NL2011606C2

NL2011606C2 - Support system for movable support of a load.

Info

Publication number: NL2011606C2
Application number: NL2011606A
Authority: NL
Inventors: Robert Luimers; Andreas Petronella Maria Stijns
Original assignee: Thomas Regout Internat B V
Priority date: 2013-10-14
Filing date: 2013-10-14
Publication date: 2015-04-16

Description

Title: Support system for movable support of a load.

The invention relates to a support system comprising a base and a support element, movable relative to the base. NL2002882 discloses a suspension system having abase and a support element, vertically movable relative to the base, wherein a spring and arm system is provided which counteracts the weight of the support element and any weight carried by said support element. A motor is provided with a winch and cable for constantly adjusting the spring force based on the combined weight to be compensated, such that the system is in balance at all times.

Such support system has the advantage that it requires little to no force to move the support element and any load carried by it up or down. Due to the spring and arm system and the necessity to constantly adjust the spring forces this known system is complicated, both in construction and in operation and maintenance.

The present invention aims at an alternative support system. The present invention aims at a support system having a base and a support element movable relative to said base, especially in a substantially vertical direction which mitigates at least part of the disadvantages of the known system. The present invention aims at a support system which is easy to operate, without the necessity of excess force, and which allows easy movement of the support element and loads carried by it, even under different, loading conditions.

In a first aspect a support system of this disclosure can be described by a base and a support element, movable relative to the base, wherein at least one spring element is provided between the base and the support element and at least a motor system is provided between the base and the support element. A sensor is provided for sensing a force exerted on the support element in a direction of movement of the support element relative to the base. Furthermore a control is provided for controlling the motor system based on a signal from the sensor. The force exerted on the support element can be exerted directly or indirectly on it, preferably by a user when initiating movement of the support element. Within the present invention different spring elements and configurations including spring elements can be used.

In an aspect of the disclosure the sensor can be a pressure sensor which can be engaged by a user when initiating a movement of the support element. In embodiments the control can be designed to measure the pressure and, if desired, additionally can calculate the weight of the support element and load, for example but not necessarily inter aha based on said pressure. Then the motor can be controlled based on such calculation. Alternatively the combined weight of the support element and load can be measured by a different sensor, for example with one or more sensors positioned between the motor and frame or between the support element and frame. Alternatively for example electric current or energy consumption of the or each motor can be used for measuring the said combined weight. The thus obtained data can then be used by the control for for example setting the speed and/or direction of the movement of the motor(s).

In an aspect a support system can comprise a motor, a gearing and a track for supporting a movement of the support element and a weight carried thereby. The control can then be designed to control the motor based on a calculated and/or measured combined weight of the support element and weight carried thereby and/or on an external force exerted on the support element, directly or indirectly, by a user initiating movement.

In an aspect a support system can be defined by the support element being suspended from the base by the at least one spring element and the at least one motor, wherein a base value is set in the control. The control is programmed to drive the motor such that when a signal from the sensor indicates a force below the base value the motor is driven aiding movement of the support element in the direction of exertion of the force, and when a signal from the sensor indicates a force above the base value the motor is counteracting movement of the support element in the direction of exertion of the force. Again the force is during use preferably exerted on the support element directly or indirectly by a user operating the element.

In an aspect a switch can be provided which, when operated, sets the control to drive the motor such that the support element is driven to an end position. This can for example be an upper or lower end position.

The motor is preferably self braking.

In an aspect the present disclosure can be characterised by a support arrangement for a support element, comprising at least two spring elements, a motor system, a control and a sensor. The motor system comprises at least one motor, a gearing and a track cooperating with the gearing, wherein a sensor is provided, preferably for sensing a force or pressure exerted thereon, and/or detecting engagement thereof by a user. Furthermore the control can be provided for controlling the motor system based on a signal from a sensor, such as a weight sensor. Preferably a base value is set in the control, wherein the control is programmed to drive the motor such that when a signal indicates a force below the base value the motor is driven aiding movement of the support element in the direction of exertion of the force, and when a signal indicates a force above the base value the motor is counteracting movement of the support element in the direction of exertion of the force. Alternatively the control can be set such that when a sensor is engaged the motor or motors move the support element relative to the frame based on the direction or side of engagement of the sensor relative to the support element, at a predefined speed or a speed defined by the pressure exerted by the user. In embodiments an engagement sensor and a weight sensor can be sued, which can be referred to as primary and secondary sensors respectively.

In the present disclosure a support element can for example be or comprise one or more of, but is not limited to, a cupboard, shelf, another type of storage element, an appliance such as but not limited to a kitchen appliance, a working surface and the like.

In further elucidation of the present invention embodiments of the present disclosure shall be described hereafter, with reference to the drawings.

Fig. 1 shows in perspective view schematically an embodiment of an example of a system of the present disclosure;

Fig. 2 in top view (fig. 2A) and front view (fig. 2B) schematically an embodiment of an example of a system of the present disclosure;

Fig. 3A and B an example of a unit for use in a system of the present disclosure, in two end positions;

Fig. 4 in perspective view schematically an alternative embodiment of a unit for use in a system of the present disclosure;

Fig. 5 in perspective view schematically part of an alternative embodiment of a system of the present disclosure; and

Fig. 6 schematically shows a control scheme of an assembly of the present disclosure.

In this description embodiments of the invention will be described with reference to the drawings by way of example only. These embodiments should by no means be understood as limiting the scope of the disclosure. At least all combinations of elements and features of the embodiments shown are also considered to have been disclosed herein. In this description the same or similar elements and features will be referred to by the same or similar reference signs.

In this description expressions of orientation such as top, bottom, vertical etcetera are used for convenience only and refer to the orientation of the system as seen in the accompanying drawings. Such expressions are not to be regarded as limiting the orientation of the system in use, though the preferred orientation is such that a main direction of movement of the support element relative to the base is substantially vertical.

Obviously the choice for parts of the system can be made depending on the intended use. This shall be directly clear to the person skilled in the art and all possible combinations and permutations are considered to have been disclosed herein.

In this description a base element is disclosed carrying a support element movable relative to the base. Obviously one base could carry more support element, one or more of which could be movable relative to the base. In the embodiments shown in the drawings the base is mounted to a wall. Obviously a base could also be self standing or mounted to another support, such as a frame, chest or the like, and could be mounted on a floor or to a ceiling or the hke.

In embodiments shown in the drawings two motors with gearing and cooperating tracks are provided, wherein the motors can be synchronised. However it is also possible to use a different number of motors, for example one, and/or a different, number of tracks, wherein for example the gearing can be designed to run on more than one track, for example two, driven by a single motor. In other embodiments track and gearing and/or motor could be incorporated into one unit, for example using a linear motor.

In the present disclosure the spring or the combined springs can be designed such that it supports an average weight expected of the support element and weights to be carried thereby. By way of example, if a support element is designed for example for a combined weight (support element and load) between 500 and 900 Newton, the spring or combined springs can be designed for carrying 700N. The spring or springs can be designed as constant force or constant tension springs, such that the force exerted by it/them does not significantly differ when extended or retracted/compressed.

In embodiments the spring or springs can be pneumatic or hydraulic springs, such as air springs.

In this disclosure spring or spring element has to be understood as an element which can elastically deform and can provide for a force dependent on at least such elastic deformation. Spring element can be but are not limited to springs such as extension or compression springs, constant force springs, balance systems such as described in for example NL2002882, or similar systems. It is advantageous in embodiments of the present disclosure when the spring element or spring elements provide for a substantially constant force over a path of movement, such as extension or compression or movement of a supported element, such as with a constant force spring or balance system as described in NL2002882.

In this disclosure embodiments can comprise sensors which can directly or indirectly measure forces exerted on or by the or each motor, which may be referred to as auxiliary or further or secondary sensor(s). In embodiments a sensor or sensors can be provided for sensing a force or pressure exerted by a user or otherwise for detecting engagement of the support element by a user, for example provided on the support element. This or these sensors can also be referred to as primary sensor(s). In embodiments both types of sensors can be used. The primary and/or secondary sensor(s) can for example measure force, pressure, electric or magnetic current or the like. In embodiments having both primary and secondary sensors the support element can be supported by the spring element or elements and motor or motors such that any even smah force exerted on the support element in an up or down direction will move the support element in that direction.

In this description words like substantially or about should be understood as meaning that shght variations and deviations from a given position or value referred to are allowable, such as for example a deviation of less than 25%, more specifically less than 15%, such as for example less than 10%.

In this description embodiments of a system are described which basically allow movement of a support element relative to a base to be obtained by a user in an intuitive way, preferably substantially independent of the combined weight of the support element and any load carried thereby, which can for example be understood as meaning that the support element will follow a users hand smoothly and easily when engaging the support element and/or a sensor provided thereon. The force to be exerted by the user can be substantially the same for any combined weight of the support element and the said load carried thereby. The speed of movement and/or acceleration and/or deceleration can be dependent on the magnitude of force exerted by the user or independent from such magnitude of force exerted by the user, and can be controlled by a control.

Fig. 1 schematically shows in perspective view a system 1 comprising a base 2 and a support element 3, movable relative to the base 2 in a vertical direction V. Fig. 2A and B show the same or a similar system in top- and front view respectively. In the embodiment shown in fig. 1 and 2 the base 2 is formed by an outer cupboard or chest 4, the support element 3 by an inner cupboard 5 fitting inside the outer cupboard 4. In a lower end position, for example as shown in fig. 1 and 2, the support element 3 has been lowered out of the base 2 far, for example almost maximally, such that it is easily accessible for a user, and it can be moved upward, for example towards and into an upper end position, for example such that the support element is for the most part or entirely moved into the base 2. The base 2 is in this embodiment shown having an open front 6, such that the support element 3 is clearly visible. However the front 6 could be closed, entirely or in part, for example by doors or hatches, which can for example pivot side ways or up, fold or slide (not shown) in a known manner, for access directly into the support element 3. In the embodiment shown in fig. 2 the support element 3 has, by way of example only, three shelves 7 A - C, the embodiment of fig. 1 only two shelves 7A, B. Obviously any other number of such shelves and/or other support structures could be provided.

The support element 3 is suspended from the base 2 by at least a spring element 8, a motor 9 and a track 10, wherein a gearing 11 can be provided between the track 10 and the motor 9 or integrated therewith. In preferred embodiments at least two units 12 are provided, spaced apart, each comprising a spring element 8, a motor 9 and a track 10 and gearing 11, which shall provide for a stable and balanced movement of the support element 3 relative to the base 2. However, also only one such unit could suffice.

The spring element 8 or combined springs 8 carry a substantial part of the weight of the support element 3 and any load carried by said support element 3, which will be referred to as the spring design load SDL. For example the spring or springs 8 are designed to carry at least the weight of the support element itself and part of a maximum load for which the support element is designed. The spring element or elements 8 can be designed to carry for example the average weight of the support element and minimum and maximum load for which the support element is designed, for example preferably be designed the weight of the support element plus the average of the minimum and maximum load to be carried by the support element 3. This means that if the motor 9 and gearing would be disengaged, that is if the support element where to be carried by the spring or springs only, the support element would be stationary when the combined weight of the support element and a load carried thereby matches the spring design load. If the load is reduced that the spring or springs 8 would pull the support element 3 upward, where the weight to be increased it would pull the support element 3 downward, relative to the base 2. The SDL can be preferably constant for the entire length over which the spring 8 can be extended, but could also vary over said length, but is then in all positions a known value.

With respect to the drawings now one unit 12 shall be described. In the embodiments shown in e.g. fig. 1 and 2 a kitchen cabinet 13 is shown, having two units 12, positioned near two opposite rear corners 14, i.e. at a side opposite the front side 6, such that they are at least partly hidden from view when seen from the front 6. Each unit 12 comprises a motor 9, having a motor axis 15 connected to or formed by a spindle 16 extending substantially vertically. The motor 9 is connected to the base 2, for example by a frame 20. In embodiments the spindle 16 can have an end 17 opposite the motor 9, carried by a bearing 18 connected to said frame 20. On the spindle 16 a runner 19 is provided, wherein the spindle 16 and runner 19 have cooperating screw threads, such that by rotation of the spindle 16 around its longitudinal axis X - X the runner 19 will move up (arrow U) or down (arrow D), depending on the direction of rotation of the spindle 16. The runner 19 is provided with a mounting element 21 to which the support element 3 can be attached. Thus upon rotation of the spindle 16 by the motor 9, the support element 3 will encounter a force in the up U or down D direction from each of the units 12.

In embodiments shown a linear guide 22 can be provided, also connected to the base directly or indirectly, for example by the frame 20 and having a direction of movement M parallel to the direction of movement of the runner 19. The runner 19 is provided with a running arrangement 23 cooperating with the linear guide 22, such that the runner 19 is guided by the linear guide 22 as well as by the spindle 16 when moving in the up U or down D direction or when stationary. The spindle 16 and the hnear guide 22 if available form part of a track 10, whereas the spindle 16 and runner 19 can form a gearing 11. In other embodiments for example a rack 42 can form the track 10, a wheel 41 the gearing 11. A track 10 is in general to be understood as at least an element or combination of elements guiding and/or supporting movement of the support element 3 relative to the base 2.

In the embodiment shown in fig. 3 A and B the unit 12 comprises a frame 20, basically formed by a plate, to which the motor 10, bearing 18 and linear guide 22 are mounted. Furthermore a spring element 8, here a gas spring 24 is mounted with a first end 25 to the frame 20, for example at an upper end 26 thereof, such that a cyhnder 27 of the gas spring 24 extends along the frame in a substantially vertical direction too. On the runner 19 a strip 28 is provided, which extends substantially parallel to the spindle 16 and linear guide 22, and has a lower end 29 which is connected to a free end 30 of the rod 31 of the gas spring 24. The strip 28, preferably at least said lower end 29 is provided with at least one connecting element 32 for connecting the strip 28 to the support element 3. In the embodiment shown the end 29 is angled over for example about 90 degrees, such that said end 29 can be mounted to a bottom side of the support element 3. Obviously all kinds of means are known to the person skilled in the art to connect such strip 28 to a support element 3.

As can be seen in fig. 3A, when the runner 19 is in an upper end position the gas spring 24 is in a retracted position, especially having a minimal length Lmin. When the runner 19 is in a lower end position, as shown in fig. 3B, then the gas spring 24 is in an extended position, especially having a maximal length Lmax. All positions in between are obviously also possible. The gas spring 24 is designed as a pulhng gas spring, meaning that it is biased towards the retracted position, especially the minimal length Lmin position. This means that when unloaded the unit 12 will be biased into the position as shown in fig. 3A. In mounted position between a base 2 and a support element 3, as for example shown in fig. 1 and 2, this will mean that the support element 3 is biased relative to the base 2 into an upper end position.

It shall be clear that by driving the motor 9 of a unit 12 the runner 19 can be moved up and down, wherein in the upward direction the motor 9 will be aided by the spring 8, 24, whereas in the down direction the motor 9 will be counteracted by the spring 8, 24. In a system 1 according to the disclosure this can be used in a specific way, by aid of a control 33 and at least one sensor 34. With the aid of the sensor 34, which can be referred to as a primary sensor, which can for example be a pressure sensor, engagement of the support element 3 can be detected, for example a force can be measured, preferably at least in direction (up U or down D) and, if desired, in magnitude or in change over time, dF/dt, wherein F is the force applied and t is time. Such force can be the result of an external force Fu provided by a user desiring to move the support element 3 up or down. In embodiments the sensor only measures the external force Fu provided by a user. The force Fu is measured and provided to the control 33. The control 33 is connected to the motor or motors 9. The control 33 will drive the motor 9 depending on at least the direction of the force Fu, wherein the motors 9 are driven such that the combined action of the springs 8, 24 and the motors 9 drives the support element 3 in the direction of the force Fu, preferably at a controlled speed. Thus if the force Fu is in the up direction U, the support element will be driven upward at a controlled speed, whereas if the force Fu is in the downward direction D, the support element 3 will be driven downward at a controlled speed. In embodiments the sensor 34 can be a different, type of sensor, for example a pressure sensor or engagement sensor, as long as it can provide for an indication that a user wishes the support element to move in a given direction up U or Down D, based on engagement of the sensor 34 by the user. In these embodiments the dF/dt as described here above can be measured especially when the sensor 34 is actively engaged. Additionally or alternatively a secondary sensor 50 as described here below could be used, for example for the purpose of measuring the dF/dt as described here above with respect to sensor 34, and also or alternatively for the purpose as described here below. Such sensor 34 and/or 50 can for example be used for detecting a hand or artefact caught between a movable and stationary part of a system of the present disclosure, for example between a lower side of a lowest shelve 7 and a counter (not shown) above which the support system 1 is mounted.

In embodiments at least one secondary sensor 50 can be provided, which can be a weight sensor. For example the secondary sensor 50 can be provided between the or each motor 9 and the frame 20. The sensor or the combined sensors 50 can then measure the combined weight of the support element and a load provided thereon, which data can be fed to the control 33, together with for example a load Fu exerted by the user on the primary sensor 34. Such secondary sensor 50 can additionally or alternatively measure current of at least one motor as indicative for the combined weight and/or forces working on the system. This can lead to at least the following control situations: I- if the combined weight of the support element and any load carried thereby is above the spring design load (SDL) and the force Fu is upward the motors 9 can be driven in a direction aiding an upward movement of the runner; II- if the combined weight of the support element and any load carried thereby is below the spring design load (SDL) and the force Fu is downward the motors 9 can be driven in a direction aiding a downward movement of the runner; III- if the combined weight of the support element and any load carried thereby is above the spring design load (SDL) and the force Fu is downward the motors 9 can be driven in either direction, such that the speed of the support element downward is kept controlled, for example at a predefined speed or within a predefined speed interval, and/or at a speed which can for example be at least in part be dependent on pressure exerted directly or indirectly by a user on the support element, for example a higher speed at higher pressure. IV- if the combined weight of the support element and any load carried thereby is below the spring design load (SDL) and the force Fu is upward the motors 9 can be driven in either direction, such that the speed of the support element is kept controlled, for example at a predefined speed or within a predefined speed interval, and/or at a speed which can for example be at least in part be dependent on pressure exerted directly or indirectly by a user on the support element, for example a higher speed at higher pressure.

In situation I the combined weight of the support element 3 and load will, due to gravity, pull the springs 8, 24 towards an extended position and bias the support element 3 towards a lower position, opposite to the direction of force Fu, indicative to the direction in which the user wishes the support element to move. Thus the control controls the motors 9 to aid the user and the springs 8, 24 in moving the support element in the desired upward direction U.

In situation II the opposite happens. The force of the springs 8, 24 will act in a direction opposite to the direction of the direction of force Fu pulling the springs 8, 24 into a retracted position and thus the support element towards an upper position, opposite to the direction of force Fu, indicative to the direction in which the user wishes the support element to move. Thus the control 33 controls the motors 9 to aid the user and the springs 8, 24 in moving the support element in the desired downward direction U.

Both in situations I and II the control 33 can control the speed of the support element by driving the motor faster or slower, for example depending on the force Fu and/or based on a pre-set desired speed or speed interval.

In situation III the combined weight of the support element 3 and load will, due to gravity, pull the springs 8, 24 towards an extended position and bias the support element 3 towards a lower position, coinciding with the direction of force Fu, indicative to the direction in which the user wishes the support element 3 to move. In such case the control can be set to act in at least three different control operations: IIIA- if the difference between the SDL and the combined weight is such that the support element will move down at a desirable speed or within a desirable speed interval, the motors 9 can allow for such movement without aiding or counteracting such movement. The motors can for example rotate freely. IIIB- If the difference between the SDL and the combined weight is too small for the support element to move down at a desirable speed or within such speed interval (the speed being too low), the motors 9 may be driven in direction increasing the speed of movement, i.e. aiding in the downward direction D. IIIC- If the difference between the SDL and the combined weight is too large for the support element to move down at a desirable speed or within such speed interval (the speed being too high), the motors 9 may be driven in direction decreasing the speed of movement, i.e. counteracting the downward direction D.

In situation IV the combined weight of the support element 3 and load will be such that the springs 8, 24 will be pulled into the retracted position and bias the support element 3 towards a upper position, coinciding with the direction of force Fu, indicative to the direction in which the user wishes the support element 3 to move. In such case the control can be set to act in three different, control operations: IVA- if the difference between the SDL and the combined weight is such that the support element will move up at a desirable speed or within a desirable speed interval, the motors 9 can allow for such movement without aiding or counteracting such movement. The motors can for example rotate freely. IVB- If the difference between the SDL and the combined weight is too small for the support element to move up at a desirable speed or within such speed interval (the speed will be too low), the motors 9 may be driven in direction increasing the speed of movement, i.e. aiding in the upward direction U. IVC- If the difference between the SDL and the combined weight is too large for the support element to move up at a desirable speed or within such speed interval (the speed will be too high), the motors 9 may be driven in direction decreasing the speed of movement, i.e. counteracting the upward direction U.

In all of these situations the control can take into account the magnitude of the force Fu in setting the speed and/or driving the motors in order to obtain the or a desired speed. In preferred embodiments the control is set such that the combined action of the springs 8, 24 and motors 9 will be such that the user will have to apply only a very limited force Fu in the desired direction for guiding the support element in the said desired direction, for example but not limited to several to several tens of Newton, preferably independent of the combined weight of the support element 3 and load carried thereby. Thus the support element 3 will follow the users hand engaging the sensor lightly and intuitively.

In embodiments a base value can be set in the control, wherein the control is programmed to drive the or each motor such that when a signal from the sensor indicates a force below the base value the motor is driven aiding movement of the support element in the direction of exertion of the force, and when a signal from the sensor indicates a force above the base value the motor is counteracting movement of the support element in the direction of exertion of the force, or vice versa. In embodiments all force necessary for moving the support element can be provided by the motor or motors. In such embodiments the secondary sensor or sensors 50 can be omitted, if desired. In such embodiments the system can be in balance.

Motors 9 and control 33 preferably can cooperate in such a way that when a movement of the support element 3 relative to the base 2 is initiated by a user, by engaging the sensor 34, the control 33 registers in what direction the motor 9 is initially forced to rotate by the weight of the support element and load and the force Fu applied by the user and/or at what speed, and then controls the direction of rotation and/or speed of rotation of the motors in order to obtain the desired direction U or D of the support element 3 and/or a desired speed or speed in a desired interval. The motors 9 can then be driven by the control 33 during an appropriate period, for example as long as the or any force Fu is applied to the sensor and/or until an end position is reached. To this end the control 33 can for example measure a current coming from the motors 9 as indicative for a rotation direction and/or speed. In other embodiments or in combination therewith in a stationary situation it could be measured what forces act on the motors 9 and/or springs 8, 24 as indication for the combined weight of the support element and load. This can then be used by the control 33 to set a rotation direction and speed for the motors 9 in order to obtain the desired direction and/or speed of movement of the support element as indicated by the user by the force Fu. This can for example be done by measuring the force applied by the motors 9 to hold the support element 3 in position, or by using sensors 50 for measuring the force between the motors 9 and the base and/or between the runner 19 and the support element 3 or other positions from which an indication or exact value of the combined weight of the support element and load thereon can be obtained or calculated. Such sensor 50 can for example be a strain gauge or similar element. In embodiments the control 33 can be set to accelerate the support element at the start of movement and decelerate the support element at the end of a movement at a given ratio, for example independent of the primary sensor.

Preferably the motors 9 are self braking, meaning that if the sensor is not engaged by a user the motors will keep the support element 3 stationary relative to the base 2 in any position, irrespective of the load of the support element 3.

In the same or alternative embodiments a brake (not shown) could be provided between the base 2 and the support element 3, preferably electrically operated, for example a magnetic brake, which releases the support element relative to the base in the vertical direction when a force, preferably a minimum force Fu(mm), is exerted on the sensor 34, and is engaged once the sensor 34 is released. In such embodiment the forces exerted on or by the brake could be used as an indicative signal of the combined weight of the support element and load, as input to the control 33 for controlling the direction and/or speed of movement of the support element 3.

Obviously the unit 12 could also be designed with the motor 9 mounted to the support element 3 and the runner 19 connected to the base 2.

In embodiments the runner 19 is carried in and/or on the linear guide element 22 by bearings, such as roll bearings or sliding bearings, for low friction and smooth guiding and travel. Obviously other bearings or linear guides could be used, for example linear guides as known in the art.

Fig. 1 and 2 show a sensor 34 by way of example at a lower front side of the support element 3, for example at an edge of a lower shelf 7 A of the support element 3, which forms or at least can form part of a grip area 35 for gripping the support element 3 when it is to be moved up or down.

Gripping has to be understood including engaging in any way, for example by a hand from one side, that is from below or above the relevant part of the support element 3. Preferably such sensor 34 is provided both at an upper surface and a lower surface thereof, such that the forces Fu or otherwise engagement of the support element and/or sensor 34 can be measured both in the upward direction U and in the downward direction D. Obviously the sensor or sensors 34 could be provided in different, positions or orientations as long as a force Fu can be measured by it as indicative for a desired direction and/or speed of movement. A sensor 34 can, by way of example, for example be a Force Sensing Resitor (FSR), as for example supplied by Interlink Electronics, Camarillo, California (USA).

Fig. 4 shows in perspective view an alternative configuration of a unit 12. In this embodiment the runner 19 is provided with a mounting surface 37 to which a support element 3 can be mounted directly or indirectly. In the embodiment shown the mounting surface 37 is to that end provided with a number of opening 38 into or through which screws or bolts can be fastened. In this embodiment the unit comprises an angled frame 20, wherein the motor 9 is for example mounted in the corner of the frame 20, the spring element 8, 24 at a first edge 39 and the linear guide element 22 at an opposite second edge 40. Other arrangements are obviously possible, for example on a different frame 20.

Fig. 5 shows an upper part of part of a system 1 of the disclosure, in which part of a support element 3 is shown with part of a unit 12, to be mounted to a base 2, such as for example a chest, wall, frame or any other suitable mounting surface or element. In this embodiment the unit 12 comprises motor 9 and a spring element 8, 24, such as for example a gas spring 24 as discussed before, wherein the linear guide 22 is again provided for guiding the hnear movement of the support element 3 relative to a base 2. In this embodiment the motor 9 is mounted to the support element 3, whereas a tooth rack 42 is mounted to a frame 20, extending parallel to the linear guide 22. One side 22A of the linear guide 22 is mounted against the frame 20, the other side 22B of the hnear guide 22 is mounted against the support element 3. The motor axis 15 is provided with appropriate screw thread 15A, whereas a toothed wheel 41 is mounted such that its teeth are in engagement with the screw thread on the axis 15. The toothed wheel 41 engages the rack 42, such that a rotation of the motor axis 15 rotates the wheel 41 and thus induces a linear movement of the support element 3 relative to the frame 20 and thus to the base 2 to which the frame 20 is connected. Again the spring element 8, 24 is connected with opposite ends to the support element 3 and the base 2, for example through the frame 20, such that the spring element 8, 24 carries at least part of the weight of the support element and possibly a load carried thereby. The motor or motors 9 are again preferably controlled at least by the control 33 in a manner as described for controlling the direction and speed of movement of the support element 3 relative to the base 2.

Fig. 6 shows schematically a control scheme for a system according to the present disclosure. In this system an upper and a lower sensor 34A, B are shown, which can for example be mounted on top of and below a shelf of a support element. In this embodiment one motor 9A is driven as a master, the other motor 9B as a slave, which can be understood as meaning that the other motor 9B follows the first motor 9A. When the upper sensor 34A is engaged by a user, the controller 33 receives a signal to that effect and will control the motors 9A, B such that the support element will be lowered relative to the frame, until for example the sensor 34A is no longer engaged or when a lower end position is reached, which may for example be detected by a limit switch 51. On the other hand if the lower sensor 34B is engaged, the control 33 will receive a signal to that effect and will drive the motors 9A, B to raise the support element relative to the frame, again until for example the sensor is disengaged or an end position is reached, for example detected by a hmit switch 51.

In embodiments of the present disclosure, for example as shown and described herein, a switch 43 can be provided for letting the control 33 control the motor(s) to make the support element 3 move to a pre-set position, for example an upper most or lower most position, or a position in between. Such switch 43, as for example shown in fig. 2, can for example be a selection switch, or the sensor 34 can be used as such. For example such that when the sensor 34 is tapped quickly, compared to a continuous pressure during movement of the support element, the motor(s) will be driven to bring the support element to said pre-set position, wherein the direction of tapping could be indicative for the pre-set position desired. For example, a tap from above will bring the support element down and a tap from below will bring the support element up, or vice versa. Other such settings would be possible, for example but not limited to one tap will move the support element one shelf up or down, two taps all the way up or down.

In this description the control 33 can be designed to control the speed of movement of the support element 3 relative to the base 2, as discussed, wherein also acceleration and deceleration can be controlled. To this end the control can be set for example to control the speed of movement to a pre-set value, for example but not limited to 100 or 200 mm/sec, or to be within a pre-set speed interval, for example but not limited to between 10 and 400 mm/sec, such as for example between 100 and 300 mm/sec. In such embodiment the speed can be at least partly controlled based on the force Fu that is continued to be applied to the sensor 34, such that when the force is relatively high, the speed will be at the upper limited, whereas when the pressure is relatively low, the speed will be at the lower limit. In embodiments the control can be set to set a higher speed upward than downward or vice versa. In embodiments the control can be set to move the support element to a pre-set position, for example an upper or lower end position, when the sensor is not engaged for a set period of time. In embodiments the control can be designed such that when for example doors or hatches or such closures of the system are closed or a main switch is engaged or disengaged the motors 9 cannot be operated, or are set for manual movement of the support element 3.

In embodiments the control system can be designed to measure any change in pressure exerted on the primary sensor 34 and/or secondary sensor 50 in relation to time, such that a dF/dt can be established based thereon, and controlling movement of the support element and, especially, braking thereof, by controlling the or each motor. When engaging the sensor 34 for moving the support element normally a relatively slow and gradual change in said pressure sensed by the sensor 34 and/or force sensed by the auxiliary sensors 50 will be measured, that is a relatively low dF/dt. The control 33 will then operate the motor(s) to move the support element as described here above. However, if a sudden change in said pressure is sensed, that is a relatively high dF/dt, this may be an indication that the sensor 34 has come into contact with an object placed in the path of movement of the support element, which may especially, but not exclusively be relevant below said support element, since this may be a fragile object or a body part of a person, and could lead to damage to said object or injury of the person and/or damage to the system. When such sudden change in pressure (high dF/dt) is measured by the sensor 34 and/or 50, the control can stop the motor(s) 9 and/or brake the system, or even move the support element slightly in the opposite direction, in order to prevent such damage and/or injury. In the control a threshold value can be set for dF/dt, wherein a dF/dt will be considered high if it is above said threshold value.

In embodiments the motor or motors 9 can be controlled irrespective of the magnitude of a force exerted on the sensor 34 and/or sensor 50, such that any engagement of a sensor 34 will lead to movement of the movable element in a desired direction, based on the direction of said force, not the magnitude thereof.

In embodiments such as disclosed herein a control for controlling the motors of the motor and spring supported support system can comprise a base and a support element movable relative to the base in a vertical direction, wherein the control is designed to set a motor speed and rotation direction based on an input signal from a pressure or force sensor mounted to the support element, indicative for at least a desired direction of movement, and a signal indicative for the combined weight of the support element and a load carried thereby, for example as discussed here above.

In embodiments of the present invention the linear guide preferably comprises at least two guide elements movable relative to each other and provided with appropriate bearings for smooth movement. The guide elements can for example be made of metal or plastic.

In embodiments the or each linear guide can be placed spaced apart from the motor and spindle or rack, for example such that the linear guides are to opposite sides of the support element 3 and the motors ad spindle and/or rack are close to or at the rear thereof. In embodiments there can for example be one motor and spindle or rack, and two or more sets of a spring 8, 24 and a linear guide 22. In embodiments the linear guide or guides can be disposed of.

In embodiments the or each primary sensor 34 can be provided in a different position, for example in or at a handle bar connected to the support element, such as a handle or handle bar of a door or hatch thereof.

In the embodiments disclosed the units 12 are placed between the base and the support element and chamfered or cut away corner portions of the support element. Thus they take up as little space as desirable, whereas they are not or only hardly and/or partly visible from a front side. However, they can obviously also be positioned in other positions, such as directly above or below the support element 3, or near the front thereof. In embodiments other mechanisms may be used for transferring the motor movement to an up or down movement of the support element relative to the base, such as but not limited to scissor systems, “four rod” systems, cables, pulleys or belts or the like or other systems known to the skilled person. In this disclosure a track can also be formed by a spindle, for example driven directly or indirectly by a motor.

In this description spring element has to be understood as any element or assembly comprising an element or set of elements which can resiliently support at least part of a weight of a support element, such as but not limited to helical extension and/or compression springs, gas or hydraulic springs, balance systems and the like. A balance system is well known in the art, for example from W002/44609, W02007/35096, NL2001125 or NL2002882.

The present invention is by no means limited to the embodiments specifically disclosed in the drawings and description. Many variations are possible within the scope as defined by the claims. For example all combinations of parts of the embodiments shown in the drawings are considered to have been disclosed too. For example the system can be arranged such that the support element can move up from a lower end position in which it is enclosed at least in part and preferably substantially entirely in a base to an upper position in which it is moved out of said base part for a larger extend, for example substantially entirely. In embodiments the or each spring 8, 24 can be settable, for example by adjusting the spring pressure or the effective spring length, in order to set the SDL. In embodiments the control can be adjustable for adjusting a pre-set value or range, such as the desired speed or speed interval, acceleration or deceleration, pre-set positions and time intervals and the like. These and many such variations are considered falling within the scope of the claims.

Claims

A support system comprising a base and a support element that is movable relative to the base, wherein at least one spring element is provided between the base and the support element and at least one motor system is provided between the base and the support element, wherein a sensor is provided for detecting engagement of the support element in a desired direction of movement of the support element with respect to the base, wherein furthermore a control is provided for controlling the motor system on the basis of a signal from the sensor.

Support system as claimed in claim 1, wherein at least one linear conductor is provided between the base and the support element, which defines the direction of movement, the direction of movement being in use preferably vertical.

Support system as claimed in claim 1 or 2, wherein the support element is or comprises a cupboard, the base comprising a cover that extends at least around a part of the cupboard, at least one suspension unit being provided between the cupboard and the cover, which the at least one spring element and the at least one motor system and, if applicable, said at least one linear conductor.

Support system as claimed in any of the foregoing claims, wherein the control is adjusted such that the support element will follow a movement of a hand of a user who interacts with said at least one sensor, by driving the or each motor while a part of the weight of the support element and a load thereon is carried by said at least one spring element, the movement of the support element being substantially independent of the magnitude of force exerted by the user.

Support system as claimed in any of the claims 1-4, wherein the control is adjusted such that the support element will follow a movement of a hand of a user who interacts with said at least one sensor by driving the or each motor while part of the weight of the support element and a load thereon is carried by said at least one spring element, the movement of the support element being substantially independent of the magnitude of force exerted by the user.

Support system as claimed in any of the foregoing claims, wherein the at least one motor system comprises at least one motor and a gear rack, wherein a gear wheel can be provided which cooperates with the gear rack.

Support system according to one of the preceding claims, wherein the sensor is a pressure sensor, which is preferably provided on the support element near a grip area of the support element.

Support system as claimed in any of the foregoing claims, wherein the support element is suspended from the base by means of the at least one spring element and the at least one motor, wherein a basic value is set in the control, the control being programmed to the motor to be driven such that when a signal from the sensor indicates a force below the base value, the motor is driven so as to assist the movement of the support member toward the application of the force, and when a signal from the sensor indicates a force above the basic value, the motor counteracts movement of the support element in the direction of application of the force.

Support system according to one of the preceding claims, wherein the control is set to limit the speed of movement of the support element relative to the base between zero mm / sec and a higher speed, the higher speed preferably between 10 and 400 mm / sec, more preferably between 100 and 300 mm / sec.

Support system as claimed in any of the foregoing claims, wherein the support element is a cabinet with at least one shelf, the sensor preferably being provided on a front side of the cabinet, such as a front edge of the shelf, more preferably extending over a top and bottom of said shelf.

11. Support system according to one of the preceding claims, wherein the support element has a front side and a rear side, wherein the spring element and the motor system are provided on the rear side and the sensor is provided on the front side.

12. Support system as claimed in any of the foregoing claims, wherein the support element is movable between two opposite end positions and the system is provided with a switch, the control being arranged such that by activating the switch the support element is moved by the motor system to a end position, the switch preferably being provided by the sensor.

Support system as claimed in any of the foregoing claims, wherein the at least one spring element is formed by or comprises at least one gas spring and / or a balance system.

Support system according to one of the preceding claims, wherein the motor system is self-locking.

Support system according to one of the preceding claims, wherein the control is set to measure a cLF / dt of at least one sensor and to control the motor or motors depending on said dF / dt.

A support device for a support element, comprising at least two spring elements, a motor system, a control and a sensor, the motor system comprising at least one motor, a gear and a rack cooperating with the gear, a sensor being provided for detecting a force applied thereto, wherein furthermore the control is provided for controlling the motor system on the basis of a signal from the sensor, wherein preferably a basic value is set in the control, the control being programmed to control the motor such that when a sensor signal indicates a force below the base value the motor is driven thereby assisting movement of the support element in the direction of exertion of the force, and when a signal from the sensor indicates a force above the base value the motor movement of the support element in the direction of exerting the force.

A control for controlling the motors of a motor and spring-assisted support system comprising a base and a support member movable relative to the base in a vertical direction, the control being designed to adjust an engine speed and direction of rotation to basis of an input signal from a sensor, preferably a pressure or force sensor, which is mounted on the support element, which is indicative of at least a desired direction of movement, preferably furthermore by means of a signal indicative of the combined weight of the supporting element and a load carried thereby.