WO2023222624A1

WO2023222624A1 - Apparatus for actively providing a steering torque

Info

Publication number: WO2023222624A1
Application number: PCT/EP2023/063014
Authority: WO
Inventors: Jochen Klieber
Original assignee: Jochen Klieber
Priority date: 2022-05-16
Filing date: 2023-05-15
Publication date: 2023-11-23
Also published as: DE102022112237A1

Abstract

The invention relates to an apparatus (100) for providing a steering torque, more particularly a restoring torque, for a two-wheeler steering mechanism (70), comprising: a mounting device (10) for mounting the apparatus (100) on a two-wheeler frame; a coupling device (60) for coupling the apparatus (100) to the two-wheeler steering mechanism (70), the coupling device (60) having an axis of rotation (A); a force transmission device (40), which has two force transmission elements (42, 42') for transmitting a steering force to the two-wheeler steering mechanism (70), the two force transmission elements (42, 42') being connected to the coupling device (60) by means of two force transmission points (P1, P1'), which are located on the coupling device (60) eccentrically to the axis of rotation (A); and an actuator device (80) for effecting the steering force, which can be transmitted to the two-wheeler steering mechanism (70) by the force transmission device (40), the actuator device (80) having a control interface for the control of the actuator device (80) by a steering control device. The invention also relates to a two-wheeler frame, to a two-wheeler steering mechanism, and to a two-wheeler.

Description

Device for actively providing a steering torque

Technical area

The present invention relates to a device for providing steering torque for a two-wheel steering mechanism. The present invention also relates to a two-wheeler frame, a two-wheeler steering mechanism and a two-wheeler.

State of the art

It is known that the running behavior of a two-wheeler can be unstable, for example at low speeds. If the running stability is poor, the front wheel of the two-wheeler may tend to tip to the side. A tilting front wheel and the resulting handlebars swinging to the side can lead to dangerous driving situations.

The present invention relates, in one aspect, to a device for providing steering torque to a two-wheel steering mechanism. The steering torque can be a restoring torque. The device can be set up to actively provide the steering torque.

The device can be set up to provide the steering torque depending on a steering angle. The steering torque can be a variable or adjustable steering torque. The two-wheel steering mechanism can be, for example, a bicycle steering mechanism or a motorcycle steering mechanism.

The two-wheel steering mechanism may include a steerer tube. The restoring torque can be a restoring moment for restoring a fork shaft or a two-wheel handlebar arranged on it, which can be a bicycle handlebar or a motorcycle handlebar. The restoring torque can therefore be a Be steerer tube restoring torque or handlebar restoring torque or cause the steerer tube restoring torque or the handlebar restoring torque. The steering angle can be based on a steering angle of a two-wheel handlebar of the two-wheel steering mechanism.

The device can be a two-wheeler component, which can be retrofitted to a two-wheeler, a two-wheeler frame or a two-wheeler steering mechanism. For this purpose, the device can be stored on a two-wheeler frame and can be coupled to the two-wheeler steering mechanism. The two-wheeler component can be a bicycle component and/or a motorcycle component.

The restoring torque can cause the two-wheel steering mechanism to be returned to a neutral position of the device. The neutral position can be a state of the device, which can be the basis for the two-wheeler driving straight ahead or can cause the two-wheeler to drive straight ahead. The neutral position can also be a state of the device in which the device can be in a moment equilibrium or in a force equilibrium without external steering force.

The device can have a storage device for storing the device on a two-wheeler frame. The storage device can be storable or attachable to the two-wheeler frame. The storage device can be set up to firmly store the device on the bicycle frame. Alternatively or in addition to the fixed storage of the device, the storage device can be set up for movable or rotatable storage of the device on the bicycle frame.

The device may have a coupling device for coupling the device to the two-wheel steering mechanism. The coupling can be a rotationally fixed coupling. The coupling device can be set up to couple the device to the fork shaft in a rotationally fixed manner. The coupling device can be set up for non-positive and/or positive coupling of the device to the fork shaft. The coupling device can be used for direct and/or indirect coupling Device must be set up with the fork shaft. The steering angle can therefore correspond to a rotation angle of the fork shaft. The two-wheeler handlebar can be connected to the fork shaft in a rotationally fixed manner via a handlebar stem. The steering angle can therefore also correspond to a steering angle of the two-wheel handlebar. The coupling device can have an axis of rotation, which can correspond to an axis of rotation of the fork shaft. The axis of rotation can be an axis of rotation of the fork shaft and the coupling device that is common to the two-wheel steering mechanism when the coupling device is coupled. The fork shaft can be mounted on a headset in a head tube of the two-wheeler frame so that it can rotate about the axis of rotation.

The device can have a power transmission device which has two power transmission elements for transmitting a steering force to the two-wheel steering mechanism. The steering force can be a restoring force. The two force transmission elements can be connected to the coupling device via two force transmission points arranged eccentrically to the axis of rotation on the coupling device. The force transmission point can form a force application point of a power lever for transmitting the steering force to the coupling device or for providing the restoring torque. The power lever can be designed or act as a one-sided power lever between the axis of rotation and the power transmission point.

According to one embodiment of the device, the two force transmission elements can be set up to each independently transmit the steering force to the two-wheel steering mechanism. The two force transmission elements can be two separate force transmission elements. The two force transmission elements can be two force transmission elements that act independently of one another. The two force transmission elements can be arranged at a distance from one another. One force transmission element of the two force transmission elements can be set up to transmit the steering force to the two-wheel steering mechanism independently of the other of the two force transmission elements. The two force transmission elements can each have a force, in particular a tensile force transferred to the two-wheel steering mechanism. The two forces can be mutually exclusive or exclusively transferable with the force transmission elements. Alternatively or additionally, the two forces can also be transmitted in an overlapping or complementary manner with the force transmission elements. The steering force can therefore be a force resulting from the two forces transmitted independently of one another.

The device can have an actuator device for effecting the steering force that can be transferred to the two-wheel steering mechanism through the power transmission device. The transferable steering force can be a transferable additional steering force, which can superimpose a steering force already provided in the steering mechanism. The steering force that has already been provided can be a steering force that is manually provided by a two-wheeler driver and introduced into the steering mechanism. If the transferable steering force is a restoring force, it can counteract or partially compensate for the steering force that has already been provided.

The steering force can be transferred to the fork shaft. The steering force can be a restoring force. The restoring force can be a restoring force for restoring the fork shaft or the two-wheel handlebar arranged on it. The restoring force can therefore be a fork shaft restoring force or a handlebar restoring force or can cause the fork shaft restoring force or the handlebar restoring force.

The actuator device can have a control interface for controlling the actuator device by a steering control device. The device can have the steering control device. The steering control device can be set up to control the actuator device to effect the steering force.

With the device according to the invention, setting a steering torque for a two-wheel steering mechanism can be improved in an advantageous manner. With the invention, improved driving behavior of a two-wheeler can be achieved as an advantageous effect. In particular, the invention can achieve more stable running behavior Two-wheeler can be achieved. Furthermore, improved handling of a two-wheeler can also be achieved with the invention. In particular, deflection of a raised front wheel can be avoided. Another particularly advantageous effect of the invention is that, due to the improved driving behavior and the increased running stability of the two-wheeler, increased scope can be achieved in the design of the steering geometry parameters of a two-wheeler with the device according to the invention. The steering geometry parameters of a two-wheeler can therefore be changed in a larger parameter range by the invention without endangering the running stability of the two-wheeler. For example, with the invention there is greater scope for adjustments or changes to the steering head angle, the front wheel diameter, the fork bend or the caster in front wheel steering.

According to a further embodiment of the device, the force transmission device can form a force action line through a force transmission point of the two eccentric force transmission points and a point of application of the force transmission device on the actuator device. A further force action line can be formed by the further force transmission point of the two eccentric force transmission points and a further point of application of the force transmission device on the actuator device for respectively transmitting the steering force to the two-wheel steering mechanism. In a neutral position of the device, each of the two force lines and a respective straight line, which runs through the axis of rotation and the respective point of application, can enclose an angle. A force transmission from the neutral position can thus be adjusted smoothly with the device based on the arrangement of the force lines.

According to a further embodiment of the device, the actuator device can have two actuator assemblies for effecting the steering force that can be transferred to the two-wheel steering mechanism through the power transmission device. An actuator assembly of the two actuator assemblies can be designed to effect the steering force when steering to the right. The actuator assembly can be controlled by the steering control device via the control interface in order to effect the steering force when steering to the right. The further actuator assembly of the two actuator assemblies can be used to effect the steering force when steering be trained on the left. The further actuator assembly can be controlled by the steering control device via the control interface in order to effect the steering force when steering to the left. The two actuator assemblies can be controlled selectively or independently of one another by the steering control device via the control interface. An active provision of a steering force can thus be achieved particularly efficiently with the device.

The two actuator assemblies can be controlled independently of one another in order to actuate the two force transmission elements for independently transmitting the steering force to the two-wheel steering mechanism. The two actuator assemblies can be two separate actuator assemblies. The two actuator assemblies can be two actuator assemblies that can be controlled independently of one another. The two actuator assemblies can be arranged at a distance from one another. The two actuator assemblies can each actuate a force transmission element in order to transmit a force, in particular a tensile force, to the two-wheel steering mechanism.

According to a further embodiment of the device, the two actuator assemblies can be controlled by the steering control device via the control interface in order to cooperatively effect the steering force that can be transmitted to the two-wheel steering mechanism by the power transmission device. The two actuator assemblies can be controlled by the steering control device via the control interface in such a way that they each exert a force on the power transmission device, the forces together bringing about the steering force that can be transmitted to the two-wheel steering mechanism by the power transmission device. Such a superposition or addition of forces to generate the steering force can provide a particularly stable force transmission in the device.

According to a further embodiment of the device, the two actuator assemblies can each have one actuator. An actuator of the actuators can be controlled by the steering control device via the control interface in order to generate a movement or force which causes the steering force. The actuator can have a corresponding drive, for example one Spindle drive. In principle, the actuator can be any actuator for generating the movement or force. The actuator can be an electrically driven actuator. According to one embodiment of the device, the actuator can be a mechanical actuator, for example an electromechanical actuator. According to a further embodiment of the device, the actuator can be a magnetic actuator, for example an electromagnetic actuator. According to yet another embodiment, the actuator can be a cylindrical actuator, for example an electric cylinder.

The actuator can have a corresponding drive element, which transforms a control signal from the steering control device into the movement or the force. The drive element can be a mechanical drive element, an electromechanical drive element, a magnetic drive element, an electromagnetic drive element, a cylindrical drive element and/or an electrocylindrical drive element. The actuator device or the actuator can therefore actively intervene in the two-wheel steering mechanism in order to effect the steering force and/or provide the steering torque. The actuator device or the actuator can act indirectly or directly on the two-wheel steering mechanism in order to effect the steering force and/or provide the steering torque.

According to a further embodiment, the actuator can be designed to be self-locking. For example, the actuator can be a self-locking mechanical actuator. According to this embodiment, the device can have a sensor for detecting an external steering force effect on the force transmission elements during steering. Self-locking of the actuator can at least partially counteract the external steering force. The sensor can be a force sensor which detects a steering force acting from outside. The force transmission elements can have the sensor or be connected to it in a force flow of the external steering force to the force transmission elements. The steering control device can be set up to read in the external steering force effect detected by the sensor, which can be brought about by a steering request from a driver. The Steering control device can be set up to control the actuator device or the actuator based on the external steering force influence read in such that the self-locking of the actuator no longer counteracts the external steering force influence at least partially. For this purpose, the actuator can be controlled or driven to effect the steering force. The actuator device can thus have a controllable self-locking mechanism, which can efficiently balance the force of the device in the neutral position and bring about the steering force when it is deflected from the neutral position. The self-locking can be adjustable in such a way that it can effect the steering force or restoring force.

According to a further embodiment, the actuator can be designed to be freely moving. For example, the actuator can be a freely moving magnetic actuator. According to this embodiment, the actuator can form a sensor for detecting an external steering force effect on the force transmission elements during steering. A release of the actuator can be partially inhibited by the external steering force. The sensor can be a displacement sensor which detects a change in displacement in the actuator due to the steering force acting on the actuator from outside. The steering control device can be set up to read in the external steering force effect detected by the sensor, which can be brought about by a steering request from a driver. The steering control device can be set up to control the actuator device or the actuator based on the read-in external steering force effect in such a way that an inhibition of the release of the actuator counteracts the external steering force effect. For this purpose, the actuator can be controlled or activated to effect the steering force. The actuator device can thus have a controllable inhibition, which can efficiently bring about the effect of the steering force upon deflection from the neutral position.

The two actuators can be controlled independently of one another in order to actuate the two force transmission elements for independently transmitting the steering force to the two-wheel steering mechanism. The two actuators can be two separate actuators. The two actuators can be two actuators that can be controlled independently of one another. The two actuators can be arranged at a distance from one another. The two actuators can each have a force transmission element operate to transmit a force, in particular a pulling force, to the two-wheel steering mechanism. The two points of attack can be arranged on the actuators. The two force lines can attack the actuators.

According to a further embodiment of the device, the two actuator assemblies can each have a power arm of a two-sided power lever. The two actuator assemblies can thus be formed by the two-sided power lever. The two-sided power lever can be actuated by at least one actuator. The actuator can be designed like the actuator described in the previous embodiment. The two-sided power lever can be rotatably mounted on the two-wheeler frame. The two points of attack can be arranged on the power arms or on the two-sided power lever. The two force lines can attack the force arms. The two force lines can act tangentially on the two ends of the two-sided force lever.

According to a further embodiment of the device, the two force transmission elements can have at least one flexible band. The flexible band can connect the actuator device to the coupling device via the two force transmission points. The two force transmission elements can each have a flexible band. A flexible band of the two flexible bands can connect the actuator device to the coupling device via a force transmission point of the two force transmission points. The further flexible band of the two bands can connect the actuator device to the coupling device via the further force transmission point of the two force transmission points. The flexible band can be a tension band for transmitting a tensile force from the actuator device via the two force transmission points to the coupling device. A flexible band of the two flexible bands can connect the actuator device and the coupling device in such a way that the band can be subjected to tension when steering to the right. The further flexible band of the two flexible bands can connect the actuator device and the coupling device in such a way that the band can be subjected to tension when steering to the left. The flexible band can be designed, at least in some areas, as a rigid band. Alternatively or In addition, the flexible band can be designed as an elastic band, at least in some areas.

The two lines of force can run along the at least one flexible band. If the two force transmission elements each have a flexible band, one of the two flexible bands can run along one of the two force lines. The at least one flexible band or the two flexible bands can attack the power arms. The at least one flexible band or the two flexible bands can engage tangentially on the two ends of the two-sided power lever.

According to a further embodiment of the device, the at least one flexible band can be arranged on the actuator device so that it can be wound up in sections. The flexible band can be arranged, accommodated or wound up in sections on the actuator device. The at least one flexible band can be arranged to be wound up or receivable when the actuator device is actuated. The actuator device can have at least one winding section on which the at least one flexible band can be wound up in sections. The flexible band can be arranged on the actuator device in a compact and low-friction manner.

According to a further embodiment of the device, the two force arms of the two-sided force lever can have curved lever ends. The curved lever ends can form two winding sections, which can each be designed like the at least one winding section. The at least one flexible band can be arranged in sections so that it can be wound up on the curved lever ends. The at least one flexible band can be arranged, accommodated or wound up in sections on the curved lever ends. Winding the flexible band in sections on the actuator device, in particular on curved lever ends of a two-sided power lever, provides a particularly low-friction connection between the flexible band and the actuator device. Material wear on the flexible band can thus be reduced. According to a further embodiment of the device, the two force transmission elements can elastically couple the actuator device and the coupling device. The force transmission elements can be at least partially elastic force transmission elements. Such an elastic coupling can advantageously provide an elastic return for providing the steering torque. According to a further embodiment of the device, the at least one flexible band can be designed as a flexible band. The flexible band can be spread apart or stretched radially to the axis of rotation by a force transmission point of the two force transmission points. The band can therefore form a band that can be variably aligned for force transmission and at the same time has tensile strength.

According to a further embodiment of the device, the at least one flexible band can have a band made of a plastic. The band made from the plastic can be a band made from aramid fibers. The weight of the device can thus be efficiently reduced while maintaining a tensile strength of the force transmission element.

According to a further embodiment of the device, the two force transmission elements can be rotatably connected to the actuator device. If the two actuator assemblies each have a force arm of the two-sided force lever, a force transmission element of the two force transmission elements and a force arm of the two force arms and the further force transmission element of the two force transmission elements and the further force arm of the two force arms can be rotatably connected.

According to a further embodiment of the device, the actuator device can be controlled by the steering control device via the control interface in order to transmit energy to the coupling device in a neutral position of the device, with which a stabilizing force for stabilizing the two-wheel steering mechanism can be effected in the neutral position. The energy that can be transferred to the coupling device can be transferred to the coupling device by the actuator device. The stabilizing force can be a force acting in the device, for example a tensile force or a Compressive force, act, whereby the force transmission element can be subjected to tension or pressure in the neutral position. The stabilizing force can counteract deflection of the steering mechanism. The device can thus improve the running stability and handling of a two-wheeler even in the neutral position.

According to a further embodiment of the device, the device can be set up to apply a preload to the two force transmission elements in the neutral position, with which the stabilizing force for stabilizing the two-wheel steering mechanism can be transferred to the coupling device in the neutral position. The storage device and/or the force transmission elements can be set up to apply the preload to the two force transmission elements. The pretension of both force transmission elements can provide a progressive build-up of the restoring torque and thus further improve running stability when steering.

According to a further embodiment of the device, the device can have a compensation mechanism which is set up to compensate for a force that acts on the energy storage device when the steering angle is set from a neutral position in a predetermined steering angle range. The compensation mechanism can convert a tensile stress on the force transmission elements by the actuator device into a further form of stress on the force transmission elements, for example a bending stress or a torsional stress. The restoring torque can therefore develop during the steering angle that arises from the neutral position in the predetermined steering angle range, depending on the further form of the stress. The compensation mechanism can be set up in such a way that a build-up of the restoring torque, in particular a progressive build-up of the restoring torque, can occur smoothly when steering from the neutral position.

According to a further embodiment of the device, the actuator device can be controlled by the steering control device via the control interface in order to be adjusted via a neutral position of the device Steering angle profile to transfer energy to the coupling device, with which a variable steering force can be effected via the steering angle profile that arises. The variable steering force can be effected continuously via the steering angle curve. The actuator device can be set up to continuously transmit energy to the coupling device via the steering angle profile that arises from the neutral position of the device. The device can thus further improve the running stability and handling of a two-wheeler even when the steering angle is adjusted.

According to a further embodiment of the device, the steering control device can have a sensor interface for reading sensor-detected information about a steering variable, wherein the steering control device can be set up to control the actuator device in such a way that the steering force is effected depending on the read-in information. The information can be recorded with a steering sensor. The information can also be based on measurement data from the steering sensor. The information about the steering variable can have a steering angle, a steering angle range, a steering angle course, a steering speed or a steering direction. The steering force can thus be effected depending on a current steering angle present in the steering mechanism.

According to a further embodiment of the device, the steering control device can have a driving dynamics interface for reading in information about a two-wheeler driving dynamics variable, wherein the steering control device can be set up to control the actuator device in such a way that the steering force is effected depending on the read-in information. The information can be recorded with a driving dynamics sensor. The information can also be based on measurement data from the driving dynamics sensor. The information about the two-wheeler driving dynamics variable can have longitudinal dynamics information, for example a travel speed or a two-wheeler's longitudinal inclination, or a transverse dynamics information, for example a two-wheeler's lateral inclination. The steering force can thus be effected depending on the current driving dynamics. According to a further embodiment of the device, the steering control device can be set up to control the actuator device in such a way that a steering force curve that can be transferred to the two-wheel steering mechanism via the coupling device is brought about, which, when the steering angle curve occurs in a predetermined steering angle range, produces a variable steering torque, in particular a variable restoring torque, provides. The steering control device can be set up to control the actuator device in such a way that the steering force curve is caused by a mechanical movement of the actuator device. The steering control device can control the actuator device based on an emerging steering angle. The steering angle can be brought about by a steering force provided by a two-wheeler driver.

According to a further embodiment of the device, the steering control device can be set up to control the actuator device in such a way that a steering force curve that can be transferred to the two-wheel steering mechanism via the coupling device is brought about, which results in a progressive build-up of the steering force curve when the steering angle curve is set from a neutral position of the device in a predetermined steering angle range Steering torque provides. The progressive build-up of the steering torque can change into a proportional or degressive build-up of the steering torque in a further steering angle range, which is adjacent to the predetermined steering angle range. The progressive structure can improve the immediate response of the device to the steering torque that builds up from the neutral position in a predetermined steering angle range.

According to a further embodiment of the device, the steering control device can be set up to control the actuator device in such a way that a steering force curve that can be transferred to the two-wheel steering mechanism via the coupling device is brought about, which provides a degressive build-up of the steering torque when the steering angle curve occurs in a predetermined steering angle range. According to a further embodiment of the device, a steering angle that adjusts from the neutral position in the predetermined steering angle range can be in the steering angle curve of the progressive build-up of the restoring torque be smaller than a steering angle that occurs in the predetermined steering angle range in the steering angle curve of the degressive build-up of the restoring torque.

According to a further embodiment of the device, the force transmission device can have a force transmission device arranged on the coupling device, on which the force transmission points are formed. The force transmission device can form a force lever. The force transmission device can have a contour formed radially to the axis of rotation or can follow such a contour, whereby the force transmission points can move on the contour when the steering angle is established, or can adjust variably.

According to a further embodiment of the device, the force transmission device can be set up to variably adjust a force transmission for transmitting the steering force to the two-wheel steering mechanism when the steering angle is set in a predetermined steering angle range. According to a further embodiment of the device, the force transmission device can be set up to provide a force transmission for a degressive build-up of the restoring torque when the steering angle is set in a predetermined steering angle range. The predetermined steering angle range can therefore in particular be the steering angle range in which the progressive build-up of the restoring torque can be provided from the neutral position.

Alternatively or in addition to the force transmission set up for a degressive build-up of the restoring torque, the force transmission device can be set up to provide a force transmission for a progressive build-up of the restoring torque when the steering angle is set in a predetermined steering angle range. The predetermined steering angle range can in particular also be the steering angle range in which the degressive structure of the restoring torque is provided. The force transmission element can be set up with the contour in order to provide the force transmission accordingly. According to a further embodiment of the device, the force transmission device can have a cam. The force transmission device can have two cams, on which one of the two force transmission points can be arranged. The power transmission device can therefore also have a double cam. The contour described can be formed on the cam.

According to a further embodiment of the device, the coupling device can be designed in one piece with the force transmission device. The coupling device can therefore have or form the cam or the double cam. The installation space of the device can thus be reduced in such a way that the coupling device can be installed on a two-wheeler frame to save space.

According to a further embodiment of the device, the actuator device can be activated and deactivated. The actuator device can be activated and deactivated manually by a two-wheeler driver via an activation element. Alternatively or additionally, the steering control device can be activated and deactivated by the steering control device via the control interface. The actuator device can be activated and deactivated based on the read-in information about the steering variable and/or the read-in information about the two-wheeler driving dynamics variable.

According to a further embodiment of the device, the actuator device can be adjustable. The actuator device can be self-adjusting based on driving behavior. Alternatively or additionally, the steering control device can be adjustable by the steering control device via the control interface. The actuator device can be adjustable based on the read-in information about the steering variable and/or the read-in information about the two-wheeler driving dynamics variable. According to a further embodiment of the device, a steering force map based on the steering angle can be stored in the steering control device. The steering force map can be a two-wheeler-specific and/or two-wheeler-specific steering force map. The Steering control device can be set up to control the actuator device in such a way that the steering force is effected based on the stored steering force map.

According to a further embodiment of the device, the actuator device can have an energy storage device for storing energy to effect the steering force. The energy storage can be set up to actuate the actuator device, wherein the energy storage can supply the actuator with energy to effect the steering force and can be energetically connected to it for this purpose. According to a further embodiment of the device, the energy storage can be energetically connected to a recuperative two-wheeler system for feeding energy into the energy storage. Alternatively or additionally, the energy storage can be energetically connected to another energy storage, for example an accumulator.

According to a further embodiment of the device, the power transmission device can have a pulling mechanism, which can connect the coupling device via an energy storage device for transmitting a pulling force based on the steering force to the energy storage device. The energy storage device can be set up to store a restoring force. The force transmission device can therefore also be set up to transmit a steering force to the energy storage device. The pulling mechanism can be attached in a tension-resistant manner to the coupling device and to the energy storage device in order to transmit the steering force. The energy storage device can be designed to store the energy storage device on the two-wheeler frame.

According to a further embodiment of the device, the pulling mechanism can have at least one tension band for transmitting the steering force to the energy storage device. The pulling mechanism can have two pulling straps for transmitting the steering force to the energy storage device. The at least one tension band can be designed like the at least one flexible band. According to this embodiment, a further line of force can be provided by a tension element for transmitting the steering force to the energy storage device be designed to steer to the right. Yet another line of force can be formed by the further tension element for transmitting the steering force to the energy storage device when steering to the left. A tensile force can be introduced into the energy storage device along the respective force action line.

According to a further embodiment of the device, the energy storage device can have at least one spring for storing tension energy. The spring can be a tension spring or a compression spring for storing energy.

In a further aspect, the present invention relates to a two-wheeler frame on which the device according to the previous aspect is mounted. The two-wheeler frame can be a bicycle frame or a motorcycle frame. The device can be mounted on at least one frame tube of the two-wheeler frame, for example on a top frame tube and/or a bottom frame tube of the two-wheeler frame. According to one embodiment of the two-wheeler frame, the device can be arranged integrated in at least one frame component of the two-wheeler frame.

The present invention relates in a further aspect to a two-wheel steering mechanism to which a device according to the corresponding preceding aspect is coupled. The two-wheel steering mechanism may be a bicycle steering mechanism or a motorcycle steering mechanism.

The present invention relates, in a further aspect, to a two-wheeler having a two-wheeler frame according to the corresponding preceding aspect or a two-wheeler steering mechanism according to the corresponding preceding aspect. The two-wheeler can be a bicycle or a motorcycle.

In the present invention, embodiments and features of one of the described aspects may form corresponding embodiments and features of another of the described aspects. Short description of the characters

Figure 1 shows schematically a device for providing a steering torque, a two-wheel frame and a two-wheel steering mechanism according to respective embodiments of the invention.

Figure 2 shows schematically a two-wheeler with the device from Figure 1 according to an embodiment of the invention.

Figure 3 shows the device from Figure 1 according to an embodiment of the invention.

Figure 4 shows the device from Figure 1 according to a further embodiment of the invention.

Figure 5 shows the device from Figure 1 according to a further embodiment of the invention.

Detailed description of embodiments

Figure 1 shows a device 100, which is set up to provide a steering torque for a two-wheel steering mechanism 70. The device 100 is operatively connected to the two-wheel steering mechanism 70 via a fork shaft 4 of the two-wheel steering mechanism 70 in such a way that the device 100 transmits the provided steering torque to the two-wheel steering mechanism 70. According to one embodiment, the two-wheel steering mechanism 70 includes the device 100. The device 100 is mounted via a storage device 10 on a two-wheeler frame 2 of a two-wheeler 200 shown schematically in FIG. According to respective embodiments, the two-wheeler frame 2 and the two-wheeler 200 may have the device 100.

The device 100 has a coupling device 60, with which the device 100 is coupled to the two-wheel steering mechanism 70 in a rotationally fixed manner. The Device 100 is coupled such that a steering force generated by device 100 can be transmitted to the fork shaft 4 of the two-wheel steering mechanism 70 to provide the steering torque.

The device 100 also has an actuator device 80 with which the steering force can be effected. The actuator device 80 has two actuator assemblies 81, 81 ', which can be controlled independently of one another in order to effect the steering force. The actuator device 80 has a control interface 82 via which the actuator device 80 can be controlled by a steering control device 90. The actuator device 80 is connected to the coupling device 60 via a force transmission device 40 in order to transmit a force generated by the actuator device 80 to the coupling device 60 to effect the steering force. The power transmission device 40 has two power transmission elements 42, 42 ', which can independently contribute to transmitting the steering force. The coupling device 60 has an axis of rotation A, which corresponds to an axis of rotation of the fork shaft 4. The two force transmission elements 42, 42' are connected to the coupling device 60 eccentrically to the axis of rotation A, as shown in FIGS. 3 and 4.

The steering control device 90 has a sensor interface 92, via which measurement data from a steering sensor 93 can be read into the steering control device 90. The steering control device 90 is set up to control the actuator device 80 based on the read-in measurement data. According to one embodiment, the measurement data includes information about a current steering angle of the steering mechanism 70, with the steering sensor 93 detecting the steering angle on the steering mechanism 70.

The steering control device 90 can have a driving dynamics interface 94, via which measurement data from a driving dynamics sensor 95 can be read into the steering control device 90. The steering control device 90 is set up to control the actuator device 80 based on the read-in measurement data. According to one embodiment, the measurement data contains information about a current driving speed of the two-wheeler 200 on, wherein the driving dynamics sensor 95 detects the speed of a drive and / or output component, not shown, of the two-wheeler 200.

Figure 3 shows the device 100 according to an embodiment. The device 100 has the storage device 10, which has two rotatable bearings 14. The rotatable bearings 14 are designed to rotatably mount the device 100 on the bicycle frame 2. The device 100 also has a coupling device 60, the coupling device 60 is coupled to the two-wheel steering mechanism 70 via a non-rotatable connection 16. The device 100 has the force transmission device 40, which has the two force transmission elements 42, 42 '. The two force transmission elements 42, 42' are firmly connected to the coupling device 60 via two force transmission points P1, P1' arranged eccentrically to the axis of rotation A on the coupling device 60. The device 100 also has an actuator device 80, which has two actuator assemblies 81, 81 '.

The force transmission device 40 forms a force action line L through a force transmission point P1 of the two eccentric force transmission points P1, P1 ' and an application point P2 of the force transmission device 40 on the actuator device 80. The point of attack P2 is formed on an actuator assembly 81 of the two actuator assemblies 81, 81″. The force transmission device 40 forms a further force line L' through the further force transmission point P1' of the two eccentric force transmission points P1, P1' and a further point of application P2' of the force transmission device 40 on the actuator device 80. The further point of attack P2' is formed on the further actuator assembly 81' of the two actuator assemblies 81, 81". In a neutral position N of the device 100 shown in FIG the respective point of attack P2, P2', an angle W, W".

An actuator assembly 81 of the two actuator assemblies 81, 81" is for effecting a steering force or a restoring force when steering to the right and the further actuator assembly 81' of the two actuator assemblies 81, 81" is for effecting the Steering force or the restoring force is formed when steering to the left. The two actuator assemblies 81, 81″ can be controlled by the steering control device 90 via the control interface 82 in such a way that they can effect the steering force that can be transmitted to the two-wheel steering mechanism 70 by the power transmission device 40. According to the embodiment shown in Figure 3, the actuator assemblies 81, 81" each have an actuator 83, 83". The actuators 83, 83" can each be an electric cylinder or an electric spindle drive mechanism, which can subject a force transmission element of the force transmission elements 42, 42" to tension. The force transmission elements 42, 42" can be designed as flexible bands 43, 43". A flexible band 43 is connected to the actuator 83 in a tension-resistant manner at the point of application P2. The further flexible band 43″ is connected to the further actuator 83″ in a tension-proof manner at the further point of attack P2′. The flexible bands 43, 43″ are connected to the force transmission points P1, P1′ on the coupling device 60. The coupling device 60 has a force transmission device 50, which is designed as a cam 54 according to the embodiment shown in FIG.

The embodiment of the device 100 shown in Figure 4 differs from the embodiment shown in Figure 3 in that the actuator device 80 has a two-sided power lever 85. The two-sided power lever 85 has two power arms 86, 86". The two power arms 86, 86" have curved lever ends 87, 87". According to one embodiment, the points of attack P2, P2' are formed at tangential contact points of the straight line G, G" on the curved lever ends 87, 87". Attachment points B, B" are formed on the power arms 86, 86", to which the power transmission elements 42, 42" or the flexible bands 43, 43" are attached to the two-sided power lever 85. The flexible bands 43, 43" are arranged wound up in sections on the curved lever ends 87, 87" in the neutral position N of the device 100 shown in FIG. 4. In the embodiment shown in FIG. 4, the actuator device also has at least one of the actuators 83, 83″ shown in FIG. 3. For example, the actuator device 80 only has one actuator 83 or the further actuator 83" of the two actuators 83, 83'. The two-sided power lever 85 can also be stored on the bicycle frame 2 with a rotatable bearing 18. The two-sided power lever 85 can therefore be related to the rotatable bearing 18 can be pivoted by actuating at least one of the two actuators 83, 83 'in order to transmit a steering force or restoring force to the steering mechanism 70 via the force transmission elements 42, 42'. The embodiment of the device 100 shown in Figure 5 differs from the embodiments of the device 100 shown in Figures 3 and 4 in that the device 100 additionally has an energy storage device 30, which has a pulling mechanism 32. The coupling device 60 is connected via the energy storage device 30 for transmitting a traction force based on the steering force to the energy storage device 30. The steering force can be a steering force caused by an external force. The pull mechanism 32 has pull straps 34, 34 ', which are connected to the coupling device 60. The energy storage device 30 may have a spring 36 for storing tension energy. The energy storage device 30 can be connected to the two-wheeler frame 2 via a non-rotatable connection 16.

Reference symbols

2 two-wheeler frames

4 steerer tube

10 storage facility

14, 18 rotating bearing

16 rotation-proof connection

30 energy storage device

32 pull mechanism

34, 34' drawstring

36 feather

40 power transmission device

42, 42' power transmission element

43, 43' flexible band

50 power transmission device

54 cams

60 coupling device

70 two-wheel steering mechanism

80 actuator device

81, 81* actuator assembly

82 control interface

83, 83' actuator

85 two-sided power lever

86, 86' power arm

87, 87' curved lever end

90 steering control device

92 sensor interface

93 steering sensor

94 driving dynamics interface

95 driving dynamics sensor

100 device

200 two-wheeler

A axis of rotation

B, B' attachment point G, G' Straight

N neutral position

P1 , P1 ‘ power transmission point

P2, P2' attack point

L, L' force line

W, W' angle

Claims

Patent claims

1. Device (100) for providing a steering torque, in particular a restoring torque, for a two-wheel steering mechanism (70).

- a storage device (10) for storing the device (100) on a bicycle frame (2),

- a coupling device (60) for coupling the device (100) to the two-wheel steering mechanism (70), the coupling device (60) having an axis of rotation (A),

- a force transmission device (40), which has two force transmission elements (42, 42') for transmitting a steering force, in particular a restoring force, to the two-wheel steering mechanism (70), the two force transmission elements (42, 42') being eccentric to the axis of rotation (70) via two A) force transmission points (P1, P1 ') arranged on the coupling device (60) are connected to the coupling device (60), and

- an actuator device (80) for effecting the steering force that can be transmitted to the two-wheel steering mechanism (70) by the force transmission device (40), the actuator device (80) having a control interface (82) for controlling the actuator device (80) by a steering control device (90).

2. Device (100) according to claim 1, wherein the force transmission device (40) has a force action line (L) through a force transmission point (P1) of the two eccentric force transmission points (P1, P1 ') and an application point (P2) of the force transmission device (40) on the Actuator device (80) and a further force line (L') through the further force transmission point (P1') of the two eccentric force transmission points (P1, P1') and a further point of application (P2') of the force transmission device (40) on the actuator device (80). each of the two force lines (L, L') and a respective straight line (G, G') which passes through the axis of rotation (A) and the respective point of attack (P2, P2') encloses an angle (W).

3. Device (100) according to claim 1 or 2, wherein the actuator device (80) has two actuator assemblies (81, 81 ') for effecting the steering force that can be transmitted to the two-wheel steering mechanism (70) by the force transmission device (40), one actuator assembly (81 ) of the two actuator assemblies (81, 81') for effecting the steering force when steering to the right and the further actuator assembly (81') of the two actuator assemblies (81, 81') is designed to effect the steering force when steering to the left.

4. Device (100) according to claim 3, wherein the two actuator assemblies (81, 81 ') can be controlled by the steering control device (90) via the control interface (82) in such a way that the power transmission device (40) on the two-wheel steering mechanism (70) to cooperatively effect transferable steering power.

5. Device (100) according to claim 3 or 4, wherein the two actuator assemblies (81, 81 ') each have an actuator (83, 83').

6. Device (100) according to one of claims 3 to 5, wherein the two actuator assemblies (81, 81 ') each have a power arm (86, 86') of a two-sided power lever (85), which is controlled by at least one actuator (83, 83 ') can be operated.

7. Device (100) according to one of the preceding claims, wherein the two force transmission elements (42, 42 ') have at least one flexible band (43, 43'), which the actuator device (80) over the two force transmission points (P1, P1 '). connects to the coupling device (60).

8. Device (100) according to claim 7, wherein the at least one flexible band (43, 43 ') is arranged on the actuator device (80) so that it can be wound up in sections.

9. Device (100) according to claims 6 to 8, wherein the two force arms (86, 86 ') of the two-sided force lever (85) have curved lever ends (87, 87') on which the at least one flexible band (43, 43 ') is arranged so that it can be wound up in sections.

10. Device (100) according to one of the preceding claims, wherein the two force transmission elements (42, 42 ') elastically couple the actuator device (80) and the coupling device (60).

11. Device (100) according to one of claims 7 to 10, wherein the at least one flexible band (43, 43 ') is designed as a slack band.

12. Device (100) according to one of claims 7 to 11, wherein the at least one flexible band (43, 43 ') has a band made of a plastic, in particular a band made of aramid fibers.

13. Device (100) according to one of the preceding claims, wherein the two force transmission elements (42, 42 ') are rotatably connected to the actuator device (80).

14. Device (100) according to one of the preceding claims, wherein the actuator device (80) can be controlled by the steering control device (90) via the control interface (82) in order to supply energy to the coupling device (100) in a neutral position (N) of the device (100). 60), with which a stabilizing force for stabilizing the two-wheel steering mechanism (70) can be effected in the neutral position (N).

15. Device (100) according to claim 14, wherein the device (100) is set up to apply a preload to the two force transmission elements (42, 42 ') in the neutral position (N), with which in the neutral position (N). Stabilizing force for stabilizing the two-wheel steering mechanism (70) can be transferred to the coupling device (60).

16. Device (100) according to one of the preceding claims, with a compensation mechanism which is set up to compensate for a force which acts on the force transmission device (40) when the steering angle is set from a neutral position (N) in a predetermined steering angle range.

17. Device (100) according to one of the preceding claims, wherein the actuator device (80) can be controlled by the steering control device (90) via the control interface (82) in order to use a steering angle profile that arises from a neutral position (N) of the device (100). To transfer energy to the coupling device (60), with which a variable steering force can be effected via the resulting steering angle profile.

18. Device (100) according to one of the preceding claims, with the steering control device (90), wherein the steering control device (90) has a sensor interface (92) for reading sensor-detected information about a steering variable, the steering control device (90) being set up, in order to control the actuator device (80) in such a way that the steering force is effected depending on the information read.

19. Device (100) according to one of the preceding claims, with the steering control device (90), wherein the steering control device (90) has a driving dynamics interface (94) for reading in information about a two-wheeler driving dynamics variable, the steering control device (90) being set up to Actuator device (80) to be controlled in such a way that the steering force is effected depending on the information read.

20. Device (100) according to one of the preceding claims, with the steering control device (90), wherein the steering control device (90) is set up to control the actuator device (80) in such a way that a via the coupling device (60) on the two-wheel steering mechanism (70 ) transferable steering force curve is effected, which provides a variable steering torque, in particular a variable restoring torque, when the steering angle curve is set in a predetermined steering angle range.

21. Device (100) according to one of the preceding claims, with the steering control device (90), wherein the steering control device (90) is set up to control the actuator device (80) in such a way that a via the coupling device (60) on the two-wheel steering mechanism (70 ) transferable steering force curve is effected, which provides a progressive build-up of the steering torque when the steering angle curve is set from a neutral position (N) of the device (100) in a predetermined steering angle range.

22. Device (100) according to one of the preceding claims, with the steering control device (90), wherein the steering control device (90) is set up to control the actuator device (80) in such a way that a via the coupling device (60) on the two-wheel steering mechanism (70 ) transferable steering force curve is effected, which provides a degressive build-up of the steering torque when the steering angle curve is set in a predetermined steering angle range.

23. Device (100) according to claims 21 and 22, wherein a steering angle that sets in the neutral position (N) in the predetermined steering angle range in the steering angle profile of the progressive build-up of the restoring torque is smaller than a steering angle that sets in the predetermined steering angle range in the steering angle profile the degressive build-up of the restoring torque.

24. Device (100) according to one of the preceding claims, wherein the force transmission device (40) has a force transmission device (50) arranged on the coupling device (60), on which the force transmission points (P1, P1 ') are formed.

25. Device (100) according to claim 24, wherein the force transmission device (50) is set up to variably adjust a force transmission for transmitting the steering force to the two-wheel steering mechanism (70) when the steering angle is set in a predetermined steering angle range.

26. Device (100) according to claim 24 or 25, wherein the force transmission device (50) is set up to provide a force transmission for a degressive build-up of the restoring torque when the steering angle is set in a predetermined steering angle range.

27. Device (100) according to one of claims 24 to 26, wherein the force transmission device (50) has a cam (54).

28. Device (100) according to one of claims 24 to 27, wherein the coupling device (60) is formed in one piece with the force transmission device (50).

29. Device (100) according to one of the preceding claims, wherein the actuator device (80) can be activated and deactivated, in particular by the steering control device (90) via the control interface (82).

30. Device (100) according to one of the preceding claims, wherein the actuator device (80), in particular by the steering control device (90) via the control interface (82), is adjustable.

31. Device (100) according to one of the preceding claims, with the steering control device (90), wherein a steering force map based on the steering angle is stored in the steering control device (90), and wherein the steering control device (90) is set up to control the actuator device (80 ) to be controlled in such a way that the steering force is effected based on the stored steering force map.

32. Device (100) according to one of the preceding claims, wherein the actuator device (80) has an energy storage device for storing energy to effect the steering force.

33. Device (100) according to claim 32, wherein the energy storage is energetically connected to a recuperative two-wheeler system for feeding energy into the energy storage.

34. Device (100) according to one of the preceding claims, with the force transmission device (40), which has a pulling mechanism (32), which the coupling device (60) via an energy storage device (30) for transmitting a traction force based on the steering force to the energy storage device (30) connects.

35. Device (100) according to claim 34, wherein the pulling mechanism (32) has at least one tension band (34, 34”) for transmitting the steering force to the energy storage device (30).

36. Device (100) according to claim 34 or 35, wherein the energy storage device (30) has at least one spring (36) for storing clamping energy.

37. Two-wheeler frame (2), on which the device (100) according to one of the preceding claims is mounted.

38. Two-wheeler frame (2) according to claim 37, wherein the device (100) is arranged integrated in at least one frame component of the two-wheeler frame (2).

39. Two-wheel steering mechanism (70), to which a device (100) according to one of claims 1 to 36 is coupled.

40. Two-wheeler (200), which has a two-wheeler frame (2) according to claim 37 or 38 or a two-wheeler steering mechanism (70) according to claim 39.