or remotely) a

Speech recognition can be performed. The transmission of

Orders can be given by voice. Possible are e.g. B. Commands like:

"Open movable component" or "open"

"Close movable component" or "close" "Stop movable component"

"Block movable component"

"Quietly close movable components"

"More support"

It is also possible to add a specific movable component to name :

"Close movable component front left" or "open" etc.

In particular, an exit aid for a door or another movable component can have or need its own button for activation. This can be disadvantageous (where should it be placed, cable connection, etc.). This is easy and inexpensive with a voice command.

It may and may be necessary that a voice command must be confirmed before it is carried out. Execution can also be denied, e.g. B. when driving.

A microphone is preferably installed.

In addition, the following options for making movable components can be implemented:

1. Active moving components. I.e. , the movable

Components moves actively at the push of a button or by another control command, driven by an electric motor, and is braked by means of a brake. All of this without outside interference. Sensors recognize necessary

Stop positions.

2. Passively executed movable components. The movable one

Component is moved by the user and is itself passive (and is braked to the maximum). Using sensors can

be intelligently damped and z. B. be stopped in front of an obstacle.

3. Passive "active" movable component: The electric motor etc. is disengaged and the otherwise active movable component can be moved passively with little and in any case reasonable effort. The semi-active movable component described here is a new option:

The movable component is controlled by the user as with

previous mode 2 (passive) moves, the electric motor in

However, the combination with the brake supports the movement.

So the movable component z. B. can be moved with one finger. As long as the finger (hand) guides the movable component, the movable component follows the hand movement or the user's specification with minimal counterforce. The force with which the

movable component follows, can be preset (e.g. in the vehicle settings menu; or in the ignition key; in an app. etc.) The movable component can also be gently pushed and then moves very slowly, only to be stopped with a finger Humans "guide" the movable component, the movable component does (preferably) nothing (or almost nothing) independently. The art here is to guess what the user wants (sensor ...) and to regulate the motor so that the movable component does not move makes that are "unnatural" (jerking, excessive deceleration, too stiff; changes in direction of rotation are critical ...).

This is also possible in the slope. The electric motor then compensates for the changing forces (otherwise the movable component would be easier in one direction and more difficult in the other). The movable component always moves in the same "elegant" manner or virtually free of gravity.

Using a movement pattern or button, the

Movable components are fixed (braked) in the position desired by the user (guided there).

Another advantage of this solution is that disengagement can be dispensed with. This is a great advantage in terms of cost, weight and installation space. It is advantageous if a user can passively close a movable component. This is particularly advantageous when a low closing force is required.

The movable component then does not open "by itself", but is guided with minimal effort. Of the

The drive motor provides the support and the braking device brakes, if necessary, so that minimal force is required at all times.

The electric motor including the gearbox should be relatively strong, as the forces and travel speeds are high (one force of an aid to getting out of a car door: up to 2,000N; actuating force up to 1,000N). It is therefore possible that you can hear the engine and gearbox (as with the electric tailgate), which is undesirable. Gearboxes with plastic gears and encapsulation in the form of sound insulation only provide a limited remedy.

Most vehicles have a door in the door

Speakers 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 much in the frequency spectrum. In addition, the door adjuster is activated, so you know what to do or what to do. It is not an undefined source of noise. The load is known from the sensor signals (e.g. yaw sensor: vehicle leaned). This means that counter-noise can be used very efficiently.

In all of the configurations, the drive motor 75 can also be a synchronous motor, asynchronous motor, disc armature, ultrasonic motor, piezo motor or axial gap motor, with or without a gear 74, without being restricted thereto.

The drive motor can in particular be operated with 12, 24 or 48 volts. The transmission 74 can be a planetary gear, conventional gear, harmonic drive (harmonic drive), CVT, without being limited thereto. 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 symbols:

1 braking device device, device

2 rotating bodies, rolling bodies 51 displacement sensor

3 rotary mount, axis unit, 52 H-bridge

Coupling rod 53 PI controller

4 spindle unit, 54 induced electrical

Lead screw size

5 spindle unit, 55 control device

Spindle nut 56 comparison device

6 magnetorheological fluid 57 storage device

7 Bearing 58 table

8 Magnetic field source 59 Hand sensor

9 electrical coil 60 sensor device

10 magnetic field 61 angles

11 Spool holder 62 Position sensor

12 threaded nut 63 GPS sensor

13 Seal 64 Inclination sensor

14 external thread 65 current sensor

15 internal thread 70 drive device

16 perforated nut 71 drive housing

17 Sleeve 72 drive shaft

18 intermediate ring 73 drive mount

19 position sensor, 74 gear

Position sensor 75 drive motor

20 Position dimension 76 driver

21 channel 80 actuator

22 Speed code 81 preload unit

23 angular velocity, 86 drive

Movement speed 90 hand

24 default current level 91-95 swivel joint

25 Default tension 96-98 lever

26 Amperage 100 assembly

27 Resistance 102 first position

28 race 103 second position

29 Cable 104 component

30 Force curve 105 component

32 coupling unit 151 connection unit

32a guide plate 151a screw

32b Cutout 152 connection unit

33,34 coupling unit 152a pivot axis

34a pivot axis 153 coupling profile

35 gap 153d curvature

36 separate part 153e curvature

39 free space 154 door equipment

40 transmission device 160 sensor

42 axis of rotation 200 motor vehicle

46 wedge shape 300 exoskeleton

50 movement influencing

Claims

Expectations :

1. A method for pivoting a movable component (104) of an assembly (100) with a drive device (70) with an electric drive motor (75) in order to displace the component (104) at least partially between a first position (102) and a second To influence position (103),

wherein with a position sensor (19) a position measure (20) for a position of the component (104) and a

Speed index (22) for a

The displacement speed (23) of the component (104) is detected,

characterized,

that when the component (104) is moved with the speed index (22) an electrical

Preset current strength (24) for the electric drive motor (75) is determined and that an associated preset voltage (25) is set

and that then the current intensity (26) flowing through the drive motor (75) is determined,

and that the preset voltage (25) is increased when the current intensity (26) flowing through the drive motor (75) is less than the electrical preset current intensity (24),

and that the preset voltage (25) is reduced when the current intensity (26) flowing through the drive motor (75) is greater than the electric preset current intensity (24).

2. The method of claim 1, wherein the by the drive motor

(75) flowing current strength (26) is detected via a resistor (27) arranged in series with the drive motor.

3. The method of claim 1 or 2, wherein the drive motor

(75) is arranged in an H-bridge (52).

4. The method according to any one of the preceding claims, wherein a regulation of the default voltage (25) via a proportional Integral controller (53) takes place.

5. The method according to any one of the preceding claims, wherein the position measure (20) when determining the electrical

Preset current strength (24) and / or an electrical one

Default voltage (25) is taken into account.

6. The method according to any one of the preceding claims, wherein with a position sensor (62) at least one value for the spatial position of the assembly (100) is detected and with a

Current sensor (65) a value for the current strength of the

Drive device (70) is determined and wherein a stored table (58) contains correction values and wherein the position measure (20) when determining the electrical default current strength (24) and / or an electrical

Default voltage (25) is taken into account.

7. The method according to any one of the preceding claims, wherein an inclination of the assembly (100) to the horizontal is taken into account.

8. The method according to any one of the preceding claims, wherein a signal from a GPS sensor is taken into account.

9. The method according to any one of the preceding claims, wherein a measure for an internal movement resistance is determined.

10. The method according to the preceding claim, wherein a recalibration is carried out with the measure for the internal movement resistance.

11. The method according to any one of the preceding claims, wherein

a hand detection is carried out by means of a hand sensor and the drive device is only activated when a hand of a user is in the immediate vicinity of the component.

12. The method according to any one of the preceding claims, wherein the The assembly comprises at least two mutually movable components which are adapted to a part of a body of a living being and wherein movements of the wearer are supported by, for example, a joint of the exoskeleton being driven by at least one drive motor.

13. Method for displacing at least one movable

Component (104) of an assembly (100) with a

Drive device (70) with an electric drive motor

(75) in order to at least partially influence a displacement of the component (104) by a user between a first position (102) and a second position (103),

- a position value (20) for a position of the component (104) being recorded with a position sensor (19),

- at least one value for the spatial position of the assembly (100) is detected with a position sensor (62),

- a value for the current strength of the drive device (70) is determined with a current sensor (65),

- a stored table (58) contains correction values, characterized in that

that when the component (104) is moved a

Control device (55) with the measured values and the correction values stored in table (58)

Drive device controls.

14. The method according to any one of the preceding claims, wherein the drive device (70) by a fast switching

Braking device (1) is supplemented and is in interaction with this via the control device (55).

15. The method according to any one of the preceding claims, wherein the user the motive forces in a display menu

can preselect.

16. The method in particular according to the preamble of claim 1 or according to one of the preceding claims, wherein when the component (104) is pivoted with a Sensor device (60) detects at least one electrical variable (26) of the electric drive motor (75) and when the electric drive motor (75) is activated

is taken into account,

so that z. B. at least partially doggy

initiated and / or changed displacement of the component (104), the electrical variable (54) induced in the drive motor (75) is detected and the drive motor (75) is then actively activated accordingly.

17. Assembly (100) with a drive device (70) with an electric drive motor (75) and two connection units (151, 152) which can be moved relative to one another and which can be adjusted relative to one another by means of the drive motor (75), one of the two connection units (151 , 152) with a supporting structure and the other of the two connection units (151, 152) with a movable component (104)

is connectable to a movement of the component (104) at least partially between a first position

To influence the closed position (102) and a second position (103),

wherein a position sensor (19) is included, with which a position measure (20) for a position of the two

Connection units (151, 152) relative to one another and a speed code (22) for one

Movement speed (23) of the two connection units (151, 152) relative to one another can be detected,

characterized,

that the electric drive motor (75) is assigned at least one sensor device (60) with which at least one current intensity (26) flowing through the drive motor (75) can be detected,

and that the control device (55) is designed and set up to generate an electrical speed indicator (22) when the component (104) is displaced

Default current strength (24) for the electric drive motor (75) to determine and to set an associated default voltage (25),

and that the control device (55) is designed and set up to use the sensor device (60) to determine the current intensity (26) flowing through the drive motor (75) at the specified voltage (25),

and that a comparison device (56) is included, which is designed and set up to be determined by the

Drive motor (75) flowing amperage (26) with the

Compare the default current (24),

and that the control device (55) is designed and set up to increase the preset voltage (25) when the current intensity (26) flowing through the drive motor (75) is less than the electrical preset current intensity (24) and the preset voltage (25) reduce when the current intensity (26) flowing through the drive motor (75) is greater than the electrical default current intensity (24).

18. Assembly (100) according to the preceding claim, wherein the position sensor (19) and the sensor device (60)

read out periodically.

19. The assembly (100) according to any one of the preceding claims, wherein the current intensity (26) of the drive motor (75) is detected when the position dimension (20) for the angular position of the door leaf (104) changes.

20. The assembly (100) according to one of the preceding claims, wherein the control device (55) is assigned a memory device (57).

21. Assembly (100) according to the preceding claim, wherein at least one table (58) is stored in the memory device (57).

22. Assembly (100) according to one of the preceding claims, wherein a controllable braking device (1) is included.

23. Assembly (100) according to the preceding claim, wherein the braking device (1) as a magnetorheological

Transmission device (40) is formed and comprises at least one electrical coil (9).

24. Assembly (100) according to one of the preceding claims,

wherein a hand sensor (59) is included, with which a touch of the component (104) by a hand of a

User is detectable.

25. Assembly (100) according to the preceding claim, wherein the hand sensor (59) is a near-field sensor and / or one

includes capacitive sensor.

26. Assembly (100) according to one of the preceding claims,

wherein an image recognition system (59) is included, with which the near field / environment of the assembly can be dynamically detected.

27. Assembly according to one of the preceding claims, wherein the coupling profile (153) is articulated on both sides and is designed in its shape so that it is despite the changing kinematic conditions when moving the component due to the mutually spaced connection points (152a) of the drive unit always lies in the middle of the cutout (32b).

28. Assembly according to one of the preceding claims, which forms an outer support structure for at least a part of an organism and has at least components which can be moved relative to one another.

29. The assembly according to the preceding claim, which one

forms at least part of an orthosis, a prosthesis and / or an exoskeleton.

30. Assembly according to one of the two preceding claims, wherein the two mutually movable components are adapted to a part of a body of a living being and for this purpose is suitable to support movements of the wearer, for example by driving a joint of the exoskeleton by at least one drive motor.