WO2022254158A1 - Dispositif de commande comportant un organe guidé mécaniquement pour permettre un déplacement relatif - Google Patents
Dispositif de commande comportant un organe guidé mécaniquement pour permettre un déplacement relatif Download PDFInfo
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- WO2022254158A1 WO2022254158A1 PCT/FR2022/051052 FR2022051052W WO2022254158A1 WO 2022254158 A1 WO2022254158 A1 WO 2022254158A1 FR 2022051052 W FR2022051052 W FR 2022051052W WO 2022254158 A1 WO2022254158 A1 WO 2022254158A1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
- F16D63/002—Brakes with direct electrical or electro-magnetic actuation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/04—Stops for limiting movement of members, e.g. adjustable stop
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
-
- 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
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- 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
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- G—PHYSICS
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- 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
- G06F3/039—Accessories therefor, e.g. mouse pads
- G06F3/0393—Accessories for touch pads or touch screens, e.g. mechanical guides added to touch screens for drawing straight lines, hard keys overlaying touch screens or touch pads
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/0205—Magnetic circuits with PM in general
- H01F7/0226—PM with variable field strength
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
Definitions
- Control device comprising a mechanically guided member to allow relative movement.
- the present invention relates to the field of configurable control devices comprising a button or an adjustment accessory movable according to a rotary or linear movement, for example an adjustment button associated with an electromagnetic sensor to deliver an electrical signal representative of the position and/or movement of the control button. Parameterization is used to modify the states of the button, for example with variable indexing or variable stops.
- the invention relates in particular to a configurable haptic control device constituting a man-machine interface whose tactile feeling can be modified by manual selection from among two or more activatable modes or by contextual automatic selection.
- the modes of feeling include a feeling of notching, regular or irregular indexing or a feeling of abutment.
- the desired goal is that the user feels a tactile perception, for example by passing a hard point, arriving at a stop, or regular or irregular indexing, when he acts on a control member , so as to have the physical sensation that the maneuver has been performed or even to perceive by touch the number of increments resulting from its manipulation by creating a haptic information feedback. It is also important to be able to dynamically modify the sensation felt depending, for example, on the type of command performed with the same button or when the action has been performed by the system, thus enriching the information given and the experience. user. This modification of the feeling can be controlled manually, for example by a selection button, or even controlled in a contextual and automatic manner.
- This control device is used by way of example in the automotive industry: It can be used in a vehicle, for example to control the operation and adjustment of lights, mirrors, windshield wipers, air conditioning, infotainment, radio, gearbox control or similar.
- This device can also be associated with an electric motor in order to achieve an adjustable force such as a controllable residual torque (without current in the motor), a return force in a predefined stable position, a brake or a controllable stop .
- an adjustable force such as a controllable residual torque (without current in the motor), a return force in a predefined stable position, a brake or a controllable stop .
- Patent application W02020109744 is known in the state of the art describing an adjustable force device comprising a mechanically guided member to allow movement along a predetermined path and magnetic indexing means of said movement by the interaction magnet between a first ferromagnetic structure and a second ferromagnetic structure integral with a magnet, characterized in that said magnet is surrounded at least partially by an electric coil which modifies the magnetization of said permanent magnet according to the direction and the amplitude of the electric current circulating in said coil.
- Patent application US2020005977 describes a mouse comprising a rotary input control having a wheel and a set of electromagnets.
- permanent magnets EPM
- the EPM assembly comprising a permanent magnet and a magnetization assembly configured to control a bias of the permanent magnet to change the electro-permanent magnet assembly from a first state in which the assembly EPM applies a first resistance profile to the wheel and a second state in which the EPM assembly applies a second resistance profile to the wheel.
- Patent EP1999534 describes a locking device for blocking at least in part a relative movement between a stationary part and a moving part of a device, comprising said device, at least one permanent magnet, an electromagnet on a ferromagnetic core, a stop profile in said moving part and a blocking element capable of being brought into engagement with said stop profile, said permanent magnet being arranged in a movable manner in said device and being movable between at least two extreme positions, characterized in that said ferromagnetic core is made for the essential in U and that said permanent magnet is, in each extreme position, at the level of the end of a branch of the number yau ferromagnetic, and that said electromagnet disposed on the ferromagnetic core and said movable permanent magnet are made such that said blocking element follows the position of the permanent magnet.
- Patent EP1891494 describes a simple and safe-to-operate device bringing a ball from a rest position to a locking position using an electromagnet. In the blocking position, the ball mechanically blocks the relative movement between two elements
- Patent EP0018292 describes an electrohydraulic rotary brake comprising an inner core, at least one excitation winding, a cylindrical non-magnetic fur, an annular part external to the core and to the fur and comprising a cylindrical bore eccentric with respect to the surface cylindrical peripheral of the fur, recesses with magnetizable sliding paddles and brake fluid.
- Patent US4408859 describes a Speed Regulator for a camera having a first speed regulating means arranged to synchronously drive with increased speed a drive element which drives an actuating element at high speed towards a position predetermined speed and a second speed regulating means arranged to brake the driving force of the driving element.
- the invention relates, in its most general sense, to a control device having the characteristics set out in claim 1.
- a device comprises a mechanically guided member to allow relative movement between a first ferromagnetic structure and a second ferromagnetic structure comprising at least one electric coil modifying the magnetization state of said second ferromagnetic structure in the direction and the amplitude of the electric current flowing in said coil and furthermore a circuit for controlling the supply current of said coil as a function of an input signal representative of the relative position of said ferromagnetic structures.
- the supply current of said coil is controlled according to contextual input signals representative of the overall state of the controlled equipment and not only of the state of a selector.
- the effort with such a device can be controlled dynamically depending on the position of the control button, which makes it possible to modulate the referenced positions in real time, during the actuation of the button; contrary to the solutions of the art where these reference positions were fixed, for each mode of operation.
- the invention thus makes it possible to vary the pitch of an indexing on the stroke of the control button, for example for a feeling of fine notching in a precise adjustment zone, and a coarser notching with a greater pitch. , in adjustment areas of lesser interest. It also allows a stop to appear or disappear dynamically, depending on external data and the position of the button.
- the device comprises means for magnetic indexing of said displacement by the magnetic interaction between said ferromagnetic structures, said circuit for controlling the supply current of said coil controlling the modification of the magnetization of said permanent magnet according to a plurality of modes, some of said modes erasing part of the indexed positions.
- said first and second ferromagnetic structures respectively have a plurality of radial teeth cooperating to produce said magnetic indexing means.
- said control device further comprises means for selecting a variable force mode from among a plurality of predetermined variable force modes, delivering a signal used by said control circuit to modify the mode supply of said coil.
- control device further comprises: an interface with controlled equipment delivering a signal used by said control circuit to modify the supply mode of said coil - a position sensor capable of measuring the position of the first ferromagnetic structure to provide said circuit for controlling the supply current of said coil with said input signal representative of the relative position of said first and second ferromagnetic structures an electronic memory for recording at least two control laws, the electronic circuit comprising an input for selecting one of said control laws an active stop consisting of a first structure moving relative to a second structure and at least one brake element for hindering the relative movement between said first and second structures, by the magnetic interaction between said brake element and said second structure comprising a ferromagnetic body surrounded at least partially with an electrical coil, the electrical supply of said coil modifying the magnetization of said ferromagnetic body, the state of magnetization of the ferromagnetic body modulating the braking force between said first and second structures - means for magnetic indexing of said displacement between the first and second ferromagnetic structures, said means indexing being
- the device has one or more of the following technical characteristics: the control circuit controls the supply current of said coil according to a signal representative of the relative position of said first and second ferromagnetic structures , - the control circuit controls the supply current of said coil as a function of a signal representative of the speed of relative movement of said first and second ferromagnetic structures, the permanent magnet of the second ferromagnetic structure is made of a hard ferromagnetic material having a coercive field less than or equal to 100 kA/rm. the second ferromagnetic structure is integral with a second permanent magnet made of a hard ferromagnetic material having a coercive field greater than 100 kA/rm.
- said second ferromagnetic structure comprises at least two permanent magnets, each surrounded at least partially by an electric coil modifying the magnetization according to the direction and the amplitude of the electric current flowing in said coil, and in that said electronic control circuit determines the supply current of each of said coils as a function of the relative position of said ferromagnetic structures and of the state of a command for selecting an operating mode from among a plurality of modes of operation, said first structure and second structure have teeth and said second ferromagnetic structure consists of two toothed semi-tubular parts connected on the one hand by the second magnet and on the other hand by the first magnet, - the directions of the magnetizations of the two magnets are identical, the magnetization state of said second ferromagnetic structure is t modified in a relative position of said first and second structures located in an interval of plus or minus 25% of a period of the indexing of said indexing means, said interval being centered on a position of stable equilibrium of said means of indexing, - the magnet
- the invention also relates to a man-machine interface comprising a display screen characterized in that it further comprises at least one control device having the characteristics in accordance with at least one of the preceding claims, disposed on the viewing surface of said display screen.
- control device has a central recess for displaying in the screen zone arranged at the rear of said central recess information determined according to the state of said control device.
- actuator comprising a drive module for an output member, characterized in that it further comprises a control device having the characteristics in accordance with at least one of the preceding claims, coupled said output device.
- Figure 1 shows perspective and sectional views of an example of an active notching device provided with an active stop
- FIG.2 Figure 2 shows a functional diagram
- Figure 3 shows a schematic view of an example of a modulation sequence of the torques felt as a function of the angular position
- Figure 4a shows a perspective view of a first example of an electromagnetic structure of the active notching device
- FIG.4b Figure 4b shows a sectional view of the example of Figure 4a
- Figure 4c shows a top view of the example of Figure 4a
- FIG.5 Figure 5 shows a measurement of the torque felt when the low coercive field magnet has been magnetized to saturation so as to provide a notch
- Figure 6 represents a measurement of the torque felt during the alternate activation of every other step of two states of magnetization, zero magnetization or at a given level, of the permanent magnet as a function of the position of the button pressed
- Figure 7 represents a measurement of torque felt during the alternate activation of one step out of three of two states of magnetization, zero magnetization or at a given level, of the permanent magnet as a function of the position of the button pressed,
- Figure 8 is a schematic representation of torque felt during alternate activation at each step of N states of magnetization of the permanent magnet continuously decreasing as a function of the position of the actuated button
- Figure 9 is a schematic representation of the torque felt during the activation of N states of magnetization of the permanent magnet according to a pre-recorded profile depending on the position of the button pressed
- FIG.10 Figure 10 shows a perspective view of an alternative embodiment of the active notching device
- FIG.1 1 Figure 1 1 shows the force curves of the previous variant
- Figure 12a shows a perspective view of a first embodiment of an active stop device with rotary movement and with rotary guide brake elements
- Figure 12b shows the torque generated on the brake elements of the stop device shown in Figure 12a
- Figure 13a shows an alternative embodiment of an active stop device having multiple stable positions without current
- FIG.13b Figure 13b shows the torque generated on the brake elements of the abutment device shown shown in Figure 13a
- Figure 14 shows an alternative embodiment of an active abutment device having a rotary relative motion and linear guide brake elements
- FIG.15 Figure 15 shows an alternative embodiment of an active stop device having a linear relative movement and a single brake element, [Fig.16a]
- FIG.16b Figures 16a and 16b show an alternative embodiment of an active stop device having an indexing stop for two different states, free and blocked.
- Figure 17 shows the integration of the previous stop device in a notching system according to the invention.
- Figure 18 shows the integration of the control device according to the invention with a display screen.
- the invention relates to an adjustable effort device, active notching and/or active stop, making it possible to modify the effort dynamically by means of a computer command varying according to the position of the control button.
- This effort can be similar to that of an indexed control, with variable indexing steps, regular or not, and/or controlled stops.
- the stops can be firm, that is to say resulting in a complete blocking of the system in a given direction, or indicative, that is to say, by materializing by greater friction from a given position.
- the use of such a device is particularly advantageous for providing haptic feedback to a user, but also finds an interest in generating a modulation of force on an organ to be trained.
- the force to be adjusted may vary, for some only a notching effect is desired, for others only a stop effect is necessary and for others both must be implemented but without necessarily be coupled. We therefore illustrate various solutions through exemplary embodiments.
- Figure 1 illustrates a first exemplary embodiment integrating an active detent device (80) and an active stop device (90) with a haptic system with rotary actuation.
- said devices each have a cylindrical shape and are superposed axially.
- This first embodiment must be interpreted as integrating two devices according to the most general claim, one being dedicated to the notching and the other to the adjustable stop. This embodiment is preferred when we want to obtain the two functions, detent and stop, with perfect decorrelation, FIG. 17 illustrating the interweaving of the two functions in a single device, but with interdependence.
- the notching device (80) which will be more particularly described through other examples, is composed of a first structure (1), comprising a soft ferromagnetic material, and a second structure (3), combining a circuit made of a soft ferromagnetic material with a permanent magnet (7) and a semi-remanent magnet surrounded at least partially by an electric coil (8), said structures being able to move relatively in rotation.
- the notching effect is obtained thanks to the cooperation of teeth (2, 11) structuring surfaces opposite the parts made of ferromagnetic material of said first and second structure (1, 3).
- the abutment device (90) which will also be described more fully through various examples, is composed of a first structure (100) and a second structure (200) which can move relatively in rotation. , and braking elements (310, 320) making it possible to hinder the relative movement of said structures.
- the first structure (100) comprises a soft ferromagnetic body (210) whose magnetization state can be changed according to the supply current of a coil (250), the magnetization state of the ferromagnetic body (210 ) acting on the position of the brake elements (310, 320) to modulate the resistance to relative displacement of said first structure (100) and second structure (200).
- the haptic system has the shape of a button, the outer flange of which actuated by the user is not shown.
- This outer flange is rigidly linked to the first structure (1) of the notching device (80), to the first structure (100) of the brake device (90) and to a shaft (6), the whole forming a first integral assembly , said axis (6) serving both to support the structure (100) and to guide the first integral assembly in rotation with respect to a second integral assembly.
- This second integral assembly intended to remain fixed during use of the system, comprises the second structure (3) of the notching device (80) as well as the second structure (200) and means for guiding the brake elements (310, 320) of the brake device (90), as well as a electronic circuit (12) comprising the means for driving the coils (8, 250).
- the relative displacement of the two integral assemblies is measured by means of a position sensor (10), magnetic in this embodiment, produced by the cooperation of a magnet, integral with the axis (6), with a magneto-sensitive probe, integrated in the electronic circuit (12).
- This first example of integration in the form of a haptic button is not limiting of the invention, the notching (80) and brake (90) devices being able to be produced in very different ways and used together or independently to modulate forces according to different types of degrees of freedom, see several degrees of freedom.
- This type of active device and in particular in the form of a stop only, can also find an interest in joint use with a motor, for which the stop makes it possible to slow down or block the movement of said motor.
- the cogging form can be integrated into a motor in order to locally modulate the "cogging torque" of the motor to create irreversible positions of a geared motor.
- the device differs from that described in patent application W02020109744A2 in that the magnetic system (20) includes a position sensor (10) (for example of the optical or electromagnetic type or even inductive) supplying an electrical signal representative of the relative position of the structures (1, 3) and a control circuit (15), for example a microcontroller or an FPGA circuit, as well as a user interface (25) making it possible to act on the relative position of the structures (1, 3) and optionally comprising a selector making it possible to choose a haptic mode from among a plurality of modes recorded, resulting in different changes in the torque profile and different indexed steps or deviations.
- a position sensor for example of the optical or electromagnetic type or even inductive
- a control circuit for example a microcontroller or an FPGA circuit
- the control circuit determines the direction and the amplitude of the supply current of the coil (or of the coils when the electromagnetic system (20) comprises several of them) according on the one hand to the relative position of the structures ( 1, 3), comprising a ferromagnetic material, and on the other hand according to the control law recorded in a memory; and optionally depending on the state of a manual selector, controlled by the user, or contextual, controlled by a complementary electronic circuit whose state is controlled by the device.
- an infotainment button can manage an alphabetical menu in which one would like about thirty characters and therefore about thirty notches, a numerical menu for the numbers then presenting about ten notches, a freewheel mode or with a continuously increasing notch amplitude in order to manage the sound level of the audio system, and in a contextual manner modify the number of notches, for example after selection of the parameters of a first function by an alphabetical mode with 36 notches, choice of a second numeric parameter by a mode digital with 10 notches, then a third parameter by a continuous mode without notches and finally an adjustable stop in position to signify in a haptic way the arrival at the end of a selection list.
- Figure 3 illustrates an example of a sequence that can be programmed. More particularly, during the rotation of the infotainment button (13), a first angular sector can be calibrated in free rotation, then the activation of the detent mode at a given position, the force profile represented is then obtained in box 2. Then, the amplitude of the notch is increased over a few steps before being reduced to its initial level. After several steps, one mode or one notch out of two is deactivated is selected before arriving at the stop activation position, as shown in box 1.
- the electromechanical architecture conforms in particular to one of the examples described in patent application WO2020109744A2, the content of which is incorporated into this patent by citation.
- FIG. 4a represents a schematic perspective view of a first embodiment of an electromagnetic structure of the indexing device and FIGS. 4b and FIG. 4c represent respectively a cross-sectional view and a top view of such a device.
- the thick arrows show the direction of the magnetization of the elements.
- This example of indexing device consists of a first structure (1) formed by a toothed cylinder made of a ferromagnetic material, having in the example described 20 teeth (2) extending radially, the number of teeth n being not limiting.
- This first structure (1) rotates around the axis (6) and is coupled to a control button (not visible here) operated manually.
- a second toothed ferromagnetic structure (3) is arranged coaxially inside this first structure (1), fixed relative to the movement of the first structure (1).
- This second ferromagnetic structure (3) consists of two fixed semi-tubular parts (4a, 4b) having teeth (11) extending radially towards the teeth (2) of the first structure and with the same angular distance as that of the teeth (2) of the first structure (1).
- Such an identical angular difference for the teeth (2) and (11) makes it possible to maximize the force between the first structure (1) and the second structure (3) and therefore to maximize the haptic sensation given to the user.
- this haptic sensation will advantageously be allowed by the number of teeth on the two structures (1, 3) and possibly by a difference in angular distance between the teeth (2, 11) or even by tooth widths ( 2, 11) different between the two structures (1, 3).
- the two semi-tubular parts (4a, 4b) are connected on the one hand by a first permanent magnet (5), preferably at high energy and having a high coercive field, typically 600 kA/m, and in all cases above 100 kA/m.
- the direction of magnetization is along the largest dimension of the magnet, here along a direction orthogonal to the axis (6) of rotation.
- the permanent magnet (5) has a function of generating a constant magnetic field, and must not become demagnetized during use of the device.
- a second magnet (7) having a low coercive field that is to say a material of the semi- magnet or an AlNiCo type magnet with a typical remanence of 1.2 Tesla and a typical coercive field of 50 kA/rm, and in any case less than 100 kA/rm.
- the direction of magnetization is according to the largest dimension of the magnet and so that the magnetic fluxes of the two magnets (5) and (7) are aligned or in opposite directions, according to the magnetization imparted to the second magnet ( 7) at low coercive field, the magnetic fluxes circulating in the semi-tubular parts (4a, 4b).
- the weak coercive field of the magnet (7) is necessary in order to allow its magnetization or demagnetization easily using a coil located around it and this with a limited energy making its use in an integrated device possible without the use of powerful and expensive electronics.
- This second magnet (7) is arranged parallel to the first magnet (5), and surrounded by two electric coils (8, 9). It is possible to install only one coil in an alternative embodiment, the two coils (8 and 9) being for this example arranged on either side of the guide axis (6) for the sake of balance. and space optimization.
- each coil consists of 56 turns (28 turns/pocket), in series with a copper wire of 0.28 mm section, the coil having a terminal resistance of 0.264 W.
- a current is applied to the coil(s) (8, 9) in continuous or continuous form.
- an electric pulse for example given by discharging a capacitor.
- a current of 13 Amps causing a magnetomotive force close to approximately 730 At allows the cancellation of the magnetization.
- the operation of this first embodiment is as follows: when a direct current or a current pulse in a positive direction (arbitrary reference) circulates in the coils (8, 9) creating an additive magnetic field between the two coils, the magnet (7) with a low coercive field is magnetized in a direction such that the magnetic fluxes of the two magnets are additive and mainly circulate in a loop through the two magnets (5, 7) and the semi-tubular parts (4a , 4b).
- the magnetic fluxes pass through the first structure (1) little or not at all and no coupling, or a weak coupling, is present between the two structures (1, 3), the user activating the structure not feeling any notching.
- the magnetizations of the two magnets (5, 7) are parallel and perpendicular to the median plane between the two semi-tubular parts (3, 4) although this configuration is not exclusive.
- the magnet (7) with a low coercive field is magnetized according to a direction such that the magnetic fluxes of the two magnets oppose each other and mainly circulate in a loop through the two magnets (5, 7) and the two toothed structures (1, 3).
- a marked coupling or notching appears and a significant indexing sensation is perceived by the user of the device, thus feeling a notching.
- the coils (8, 9) are powered by a current driven by a control circuit receiving as input the angular position of the outer yoke (1) relative to the yokes (4a, 4b).
- the intensity of the current in the coils (8, 9) advantageously makes it possible to adjust the haptic sensation by acting directly on the intensity of the magnetization of the magnet (7) with a low coercive field and therefore on the coupling flow between fixed and mobile structures. Examples of torque profiles generated by the notching device
- FIG. 5 represents the variations in amplitude (51) obtained as a function of the relative position (52) of the two toothed structures (1, 3) and when the magnet (7) with a low coercive field is magnetized at saturation to provide a maximum amplitude detent (55).
- the profile of torque variations (50) usual for this type of structure and presenting alternations of engine torque, when the amplitude is positive, or brake when the amplitude is negative, is obtained.
- Figures 6 and 7 illustrate the torque profile resulting from the activation and deactivation of the cogging, by the control circuit of the supply current of the coil, at different angular positions (60) so as to suppress respectively one notch out of two or two notches out of three felt, relative to the "passive" reference notch shown in Figure 5.
- the angular positions (60) of activation and deactivation are shown in the upper part of Figures 6 and 7, the scale (53) being a representation of a triggering of the change of state without being representative of the value of the current flowing through the coils.
- the angular positions (60) of activation and deactivation correspond here to equilibrium positions, stable or unstable, of the magnetic interaction of the two toothed structures.
- a position of stable equilibrium corresponds to a position of zero torque presenting a negative derivative, whereas a position of unstable equilibrium presents a positive derivative of its torque.
- the relationship between the position returned by the sensor and the position of the balance points of each notch can be determined by the control circuit on power-up, the only information necessary and stored is the number of notches possessed by the device, thus each time the device is powered up, it can deduce the angular location of all the notches from the moment it is in a stable position. It is also possible to use an absolute sensor.
- FIG. 8 illustrates the modification of the notching amplitude, by the coil supply current control circuit, at different angular positions (60) so as to obtain a notching amplitude gradually decreasing as a function of the relative angular position (52) of the two magnetized structures.
- the angular positions (60) of amplitude modification are for example here carried out at positions of unstable equilibrium of the magnetic interaction between the two structures toothed.
- the amplitude modification trigger signal represented in the upper part of FIG. 8 is not representative of the current flowing through the coil.
- the first method consists in the successive application of a cycle of demagnetization current then of a magnetization current to reach the desired cogging level.
- This method has the advantage of simplifying the control electronics, because the demagnetization cycle is independent of the initial magnetization level and the relationship between the magnetization current and the magnetization level obtained from a zero level is an easily characterizable datum.
- the second method consists in fully characterizing the relationship between the remanent magnetization and the magnetization current for all the pairs of initial and final magnetization levels that it is desired to obtain.
- This method although more complex to implement, has the advantage of reducing the electrical consumption of the device in use, but also of limiting the variations in forces felt by the user when changing the level of magnetization.
- FIG. 9 illustrates other notching modifications permitted by the device according to the invention.
- the circuit for controlling the supply current of the coil can suppress all the negative alternations of the torque, so as to obtain, over this range, only a resistive or zero feeling for the user.
- the feeling over this angular range (66) corresponds to a friction modulation effect such as could be obtained with the structures presented in the prior art using a magnetorheological fluid.
- the device according to the invention presents a completely new haptic effect, as represented on the angular range (65), with the suppression of all the positive torque alternations.
- the effect felt by the user is thus the alternation of a motor torque and a zero torque, the very different sensation of which makes it possible to associate alternative information therewith.
- the electrical pulse generated to modify the magnetization state of the semi-remanent magnet leads to the production of a high amplitude magnetic field, modifying the force applied to the structure mobilized by the user. This variation in force is zero when the structures are in relative angular position of equilibrium.
- the modification of the notching is preferably generated for angular positions located at less than 25% of the period of the notching of the indexing means, around an equilibrium position, if one wishes to make this modification transparent to the user.
- the feeling can be improved by limiting the interval to 10% of a period of the notching of the indexing means.
- FIG. 10 represents a view of an alternative embodiment of the second ferromagnetic structure (3) with two semi-remanent magnets (7a, 7b), of the AlNiCo type for example extending from a ferromagnetic yoke (39) common to the two magnets (7a, 7b) up to the yokes respectively (40, 41), said yokes (40, 41) being connected by a permanent magnet (5) of high remanence.
- the cylinder head (39) has no teeth in the example described.
- the yokes (40, 41) have pitches spaced with different angular intervals and which correspond respectively to frequencies of 18 and 36 notches per revolution.
- the magnets (7a, 7b) are each surrounded by a coil, not shown in the figure, which makes it possible to reverse the polarity and to modify the intensity of the magnetization of each of said magnets (7a, 7b) , the magnetization of the magnet (5) not being modified.
- Each of the coils is powered by a current controlled by a control circuit receiving as input the angular position of the first structure (1) external with respect to the second structure.
- Figure 11 shows curves of force during a relative movement of the first structure (1) with respect to the second structure (3) for the variant shown in Figure 10, and this according to different states of possible polarization of the magnets (7a) and (7b).
- state 1 which corresponds to a polarization of the magnet (7a, 7b) for which the magnetic flux generated in its respective yoke (40, 41) opposes the magnetic flux generated by the magnet (5) in this same yoke
- state 2 for which the fluxes are added in the yokes (40, 41).
- the curve (70) corresponds to the force obtained when the magnet (7a) is in state 1 and the magnet (7b) is in state 2, generating a force of 36 notches over a complete rotation .
- Curve (73) corresponds to the force obtained when magnet (7a) is in state 1 and magnet (7b) is in state 2, generating a force of 18 notches over a complete rotation.
- the curve (71) corresponds to the force obtained when the two magnets (7a, and 7b) are in state 1, generating a superposition of the two forces described previously at 36 and 18 notches over a complete rotation.
- Curve (72) corresponds to the force obtained when the two magnets (7a, and 7b) are in state 2, generating no force during rotation.
- the invention also relates to a stop device that can be activated in any position of relative movement.
- this abutment device comprises: a first structure (100) formed from a ferromagnetic material, a second structure (200) in relative motion relative to this first structure (100), said second structure (200) comprising at least one ferromagnetic body (210), having at least one housing (220, 221), and supporting at least a coil (250) capable of modifying the state of magnetization of said ferromagnetic body (210), and at least one brake element (310, 320) comprising a permanent magnet (350).
- the housing (220, 221) is opposite the first structure (100) and forms with the latter a magnetic air gap (300) in which is housed a brake element (310, 320), the position of the brake element (310, 320) within the housing (220, 221) depending on the state of magnetization of said ferromagnetic body (210).
- the brake element (310, 320) is a solid material, excluding magnetorheological fluids, requiring a complex construction, with a sealed envelope in particular.
- a first state of magnetization of the ferromagnetic body (210) induces mechanical contact of one of the brake elements (310, 320) with the first structure (100), said brake element hindering the movement of said first structure (100 ) according to a direction of displacement according to a degree of freedom,
- a second state of magnetization of the ferromagnetic body (210) induces mechanical contact of the complementary brake element (320, 310) with the first structure (100), said brake element hindering the movement of said first structure (100 ) in the opposite direction of displacement with the same degree of freedom, and
- a third state of magnetization of the ferromagnetic body (210) induces an absence of mechanical contact of the brake elements (310, 320) with the first structure (100), said first structure (100) being free to move according to this same degree of freedom.
- ⁇ a first state of magnetization of the ferromagnetic body (210) induces mechanical contact of the two brake elements (310, 320) with the first structure (100), said brake elements hindering the movement of said first structure (100) according to the two directions of displacement by one degree of freedom
- ⁇ a second state of magnetization of the ferromagnetic body (210) induces an absence of mechanical contact of the brake elements (310, 320) with the first structure (100), said first structure (100) being free to move according to this same degree of freedom.
- bringing a brake element (310, 320) into contact with the first magnetized structure (100) hinders the movement of said first structure (100), either by friction or by positive stop, or by elastic stop.
- the magnets (350, 351) of the brake elements (310, 320) necessarily have a strong coercive field, typically 600 kA/m and in any case greater than 100 kA/m, the remanence is not his side not a real concern.
- a whole range of magnets ranging from ferrites to sintered neodymium magnets may be suitable and will be chosen according to the mechanical strength required by said magnets.
- the first structure (100) is made of a ferromagnetic material so as to improve the circulation of the flux at the level of the brake element (310, 320)) and to improve the contacting of the latter with the first structure (100). Nevertheless, this first structure (100) could be made of a non-magnetic material, for example to reduce its weight, when the desired braking performance is lower.
- the ferromagnetic body (210) consists of a soft ferromagnetic material whose the magnetization is zero in the absence of supply current to the coil (250).
- the housings (220, 221) have a partially asymmetrical cylindrical shape and are each capable of receiving a cylindrical brake element (310, 320).
- the brake elements (310, 320) comprise a cylindrical magnet (350, 351) traversed by an eccentric axial pivot (360, 361), fixed with respect to the second structure (200), and only allowing a degree of freedom in rotation of the magnet (350, 351) around the latter.
- the eccentric rotation in one direction allows the brake element (310, 320) to come into contact with the first structure (100), or in the opposite direction, allows the brake element (310, 320) to s insert within its housing (220, 221).
- the position of the brake element (310, 320) within the housing (220, 221) depends both on the magnetic field generated by the magnet (350, 351) of the brake element (310 , 320), but also of the magnetic state of the ferromagnetic body (210).
- the ferromagnetic body (210) presents three notable states of magnetization according to the current passing through the coil (250),
- the housing (220, 221) of the ferromagnetic body (210) is delimited by pole tips (260, 261, 262, 263) asymmetrical in the example described, carefully dimensioned and leading to a particular position of the brake element according to the state of magnetization of said ferromagnetic body (210).
- the brake element will be in contact with the first structure (100) for a state of positive magnetization of the ferromagnetic body (210) and attracted within its housing (220, 221) in the case of a negative magnetization, or vice versa.
- the two magnets (350 and 351) exhibit opposite behavior when the magnetization state of the ferromagnetic body (210) is not zero, as shown in FIG. 12a, we obtain in the case of positive magnetization a blocking of the movement in a first direction by one of the brake elements (310, 320) and free movement in the opposite direction, and in the case of a negative magnetization, a free movement is obtained without the first direction and a locking by the second brake element (320, 310) in the opposite direction.
- Figure 12b illustrates the torque obtained on the two brake elements (310, 320) around their pivot point as a function of the supply current of the coil (250), this when the brake elements (310, 320) each allow blocking in an opposite direction, as described in the previous paragraph. It can be noted that at zero supply current, the two friction parts (310, 320) have an opposite torque which allows them to be inserted each into its housing (220, 221) and to obtain free rotation of the first structure (100) relative to the second structure (200).
- the first structure (100) has a part made of a soft ferromagnetic material to promote the recirculation of the flux generated by the ferromagnetic body (210) and therefore maximize the force exerted on the elements of brake (310, 320), this not however limiting the invention.
- this embodiment has a brake element (310) integrating a magnet (350) integrated into a hoop (351), this hoop (351) is optional and can have several functions, such as an improvement in the coefficient friction, or improved mechanical strength.
- this rotational guidance of the friction element (310), which is here directly supported by the magnet (350), could be achieved by another integral part of the friction element (310) having other mechanical properties.
- FIG. 13a A variant embodiment of the ferromagnetic body is shown in FIG. 13a.
- the ferromagnetic body (230) is not a monolithic body but an assembly of several ferromagnetic elements and in that the abutment device has stable abutment states, it that is to say in the absence of supply current to the coil (250).
- the ferromagnetic body (210) has a permanent magnet (215) surrounded by the coil (250) and set between two flux conductors (21 1, 212) of soft ferromagnetic material each having a housing (220, 221).
- the ferromagnetic body optionally incorporates a magnetically saturable isthmus (213) directly connecting the two flux conductors (21 1 , 212).
- the permanent magnet (215) has a low coercive field, that is to say a semi-remanent type material or an AlNiCo type magnet with a remanence typically of 1.2 Tesla and a typical coercive field than 50 kA/rm, and in any case less than 100 kA/rm.
- the direction of magnetization is along the largest dimension of the permanent magnet (215).
- the weak coercive field of the permanent magnet (215) is necessary in order to allow the amplitude and the direction of its magnetization to be easily modulated using a coil located around it and this with limited energy, making its use in an integrated device possible without the use of powerful and expensive electronics.
- a current is applied to the coil (250) in continuous form or an electric pulse, for example given by discharge of a capacitor.
- the amplitude and the magnetization direction of the permanent magnet (250) we can obtain the positive and negative magnetization states of the ferromagnetic body (210), described for the previous embodiment, so stable, that is to say in the absence of current in the coil (250).
- the isthmus (213) has a small section so as to allow the direct looping back of part of the flux of the permanent magnet (215).
- direct looping is meant a looping between the two poles of the magnet made entirely within a soft ferromagnetic part, channeling magnetic flux.
- the section of this isthmus (213) being deliberately limited to allow the magnetic flux of the permanent magnet (250) to be looped back only up to a given level of magnetization, this level being lower than the saturation level of the permanent magnet (215), for example 10 times lower.
- FIG. 13b illustrates the torque obtained on the two brake elements (310, 320) as a function of the level of magnetization of the permanent magnet (215), and this when the brake elements (310, 320) allow each blocking in one direction, as described in the previous paragraph.
- the effect of the magnetic isthmus is visualized by the presence of a torque plateau up to a certain magnetization amplitude of the permanent magnet (215).
- the two friction parts (310, 320) have an opposite torque which allows them to be inserted each into its housing (220, 221) and to obtain free rotation of the first structure (100) relative to the second structure (200).
- FIG. 14 An alternative embodiment of the brake element is shown in Figure 14.
- the housings (220, 221) of the ferromagnetic body (210) have the shape of a notch and the pole tips (260, 261, 262, 263) are symmetrical.
- the brake elements (310, 320) then have a shape complementary to the housings (220, 221) in their proximal part in order to engage therein with clearance more or less deeply, the whole forming a sliding connection.
- the brake elements (310, 320) have an asymmetrical curved shape so as to cause a bracing of each of the brake elements (310, 320) in one direction only, when said brake element is brought into contact. brake (310, 320) with the first structure (100).
- FIG. 15 An alternative embodiment of abutment is shown in Figure 15. This embodiment differs from the previous embodiments in that it has a linear relative displacement between the first structure (100) and the second structure (200) and in that it comprises only one brake element (310) located within a housing (220) delimited by two pole tips (260, 261) extending the ferromagnetic body (210) on either side and the other side of the coil (250).
- the brake element (310) is:
- this version of abutment is not limited to linear movement and could be adapted by those skilled in the art for use in a rotary device.
- FIGS. 16a, 16b and 17 An alternative embodiment of abutment is presented in FIGS. 16a, 16b and 17. This embodiment differs from the embodiments presented in FIG. 13a in that the first structure (100) is located inside the second structure and has notches (110) spaced periodically, these notches being able to accommodate the brake element (310).
- the magnet (215) has a low coercive field, less than 100 kA/m, so as to be able to easily modulate its amplitude and its direction of magnetization by electrically supplying the coil (250).
- the second magnet (216) has a strong coercive field, greater than 100 kA/m, so that its magnetization is not modified when the coil (250) is electrically powered.
- FIG. 16a shows this abutment device in the magnetic state of the ferromagnetic body (201) allowing free relative rotation of the two structures (100, 200) and
- FIG. 16b shows said abutment device in the magnetic state of the ferromagnetic body (201) for engaging the brake element (310) in a notch (1 10) of the first structure.
- FIG. 17 shows the integration of this stop variant in an indexing device according to the invention.
- the first structure (100) then has teeth (2) cooperating with the teeth (11) delimiting the periodic notches (110) of the second structure (200).
- This second structure then has a third magnet (7) of low coercive field, partially surrounded by a second coil (8), the magnetization state of the second structure being able to be modified by the supply of one or more other of the coils (8, 250) so as to generate: a periodically variable force mode during the relative displacement of the two structures (100, 200), a free rotation mode during the relative displacement of the two structures, a mode of abutment where the two structures can no longer move relatively.
- the haptic control device according to the invention is intended in particular to complete a display screen (304), an example of which is shown in FIG. 18.
- the toothed structure (11) is associated with a screen (304), and the structure (100) is driven by a peripheral crown (308).
- the recessed central part (305) of the control device (307) makes it possible to accommodate a screen (306) therein in order to display information in the center of the device, for example the sound volume level.
- the toothed structure is directly glued to the surface of a screen (304) and the screen (306) is an apparent part of the screen (304) through the hollowed-out central part (305) of the control device.
- This application makes it possible to produce dynamic human-machine interfaces (HMI) combining the flexibility of a display screen, in particular a touch screen, with the precision of a mechanical button, with permanent functional interaction between the display and the different control modes, tactile via the screen or haptic via the control device.
- HMI human-machine interfaces
- This solution is particularly suitable for a centralized HMI of a motor vehicle, for example an electric vehicle, controlling a large number of functions concerning the operation of the vehicle, comfort, and infotainment functions.
- Certain functions, in particular technical ones, are critical, for example the driving mode (sport, economy, etc.) and a simple swipe of the finger on a touch screen does not give a satisfactory feeling.
- the haptic feedback of the device according to the invention is then more appropriate.
- a similar application relates to household appliances, for example a glass-ceramic or induction hob, where the control of the indexing of a control button placed on the hob, with advantageously visibility through a central recess of textual or graphic information, allows to enrich the controls of the plate.
- Another application relates to the control of audiovisual equipment, making it possible to use the same button, with controlled indexing, for controlling the sound level, the selection of a channel or a station.
- Another specificity concerns the recording of the most frequent positions, for each of the modes of use, in order to control an operating mode corresponding to the personalized habits of the user.
- a computer periodically records the state of the control device and in particular the power state of the coil (250) and the position of the control button to determine frequent combinations.
- the electrical signal delivered by the position sensor (10) is derived to provide a signal representative of the speed of movement of the control unit.
- the signal thus processed makes it possible to modulate the force dynamically according to the actuation dynamics of the component, for example to reduce the pitch of the notches and increase their effect during movements at low speed, in order to improve the accuracy of movements, and on the contrary increase the pitch of the notches and reduce their amplitude during movements at higher speeds.
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Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP22735010.5A EP4348385A1 (fr) | 2021-06-02 | 2022-06-02 | Dispositif de commande comportant un organe guidé mécaniquement pour permettre un déplacement relatif |
KR1020237043978A KR20240016310A (ko) | 2021-06-02 | 2022-06-02 | 상대 이동을 가능하게 하는 기계식 안내 부재를 포함하는 제어 장치 |
US18/565,705 US20240143017A1 (en) | 2021-06-02 | 2022-06-02 | Control device comprising a mechanically guided member for enabling a relative movement |
CN202280038875.3A CN117581173A (zh) | 2021-06-02 | 2022-06-02 | 包括用于实现相对移动的机械引导构件的控制设备 |
Applications Claiming Priority (2)
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FRFR2105801 | 2021-06-02 | ||
FR2105801A FR3123736A1 (fr) | 2021-06-02 | 2021-06-02 | Dispositif de commande comportant un organe guidé mécaniquement pour permettre un déplacement relatif. |
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WO2022254158A1 true WO2022254158A1 (fr) | 2022-12-08 |
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PCT/FR2022/051052 WO2022254158A1 (fr) | 2021-06-02 | 2022-06-02 | Dispositif de commande comportant un organe guidé mécaniquement pour permettre un déplacement relatif |
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US (1) | US20240143017A1 (fr) |
EP (1) | EP4348385A1 (fr) |
KR (1) | KR20240016310A (fr) |
CN (1) | CN117581173A (fr) |
FR (1) | FR3123736A1 (fr) |
WO (1) | WO2022254158A1 (fr) |
Citations (7)
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EP0018292A1 (fr) | 1979-04-20 | 1980-10-29 | COMPAGNIE DE CONSTRUCTION MECANIQUE SULZER Société anonyme dite: | Frein rotatif électrohydraulique |
US4408859A (en) | 1980-12-29 | 1983-10-11 | Canon Kabushiki Kaisha | Speed governor for camera |
EP1891494A1 (fr) | 2005-06-02 | 2008-02-27 | Preh GmbH | Dispositif de commande dote de moyens de blocage de mouvements |
EP1999534A1 (fr) | 2006-03-29 | 2008-12-10 | Preh GmbH | Dispositif de blocage pour bloquer au moins partiellement un mouvement relatif |
US20170045958A1 (en) | 2010-09-15 | 2017-02-16 | Inventus Engineering Gmbh | Minicomputer with a rotating unit and method of operating the minicomputer |
US20200005977A1 (en) | 2018-06-27 | 2020-01-02 | Logitech Europe S.A. | Electromagnetic mode change of peripheral interface wheel |
WO2020109744A2 (fr) | 2018-11-29 | 2020-06-04 | Moving Magnet Technologies | Dispositif d'effort reglable |
Family Cites Families (5)
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CZ294952B6 (cs) | 1996-12-11 | 2005-04-13 | Ab Elektronik Gmbh | Zařízení pro uskutečňování předvolených nastavení |
DE10029191A1 (de) | 2000-06-19 | 2001-12-20 | Philips Corp Intellectual Pty | Elektronisch gesteuerter Flüssigkeitsdrehknopf als haptisches Bedienelement |
FR3020522B1 (fr) | 2014-04-25 | 2016-05-06 | Mmt ag | Actionneur electrique |
US10996770B2 (en) | 2018-06-27 | 2021-05-04 | Logitech Europe S.A. | Multi-mode scroll wheel for input device |
US11934595B2 (en) | 2018-06-27 | 2024-03-19 | Logitech Europe S.A. | Variable response rotary input control for a computer peripheral device |
-
2021
- 2021-06-02 FR FR2105801A patent/FR3123736A1/fr active Pending
-
2022
- 2022-06-02 WO PCT/FR2022/051052 patent/WO2022254158A1/fr active Application Filing
- 2022-06-02 KR KR1020237043978A patent/KR20240016310A/ko unknown
- 2022-06-02 EP EP22735010.5A patent/EP4348385A1/fr active Pending
- 2022-06-02 US US18/565,705 patent/US20240143017A1/en active Pending
- 2022-06-02 CN CN202280038875.3A patent/CN117581173A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0018292A1 (fr) | 1979-04-20 | 1980-10-29 | COMPAGNIE DE CONSTRUCTION MECANIQUE SULZER Société anonyme dite: | Frein rotatif électrohydraulique |
US4408859A (en) | 1980-12-29 | 1983-10-11 | Canon Kabushiki Kaisha | Speed governor for camera |
EP1891494A1 (fr) | 2005-06-02 | 2008-02-27 | Preh GmbH | Dispositif de commande dote de moyens de blocage de mouvements |
EP1999534A1 (fr) | 2006-03-29 | 2008-12-10 | Preh GmbH | Dispositif de blocage pour bloquer au moins partiellement un mouvement relatif |
US20170045958A1 (en) | 2010-09-15 | 2017-02-16 | Inventus Engineering Gmbh | Minicomputer with a rotating unit and method of operating the minicomputer |
US20200005977A1 (en) | 2018-06-27 | 2020-01-02 | Logitech Europe S.A. | Electromagnetic mode change of peripheral interface wheel |
WO2020109744A2 (fr) | 2018-11-29 | 2020-06-04 | Moving Magnet Technologies | Dispositif d'effort reglable |
Also Published As
Publication number | Publication date |
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EP4348385A1 (fr) | 2024-04-10 |
CN117581173A (zh) | 2024-02-20 |
FR3123736A1 (fr) | 2022-12-09 |
US20240143017A1 (en) | 2024-05-02 |
KR20240016310A (ko) | 2024-02-06 |
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