EP4172735A1 - Système d'entrée à retour haptique - Google Patents

Système d'entrée à retour haptique

Info

Publication number
EP4172735A1
EP4172735A1 EP21742736.8A EP21742736A EP4172735A1 EP 4172735 A1 EP4172735 A1 EP 4172735A1 EP 21742736 A EP21742736 A EP 21742736A EP 4172735 A1 EP4172735 A1 EP 4172735A1
Authority
EP
European Patent Office
Prior art keywords
unit
rotating part
operating
operating device
coupling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21742736.8A
Other languages
German (de)
English (en)
Inventor
Stefan Battlogg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventus Engineering GmbH
Original Assignee
Inventus Engineering GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inventus Engineering GmbH filed Critical Inventus Engineering GmbH
Publication of EP4172735A1 publication Critical patent/EP4172735A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/126—Rotatable input devices for instruments
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H19/00—Switches operated by an operating part which is rotatable about a longitudinal axis thereof and which is acted upon directly by a solid body external to the switch, e.g. by a hand
    • H01H19/001—Thumb wheel switches
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H2003/008—Mechanisms for operating contacts with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H19/00—Switches operated by an operating part which is rotatable about a longitudinal axis thereof and which is acted upon directly by a solid body external to the switch, e.g. by a hand
    • H01H19/02—Details
    • H01H19/10—Movable parts; Contacts mounted thereon
    • H01H19/14—Operating parts, e.g. turn knob
    • H01H2019/146—Roller type actuators

Definitions

  • the present invention relates, in particular, to a haptic operating device with at least one operating unit and a method for operating an operating device.
  • the operating unit comprises at least one rotating part with at least one contact surface for rotating the operating unit and at least one rotatably accommodated rotor unit and at least one sensor unit.
  • the sensor unit is suitable at least for determining a rotary movement of the operating unit.
  • the operating device advantageously also comprises a controllable braking device. An input by a user can in particular take place as a result of the rotary movement.
  • Such haptic control devices are found, for example, as mouse wheels in computer mice, control buttons on steering wheels of z.
  • Input devices known in the prior art have the disadvantage that inputs by a user can only be implemented disadvantageously or only with a disproportionately large amount of effort on the part of the user due to their structural shape. This can be the case, for example, with the mouse wheels of computer mice, which are exposed to relatively high levels of friction. So it is possible that high bearing friction and also the influence of basic friction of a braking device have a disadvantageous effect if a user wants to quickly leaf through a long list or also scroll through a long list. So it can be that the friction in the bearing or the friction in a connected controllable braking device can practically lead to a rotation of the mouse wheel being relatively stiff. The mouse wheel must be actively rotated by a user. With long lists, for example, a user has to repeatedly drag his finger over the mouse wheel so that the mouse pointer moves to the end of the list. This can be particularly annoying with long lists.
  • the mouse wheel can be blocked for a certain angle of rotation or angle of rotation range by the adjustable decelerating braking force of the controllable braking device, or it can be set so strongly that the user practically feels a stop there when turning. This basically offers a very intuitive and pleasant way of working.
  • the angle of rotation can advantageously be limited and an angle of rotation range for z.
  • controllable braking device can apply a correspondingly high braking force, so that further turning of the mouse wheel is relatively difficult and the user feels a (virtual) stop.
  • the user has to apply a great deal of force, also to e.g. B. to turn the mouse wheel away from the (virtual) stop.
  • the set braking force must first be overcome until a sensor in the control system detects that the mouse wheel has been turned back and the control system perceives that the mouse wheel is no longer at the angle of rotation of the stop. then the braking force is reduced (suddenly) and further turning is quite easy.
  • control element "sticks" in the angle of rotation of the stop and can only be rotated further with a great deal of force. This is especially the case with control elements with magnetorheological braking devices when the brake is activated An attachment point irritates the user, since turning away from an attachment point should be able to take place without any particular resistance.
  • a method according to the invention is the subject matter of claim 30.
  • Preferred developments of the invention are the subject matter of the subclaims. Further advantages and features of the present invention emerge from the general description and the description of the exemplary embodiments.
  • An operating device has at least one operating unit.
  • the operating unit is rotatably received on a support body.
  • the operating unit comprises at least one rotating part with at least one contact surface for rotating the operating unit and at least one rotatably received and in particular rotatably mounted rotor unit on the support body.
  • the rotor unit and the rotating part are in particular in an operative connection with one another.
  • the rotor unit is arranged radially further inward than the rotating part.
  • There is at least one sensor unit which is particularly suitable for detecting a rotary movement of the operating unit.
  • the operating unit comprises at least one coupling device.
  • the coupling device is suitable and designed to enable (in particular, if necessary) an at least partial rotatability of the rotating part relative to the rotor unit.
  • an at least partial rotation of the rotating part is thereby possible independently of the bearing friction of the rotor unit and / or the braking of the rotor unit.
  • the coupling device is suitable and designed to provide at least partial rotatability of the rotating part relative to the rotor unit when free-wheeling of the operating unit is desired and / or when an operating unit blocked by the braking device is to be rotated further.
  • the coupling device comprises at least one coupling unit.
  • the rotating part and the rotor unit can, in particular, be optionally coupled and decoupled with one another.
  • the rotating part and the rotor unit can (at least essentially) be coupled so as to be non-rotatable. This offers many advantages and enables z. B. when scrolling through long lists a particularly pleasant free run.
  • the coupling unit is suitable and designed to block the rotatability of the rotating part relative to the rotor unit.
  • the coupling unit is suitable and designed to couple the rotating part and the rotor unit with one another in a frictionally engaged manner.
  • the clutch unit comprises at least one friction surface assigned to the rotating part and at least one assigned to the rotor unit Friction surface.
  • the friction surfaces can be pressed against one another for frictional engagement by means of an (e.g. electromagnetic) actuator.
  • the clutch unit enables the rotating part to run freely, which is independent of the bearing friction of the rotor unit and / or the braking of the rotor unit.
  • the clutch unit provides a free-wheeling of the rotating part relative to the rotor unit.
  • the rotating part is free to rotate relative to the rotor unit.
  • at least one full revolution and preferably several full revolutions are possible.
  • the coupling unit is preferably suitable and designed to enable or prevent the rotatability of the rotating part relative to the rotor unit regardless of whether the braking device brakes the operating unit or not.
  • At least one bearing point is provided between the rotating part and the rotor unit and for a bearing surface to be formed, for example.
  • the bearing point serves in particular for the rotatable mounting of the rotating part on the rotor unit, in particular when the rotating part is decoupled from the rotor unit.
  • the rotary movement of the rotary part can preferably be detected by the sensor device, in particular to carry out an input.
  • a common sensor unit is provided for detecting the rotary movement of the rotating part relative to the rotor unit and for detecting a common (coupled) rotary movement of the rotating part and rotor unit.
  • at least two separate sensor units it is also possible for at least two separate sensor units to be provided for this purpose.
  • Non-rotating in the sense of this application also includes that the rotating part and the rotor unit can be connected with some slip.
  • the rotating part and the The rotor unit can easily be rotated elastically with respect to one another, and in particular can be pivoted.
  • the operating device comprises at least one controllable braking device for targeted braking of the operating unit.
  • the invention has many advantages.
  • An essential advantage is that a particularly smooth mobility of the rotating part is made possible independently of the bearing friction of the rotor unit or an existing braking device.
  • a freewheel, d. H. a free rotary movement of the rotating part with respect to the rotor unit is possible in the uncoupled state of the coupling unit.
  • a user only has to set the operating unit in a rotary movement with a sufficiently large angular momentum when the coupling unit is decoupled. In the coupled state, forces can still be transmitted to a controllable braking device. Haptic feedback for the user is still advantageously possible.
  • the negative influence of a relatively high bearing friction and in particular a relatively high basic torque of the rotor unit and / or the braking device is minimized or practically completely eliminated.
  • the storage of the rotor unit can be designed for a long service life and / or good power transmission.
  • the sensor unit can directly detect the rotary movement of the rotating part. In this way, the user input can be reliably recognized in a coupled and a decoupled state. Possible errors in the transmission of the rotary movement through the coupling unit are excluded. The user can use the Continue to turn the control unit directly on the touch surface to make an entry.
  • the coupling unit can advantageously be switched so that it couples or also decouples depending on the user's wishes. Due to the coupling device, it is therefore possible to run freely or overrun even when there is high friction in the bearing of the rotor unit or when a controllable braking device is used.
  • the coupling unit is so small and lightweight that the one operating unit with a coupling device cannot be differentiated from an operating unit without a coupling device, and no significantly larger installation space has to be used.
  • Freewheeling and / or trailing of the rotating part within the meaning of this application includes, in particular, a relative rotary movement between a rotating part and, for example, a finger of the user touching the contact surface in the decoupled state after the input of an angular momentum.
  • the freewheel and / or the caster comprise at least one partial full revolution (by 360 °) of the rotating part after a single input of an angular momentum, without the user touching the contact surface of the rotating part.
  • the freewheeling and / or caster preferably comprises a plurality of revolutions of the rotating part or even a multiplicity of revolutions of the rotating part with respect to the rotor unit after the user has entered an angular momentum once, without the user touching the contact surface of the rotating part.
  • the coupling device has at least one elastic spring unit which connects the rotor unit and the rotating part in an elastically pivotable manner with respect to one another.
  • an elastic deformation of the spring unit allows the rotating part to be at least partially rotatable relative to the rotor unit possible.
  • the force of the spring unit is less and preferably several times less than the braking force which is provided for a (virtual) stop which is to be overcome with the spring unit for a specific angle of rotation.
  • At least the pivoting of the rotating part can preferably be detected by the sensor unit.
  • the sensor unit is preferably provided, which is also provided for detecting a common (coupled) rotary movement of the rotating part and the rotor unit.
  • the spring unit which is in particular at least partially elastic, enables a rotation of the rotating part to be detected, even if the rotor unit is decelerated, held or even completely blocked by a particularly magnetorheological braking device.
  • the rotating part can advantageously be pivoted at least to a small extent by the user even when the rotor unit is blocked. This prevents the operating unit from “sticking”, in particular in a blocked state. This pivoting or rotation of the rotating part can be detected by the sensor unit. This allows an input from a user to be detected despite the blocked braking device.
  • the spring unit can also be of advantage when the effort required to rotate the operating part is very great for a user.
  • a preset deceleration of the braking device can be difficult to overcome, especially for old, weak, physically disabled people.
  • a user must e.g. B. when turning back the rotating part at a stop defined by the control device and the braking device no longer overcome the (full) resistance of the braking device in order to turn the rotating part back a little.
  • the Spring unit Through the Spring unit, the input of the user is recorded so that the braking device when z. B. turning back can be controlled accordingly.
  • An existing deceleration of the braking device can only be reduced in a targeted manner in one direction of rotation. In one direction of rotation, there is only a slight or no noticeable resistance for the user, while in the other direction of rotation the braking resistance is fully maintained.
  • the spring element advantageously makes it possible to already detect a rotation request with a corresponding direction, although a rotation of the rotating part is currently blocked or at least very difficult to move.
  • the spring unit enables a higher spatial resolution of the action of the braking device within the range of motion of the operating unit. In this way, a user input can already be used to control the braking device before the rotor unit itself has rotated. In this way, a changed control of the braking device can be implemented immediately and before the connected rotor unit is rotated. This advantageously enables the braking device and the operating unit to be controlled with greater dynamics.
  • the coupling unit preferably comprises at least one magnetic coupling.
  • the coupling unit particularly advantageously comprises an electromagnetic coupling. Transmission by magnetic forces is particularly advantageous, since it is not or only slightly susceptible to contamination. At the same time, in particular, high forces between the Rotor unit and the rotating part are transmitted.
  • the electrical signal can switch a force-transmitting connection almost directly without a time delay.
  • the clutch itself has low internal friction and low losses. Wear is also low as a result.
  • the coupling unit particularly preferably has at least one mechanical coupling.
  • the clutch unit advantageously has at least one movable switching unit.
  • the movable switching element can advantageously be at least partially as a cylinder, cone, bolt, disc, cone, transmission arm,
  • Transfer base, cuboid and / or pin be executed and or comprise at least one such shaped element.
  • the movable switching unit can in particular be at least partially axially and / or also radially movable. It is also possible that the switching unit is designed to be at least partially tiltable about a pivot point.
  • the mechanical clutch advantageously has at least one friction lining.
  • the friction lining is designed in particular as a lamella and / or friction surface.
  • a frictional connection is advantageously generated by friction through the friction surface.
  • a frictional coupling is particularly compact and robust. The clutch can easily be replaced. Friction linings are inexpensive to manufacture. Friction linings can also be used with high speed differences without any problems.
  • Slipping is preferably also made possible by a friction lining. This can be of advantage, for example, in the event of unforeseeable malfunctions or very high forces.
  • the clutch slips through, so to speak as overload protection and protection for the user. An injury to a user due to excessive force can be targeted and controllable be excluded.
  • the mechanical coupling preferably has at least two interlocking shaped elements.
  • the mechanical coupling can also have several and / or a plurality of interlocking shaped elements.
  • the shaped elements advantageously comprise at least partially toothed elements, tongue and groove elements and / or also bolt elements, which can preferably engage in a bore.
  • mechanically form-fitting flange, claw or tooth elements are also possible.
  • a mechanically positive coupling can also be designed at least partially as a centrifugal clutch or at least partially comprise a centrifugal clutch and / or be based on the principle of inertia.
  • a form-fitting coupling has a freewheel, which enables a power transmission only in a certain direction and / or under certain conditions.
  • Positive-locking couplings are advantageously mechanically robust and also allow a coupling that is conformal to the angle.
  • the coupling unit has at least one control unit for controlling the movable switching unit.
  • the switching unit can be externally controlled or also self-controlled. Externally controlled coupling units are controlled externally.
  • Self-controlled coupling units have an internal control.
  • the control unit advantageously worked in particular electrically, electromagnetically, electromechanically (piezo element) or also purely mechanically.
  • electric motors and servomotors and sensor units with connected computer units are used as actuators.
  • a speed or an angle of rotation a speed or also an acceleration of a movement of the operating unit, in particular of the rotating part, an acting force, a in particular electrical power, an electrical current and / or a voltage and / or also other signals and parameters are used.
  • temperature-controlled systems are also conceivable.
  • Self-controlled clutch units can also use a centrifugal clutch with a spring preload or also a change in the mechanical and / or fluid mechanical properties of a fluid, such as the viscosity.
  • the mechanical coupling unit advantageously comprises at least one preloading unit.
  • the coupling unit can advantageously be preloaded into the coupled or the decoupled position.
  • the other position is then preferably implemented by the movable switching unit and a control unit.
  • the preload unit enables a defined initial state of the coupling unit.
  • force peaks and torque peaks can be advantageously buffered.
  • the preloading unit advantageously comprises at least one resilient element.
  • the coupling unit is preloaded, in particular in the coupled state, by the resilient element.
  • at least one tension / compression rod, an annular spring, a leaf spring, a spiral spring, a plate spring, a torsion bar spring and / or a cylindrical helical compression spring are advantageously used as metallic resilient elements.
  • spring elements can also be used.
  • the list presented here is not exhaustive.
  • a rubber buffer, fiber-reinforced plastic spring or even gas springs can also be used as the resilient element.
  • other effects for preloading such as resilient gas cushions, a pressurized and, in particular, flexible fluid bellows, etc., can also be used.
  • the coupling device in particular the coupling unit and / or the spring unit, at least partially received on the rotor unit.
  • the coupling device in particular the coupling unit and / or the spring unit, is at least partially received on the rotating part.
  • a space-saving and compact arrangement is advantageously made possible in this way.
  • the coupling device and in particular the coupling unit is arranged directly where the forces also have to be transmitted.
  • the rotating part is rotatably received on the rotor unit.
  • the rotating part is supported by at least one roller bearing and z.
  • the bearings can be integrated into the coupling unit, so that the coupling unit is arranged between the rotating part and the rotor unit. A coupling can thereby be made possible in a particularly simple and efficient manner and with a small structure.
  • the spring unit preferably comprises at least one elastomer spring element. This advantageously includes
  • Elastomer spring element at least one rubber buffer or also a (z. B. fiber-reinforced) plastic spring.
  • the spring element is at least partially ring-shaped and at least partially encloses the rotor unit.
  • the elastomer spring element can advantageously be loaded with torsion. Small rotations and / or pivoting movements can be implemented advantageously.
  • a progressive spring characteristic of a rubber buffer can be very advantageous. The elastic restoring force increases with increasing pivoting. In the event of a large overload, the rubber can burst away as a predetermined breaking point, so that a safety function is also provided.
  • the spring unit comprises at least one fixing unit for limiting the Suspension travel.
  • the fixing unit can be used to switch off the elastic suspension completely and to bypass it. This can be advantageous in the case of a very high rotational accuracy.
  • the fixing unit makes it possible to adapt the pivoting to the user.
  • the spring unit comprises at least one metal spring element.
  • the metal spring element can at least partially comprise a tension / compression rod, an annular spring, a leaf spring, a spiral spring, a helical spring, a plate spring, a torsion bar and / or a cylindrical helical compression spring.
  • Metallic spring elements are durable and robust.
  • Metal springs advantageously allow greater spring travel and / or pivoting than elastomer spring elements.
  • the spring characteristic can be composed of several different elements.
  • the spring characteristic of the spring unit is advantageously adjustable at least in certain areas.
  • the individual spring elements can be exchangeable.
  • it can be advantageous to set the preload of the spring element directly on the operating unit.
  • it is conceivable to fix individual turns of metal springs in a targeted manner or to block them and release them again if necessary. So the spring characteristic can be advantageous to a user who
  • Sensor device and / or a connected electrical system can be adapted.
  • the spring unit comprises at least one pretensioning unit.
  • the spring unit can advantageously be prestressed at least in sections by the prestressing unit.
  • the response behavior of the spring unit can be advantageously adapted. It is particularly advantageous to adjust the preload during operation. This is how it is coordinated in connection with a particularly magnetorheological braking device advantageously possible.
  • a maximum pivot angle between the rotating part and the rotor unit is less than 60 ° or 45 ° or even 30 ° or even in particular only 10 ° or even less z. B. less than 5 ° or 2 ° or even 1 °.
  • Such (large and small) pivoting and / or pivoting angles can particularly advantageously be implemented by means of metal springs.
  • a large swivel angle can also advantageously be used for an additional input by the operating unit.
  • additional functions in computer games can be made usable by a targeted rotation of several 5 ° or 10 ° (+/- 30 °). These can be reliably detected by the sensor unit.
  • a pivoting can also advantageously be used for input, preferably in computer programs and in particular in computer games. It is possible that a pivoting against the spring element can correspond to the cocking of an arrow bow or a catapult or the cocking of a trigger of a rifle. It is preferably possible here to adjust the spring element in such a way that the force of the spring element is preferably similar to the tension force of the bow, the bow being relaxed by letting go of the rotating part. A restoring force of the spring element is preferably so great that, in particular when the pivoted rotating part is relieved or released, it automatically pivots back into an in particular at least partially non-pivoted starting position due to the restoring force of the spring element.
  • the rotor unit is preferably blocked by the braking device and the rotating part can be rotated against the rotor unit.
  • Such an input can preferably be interpreted by a control software or a software program of a connected computer device as at least one rotational movement at a constant rotational speed. When the spring element is relaxed (or pivoted back), this is interpreted as a "movement stop".
  • a maximum pivot angle between the rotating part and the rotor unit of between 0.1 ° and 1 ° and in particular of approx. 0.05 ° (+/- 25%) is advantageously possible. Such a small one
  • Pivoting is advantageously possible, in particular, by a rubber spring element.
  • Spring units with a small pivoting angle can advantageously be used in conjunction with the sensor unit to overcome large decelerations of the braking device or to block the rotation. In this way, the deceleration and / or blocking of the braking device can be specifically canceled when a (very) small pivoting is already detected.
  • a user practically does not even notice that the elastically resilient unit is present, but has to become active himself and actuate the rotating part and pivot it slightly.
  • the rotating part at least partially comprises the rotor unit.
  • the rotating part is advantageously designed to be ring-shaped, at least in sections. This advantageously ensures good power transmission.
  • the annular rotating part can advantageously be arranged on the rotor unit. An annular rotating part is also easy to handle for a user.
  • the rotating part comprises at least one core element.
  • the turned part faces outside advantageously a rubber coating and / or a rubber coating for better adhesion, in particular of a finger and / or the hand of a user.
  • the core element preferably has a high density.
  • the density of the core element is between 2 kg / dm A 3 and 15 kg / dm A 3 and can in particular be up to 30 kg / dm A 3 or even more.
  • the core element can advantageously consist at least partially of steel, iron and / or lead.
  • the core element advantageously runs around in an annular rotating part, in particular in an annular manner.
  • the high density of the core element makes the turned part particularly sluggish. This improves the suitability for free or overrun.
  • the sensor unit preferably detects at least one change in the angle of rotation.
  • the sensor unit advantageously detects at least one angle of rotation position of the rotating part.
  • the sensor unit advantageously comprises at least one inductive, optical and / or mechanical displacement sensor, a sensor with variable resistance or a potentiometer, an ultrasonic sensor and / or a capacitively operating sensor and / or a magnetic sensor, in particular a Hall sensor, advantageously in Combination with a polarized magnetic ring.
  • at least one incremental encoder and / or at least one light barrier are used as sensors.
  • a digital electrical contact is also conceivable, which alone detects a rotation.
  • the electrical contact is particularly advantageous in connection with the spring unit when only "sticking", i.e. a blocking of the rotational movement by the braking device, is to be removed.
  • every possible configuration of the sensor unit enables a resolution of the angle of rotation of less than 0.05 °.
  • small swiveling and swiveling angles can also be recorded.
  • a more precise control of the braking device and an input is made possible.
  • At least one second sensor unit is particularly preferably present.
  • the second sensor unit is advantageously suitable for Detection of a rotary movement of the rotor unit.
  • the second sensor unit is also advantageously based on the same measuring principles as the first sensor unit. In this way, the rotation of the rotor unit relative to the rotating part can preferably be determined in general when the operating unit is in operation.
  • An initial acceleration can advantageously be derived from the rotation, which is particularly suitable for interpreting the user's input request quickly and reliably.
  • Initial acceleration can be used, for example, to set a high scrolling speed.
  • At least one magnetic ring can advantageously be used in combination with at least two Hall sensors, in particular as rotation angle sensors.
  • the magnetic ring is preferably arranged and in particular fastened on the rotating part in a rotationally fixed manner.
  • a Hall sensor is placed in a stationary manner next to the magnetic ring, which is suitable and designed to detect, in particular, at least one change in a magnetic field of the magnetic ring.
  • the second Hall sensor is advantageously arranged in particular non-rotatably on the rotor unit or is advantageously arranged at least partially therein.
  • the coupling unit when the coupling unit is in a coupled state, the rotor unit advantageously rotates with the rotating part and the one magnetic ring.
  • the coupling device advantageously comprises at least one coupling unit and at least one elastic spring unit. As a result, both functions are combined in one control unit.
  • the operating device preferably comprises at least one support body.
  • the operating unit is advantageously at least partially accommodated on the support body.
  • the support body enables the force support and / or at least partially installation in a housing or another component.
  • the rotor unit is preferably at least partially rotatably received on the support body.
  • the rotor unit is at least partially mounted on the support body.
  • at least one storage unit is advantageously formed on the support body and / or on the rotor unit.
  • the rotor unit advantageously at least partially encloses a stator unit.
  • the stator unit is in particular at least one component of the braking device.
  • the rotor unit advantageously at least partially encloses the stator unit.
  • the stator unit is advantageously at least partially fixed and / or at least partially fixedly received and / or supported on the support body.
  • the rotor unit is preferably at least partially or completely freely rotatable and / or received on the stator unit so that it can be pivoted through a limited angle.
  • the rotor unit and / or the stator unit are at least partially rotatably received on the support body.
  • the rotor unit and / or the stator unit can preferably also be held non-rotatably, that is to say statically, on the support body.
  • the braking device is preferably designed at least partially as a magnetorheological braking device.
  • At least one magnetorheological medium is present at least in regions between the rotor unit and the stator unit of the magnetorheological braking device.
  • the stator unit and / or the rotor unit advantageously comprises at least one electrically conductive coil.
  • the properties of the magnetorheological medium and in particular its viscosity can be influenced by the coil.
  • a mobility of the rotating part can advantageously be influenced by the braking device.
  • at least one haptic feedback or bidirectional communication can thereby be generated. The user receives haptic feedback through his input, which he made by rotating the rotating part.
  • a free run and / or overrun can advantageously be used in order to use the operating unit even more advantageously.
  • "Sticking" of the braking device can advantageously be prevented by the elastic spring unit.
  • inputs from users can be recorded directly and with high sensitivity.
  • a method according to the invention is used to operate an operator control device, and in particular an operator control device, as it is described here.
  • the method is designed in such a way that the operating device described above can then be operated.
  • the operating device according to the invention is suitable and designed to be operated according to the method.
  • an operating device with at least one operating unit and a specifically controllable braking device is provided.
  • the Operating unit can comprise at least one rotating part with at least one contact surface for rotating the operating unit and at least one rotor unit and at least one sensor unit.
  • the sensor unit is at least suitable for determining the rotary movement of the operating unit.
  • the rotating part and the rotor unit are preferably coupled and decoupled from one another as required (by means of a coupling device, in particular with a coupling unit and / or an elastic spring unit), in particular so that at least partial rotatability of the rotating part relative to the rotor unit is available when the operating unit is desired to run freely and / or if an operating unit blocked by means of the braking device is to be turned further.
  • a coupling device in particular with a coupling unit and / or an elastic spring unit
  • the rotating part and the rotor unit are coupled and decoupled from one another as required (by means of a coupling device), so that the rotating part can be at least partially rotated relative to the rotor unit if the operating unit should free-run and / or if an operating unit blocked by the braking device is to be rotated further (and in particular is to be rotated further with a force which is less than the braking force and / or which corresponds to the force of the elastic spring unit).
  • the decoupling enables at least partial rotation of the rotating part, which is independent of the bearing friction of the rotor unit and / or the braking of the rotor unit.
  • a rotary movement of the contact surface of the rotary part is decoupled or coupled to a rotary movement of the rotor unit by at least one coupling unit.
  • the sensor unit detects the rotary movement of the rotating part.
  • a rotary movement of the contact surface of the rotary part is effected by at least one elastic movement Spring unit is transmitted at least one coupling device by an elastic pivoting and / or rotation to the rotor unit.
  • the rotation is detected by the sensor unit or can be detected by the sensor unit.
  • a rotary movement of the rotor unit is preferably delayed, held (blocked) or also released by at least one braking device and in particular an agnetorheological braking device.
  • the rotating part can preferably be rotated and / or pivoted independently of the bearing friction of the rotor unit and / or the braking force of the braking device.
  • FIGS. 2a-2b show highly schematic representations of an operating device according to the invention in a sectional side view
  • 3a-3c show highly schematic representations of different embodiments of the area of the coupling device of an operating device according to the invention in a sectional view;
  • FIG. 4 shows a highly schematic representation of an operating device according to the invention in a perspective view; and 5 shows a highly schematic representation of a further operating device according to the invention in a sectional side view.
  • FIGS. 1 a to 1 f input devices 100 according to the invention are shown which are equipped with magnetorheological braking devices 11 and are operated according to the method according to the invention.
  • the input devices 100 here have input elements 102 designed as an input wheel 103.
  • FIG. 1 a shows an input device 100 configured as an operating button 106.
  • FIG. 1 b shows an input device 100 configured as a thumb roller 107.
  • FIGS. 1 c and 1 d show an input device 100 configured as a computer mouse 101.
  • the input wheel 103 is configured here as a mouse wheel 104.
  • FIG. 1e shows an input device 100 designed as a joystick 105.
  • FIG. 1f shows an input device 100 designed as a gamepad with a rotatable control button.
  • a linear movement 108 and a pivoting movement and / or rotary movement 109 are also identified in FIG.
  • FIG. 2a shows an exemplary embodiment of a haptic operating device 100 according to the invention in a highly schematic form in a sectional view. This embodiment is discussed on the basis of a possible application as an input wheel 103 in a computer mouse 101, but not restricted to this application.
  • the haptic operating device 100 comprises a supporting body 20 and an operating unit 2.
  • the operating unit 2 is received on the supporting body 20.
  • the operating unit 2 comprises a stator unit 21 which is firmly received on the support body 20.
  • the stator unit 21 also includes a coil unit, which is not shown in detail here.
  • the rotor unit 5 is also rotatably received on the support body 20 by the bearing unit 10 and, in particular, is supported. The rotary movement 7 takes place around the axis of symmetry shown Rotor unit 5.
  • the rotor unit 5 comprises and completely encloses the stator unit 21. Between the rotor unit 5 and the stator unit 21 there is a magnetorheological medium 22 which can be controlled in a targeted manner by the coil unit. By applying a voltage and a coil current, the viscosity of the magnetorheological medium 22 is changed. The rotary movement 7 can thereby be braked in a targeted manner. In this way, a user can in particular receive haptic feedback via an input.
  • a coupling device 8 is provided here.
  • a rotating part 3 is rotatably mounted on the coupling device 8 and the rotor unit 5.
  • a rotary movement 7 can be introduced into the system by a user via the contact surface 4.
  • the coupling device 8 can optionally be designed as a coupling unit 9 or as an elastic spring unit 12.
  • a rotary movement 7 of the rotary part 3 is detected here by a first sensor unit 6.
  • a pick-up of the sensor unit 6 is arranged on the support body 20, while a signal transmitter, such as a perforated disk, is arranged on the rotating part 3 itself.
  • a second sensor unit 6 for detecting the rotational movement 7 of the rotor unit.
  • the coupling device 8 can be designed as a coupling unit 9, for example.
  • the coupling unit 9 can couple the movement between the rotating part 3 and the rotor unit 5 in a rotationally secure manner.
  • a small elastic deformation or slipping is also possible, depending on the embodiment of the coupling unit 9.
  • forces can be transmitted between the rotor unit 5 and the rotating part 3.
  • a user can use a rotary movement 7 Input, for example in a computer unit, receive a response.
  • the mobility of the rotating part 3 can be influenced by the magnetorheological braking device 11.
  • the rotating part 3 can rotate freely with respect to the rotor unit 5. This greatly reduces the friction. A freewheeling or after-running of the rotating part 3 is possible. This enables an improved operability of the operating device 100 and the operating unit 2.
  • the rotating part 3 here comprises a core element 19 with a high density.
  • the core element 19 can be made of iron, for example. Due to the high density, the rotating part 3 has a high degree of inertia. This supports the after-run.
  • the coupling device 8 can also be designed here as an elastic spring unit 12.
  • the spring unit 12 can be designed here as an elastomer spring element 15 or as a metal spring element 16. In both cases, the spring unit enables pivoting 18 between the rotating part 3 and the rotor unit 5.
  • an input from a user can also be recorded when the rotor unit 5 is blocked by the magnetorheological braking device 11.
  • "sticking" of the operating unit 2 is prevented if the braking device 11 blocks a rotary movement 7 of the operating unit 2 or is very much delayed and a movement is to be initiated in the opposite direction, in the z. B. should not be braked.
  • FIG. 2b An alternative embodiment of the coupling unit 9 is shown in FIG. 2b.
  • the coupling unit 9 comprises two parts. On the one hand, part of the coupling unit 9 is arranged between the rotor unit 5 and the rotating part 3, so that the rotating part 3 can run freely.
  • the coupling is achieved here by the second part of the coupling unit 9, which is designed as a movable switching unit 13. This second part is arranged here next to the rotating part 3 and is axially movable.
  • the coupling can take place here, for example, by interlocking tooth elements or also a friction lining.
  • the coupling unit 9 is through a
  • Biasing unit 14 is biased into the coupled position.
  • the preload unit 14 is designed here as a spiral spring which is supported on the support body.
  • the coupling unit and the movable switching unit 13 can be switched between the coupled and the decoupled state by means of a switching unit (not shown).
  • FIG. 3a shows a purely schematic sectional view along the section line A-A from FIGS. 2a and 2b.
  • the coupling device 8 designed as a coupling unit 9 surrounds the rotor unit 5.
  • the rotating part 3 is also arranged here on the coupling unit 9.
  • a rotary movement 7, which is initiated by the contact surface 4, is not transmitted to the rotor unit 5 in the decoupled state. This enables freewheeling.
  • FIG. 3b also shows a purely schematic sectional view along the section line AA from FIGS. 2a and 2b.
  • the coupling device 8 is designed as a spring unit 12 and, in detail, as an elastomer spring element 15.
  • the elastomer spring element 15 is a rubber buffer here.
  • the rubber buffer surrounds the rotor unit 5 in a ring shape and connects the rotor unit 5 to the rotating part 3 Movement of the rotating part 3 can pivot and / or rotate it relative to the rotor unit 5 by the pivot angle 18. It can thus be ensured that an input by the user can also take place when the rotor unit 5 is blocked by the braking device 11.
  • a rotation can here, for example, amount to approx. 0.05 °, which can be detected by the sensor unit 6.
  • FIG 3c an alternative embodiment of the spring unit 12 from Figure 3b is shown.
  • a plurality of metal spring elements 16 in the form of leaf springs are arranged between the rotating part 3 and the rotor unit 5.
  • metal spring elements 16 By means of metal spring elements 16, a greater pivoting 18 or a greater pivoting angle 18 between the rotor unit 5 and the rotating part 3 can be generated. Up to 30 ° in particular are possible here.
  • a fixing and pretensioning unit 17 is also provided here.
  • the spring unit 12 can be bridged and fixed here by the fixing unit 17.
  • Metal spring element 16 are adapted. So it is possible to set the length of a spring travel or a certain part of the spring so that the spring characteristic changes. The spring characteristic can be adjusted in particular during operation. In addition, it is possible to exchange individual elastomer spring elements 15 or also metal spring elements 16. A combined use of elastomer spring elements 15 and metal spring elements 16 is also possible.
  • FIG. 4 shows a purely schematic perspective illustration of an operating device 100 according to the invention.
  • a coupling device 8 is arranged between the rotating part 3 and the rotor unit 5.
  • the coupling device 8 can be used as a coupling unit 9 or also as a spring unit 12 be executed.
  • the rotor unit 5 comprises the stator unit 21.
  • the rotor unit 5 and the stator unit 21 together form a magnetorheological braking device 11, which influences the mobility of the entire operating unit 2.
  • a user can rotate the operating unit 2 via the touch surface 4.
  • FIG. 5 shows an advantageously configured operating device 100.
  • the stator unit 21 which has a magnetic coil (not shown here).
  • a magnetically conductive rotor unit 5 is arranged around the stator unit 21 here.
  • a damping gap 31, which is filled with a magnetorheological medium, is formed between the two 5, 21.
  • the damping gap 31 is sealed off from the outside world by a seal 41, shown here as a simple sealing ring.
  • a rotating part 3 designed as an end cap is flanged onto the rotor unit 5 and can rotate with the rotor unit 5.
  • the rotating part 3 carries the contact surface here.
  • the rotating part 3 holds a magnetic ring 26 of the sensor unit 6 which, together with a Hall sensor 36, can measure the angle of rotation.
  • the rotor unit 5 is rotatably supported here by two bearing points of the storage unit 10. By applying a magnetic field, the viscosity of the magnetorheological medium is changed in a targeted manner in order to set a desired damping force. Rolling bodies (not shown here) or magnetic field concentrators firmly connected to the stator unit 21 can be located in the damping gap 31.
  • a coupling device 8 with a coupling unit 9 is used here in order to enable the freewheel in a targeted manner if necessary. If this z. If, for example, only the rotating part 3 with the contact surface 4 is decoupled and then rotated itself, then it cannot be detected with the sensor unit 6 (sensor 36 on print; magnetic ring 26) and an additional sensor would have to be installed. It is therefore advantageous to decouple the rotating part 3 together with the end cap from the rotor unit 5.
  • the decoupling takes place here by axially displacing the rotor unit 5 (the double arrow indicates the movement).
  • the coupling takes place on a respective conical friction surface 49 or contact surface of the rotor unit 5 and the rotating part 3 (facing one another), e.g. B. here purely through friction.
  • the surface can be provided with a coating that increases friction.
  • a toothing or other contour can also be attached to both friction surfaces 49, which produce a non-rotatable form fit.
  • the rotating part 3 together with the end cap is then rotatably supported by a bearing surface 30.
  • the rotation is only braked by the friction between the bearing surface 30 and the rotor unit 5.
  • the damping is considerably less than the friction or damping force that would result from the seals.
  • an electromagnet 29 can be used to move the rotor unit 5 and thus to decouple the rotating part 3.
  • the electromagnet 29 is switched on and the magnetically conductive rotor unit 5 is pulled in the direction of the electromagnet 29.
  • the coupling can then take place by a spring element (not shown here) which pushes the rotor unit 5 back into the coupled position.
  • z. B. the bearing point shown here on the left of the storage unit 10 can be moved and thus drag the rotor unit 5.
  • the medium here is an agnetorheological fluid which, for example, comprises an oil as a carrier fluid in which ferromagnetic particles 19 are present.
  • Glycol, grease, silicone, water, wax and viscous or thin-bodied substances can also be used as a carrier medium, without being restricted to them.
  • the carrier medium can also be gaseous and / or a gas mixture (e.g. air or ambient air) or the carrier medium can be dispensed with (vacuum or air and e.g. ambient air).
  • a gas mixture e.g. air or ambient air
  • the carrier medium can be dispensed with (vacuum or air and e.g. ambient air).
  • the magnetic field e.g. carbonyl iron
  • Mixing with other - preferably with lubricating properties - particles such as graphite, molybdenum, plastic particles, polymer materials is possible.
  • the powder with the designation CIP ER from the company BASF can be used with a minimum iron content of 97%, without coating and an average size of the particles of 5 lpm, or the CIP SQ- R from BASF with at least 98.5% iron content, 4.5 ⁇ m average size and Si02 coating.
  • the different powders differ in the size distribution of the particles, in the coating, in the particle shape etc.
  • the ferromagnetic or ferrimagnetic particles 19 are preferably carbonyl iron powder with spherical microparticles, the size distribution and shape of the particles depending on the specific application. Specifically preferred is a distribution of the particle size between one and twenty micrometers, but smaller ( ⁇ 1 micrometer) to very small (a few nanometers, typically 5 to 10 nanometers) or larger particles of twenty, thirty, forty and fifty micrometers are also possible. Depending on the application, the particle size can also be significantly larger and even penetrate into the millimeter range (particle spheres).
  • the particles can also be a special one Coating / jacket (titanium coating, ceramic, carbon jacket, polymer coating, etc.) so that they can better withstand the high pressure loads that occur depending on the application or are stabilized.
  • the particles can also have a coating against corrosion or electrical conduction.
  • the magnetorheological particles can not only consist of carbonyl iron powder (pure iron;
  • Iron pentacarbonyl but z. B. made of special iron (harder steel) or other special materials (magnetite, cobalt ...), or a combination thereof.
  • Superparamagnetic particles with low hysteresis are also possible and advantageous.
  • control unit 22 magnetorheological

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  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
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Abstract

L'invention concerne un dispositif de commande et un procédé pour faire fonctionner un dispositif de commande. Le dispositif de commande comporte une unité de commande qui présente un élément rotatif pourvu d'une surface de contact pour faire tourner l'unité de commande, une unité de rotor logée rotative et une unité de détection. L'unité de détection est conçue pour déterminer un mouvement de rotation de l'unité de commande. L'unité de commande comprend un dispositif d'accouplement qui est adapté et conçu pour permettre une rotation au moins partielle de l'élément rotatif par rapport à l'unité de rotor.
EP21742736.8A 2020-06-26 2021-06-26 Système d'entrée à retour haptique Pending EP4172735A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020116947 2020-06-26
PCT/EP2021/067595 WO2021260218A1 (fr) 2020-06-26 2021-06-26 Système d'entrée à retour haptique

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EP4172735A1 true EP4172735A1 (fr) 2023-05-03

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EP21742736.8A Pending EP4172735A1 (fr) 2020-06-26 2021-06-26 Système d'entrée à retour haptique

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EP (1) EP4172735A1 (fr)
DE (1) DE102020117088A1 (fr)
WO (1) WO2021260218A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20219655U1 (de) 2001-12-20 2003-03-13 Kostal Leopold Gmbh & Co Kg Schalteinrichtung
US10318002B2 (en) * 2010-09-15 2019-06-11 Inventus Engineering Gmbh Magnetorheological transmission device
US9639185B2 (en) 2013-03-15 2017-05-02 Volkswagen Ag Trackball input device with additional rocking motion
US9891651B2 (en) * 2016-02-27 2018-02-13 Apple Inc. Rotatable input mechanism having adjustable output
US10850190B2 (en) * 2017-06-01 2020-12-01 Microsoft Technology Licensing, Llc Input device with clutched force-feedback trigger
DE102018100390A1 (de) * 2018-01-10 2019-07-11 Inventus Engineering Gmbh Magnetorheologische Bremseinrichtung
FR3084940B1 (fr) * 2018-08-09 2021-04-09 Dav Interface de commande a retour haptique

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DE102020117088A1 (de) 2021-12-30

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