control device

Abstract

Control device for operating at least one actuator of a vehicle, comprising a deflectable control lever and a housing module, wherein a first guide element rotatable about a first axis of rotation and a second guide element rotatable about a second axis of rotation are provided, wherein the first guide element is arranged at a first end of the control lever and the second guide element is arranged between the first end and a second end of the control lever, wherein the housing module has a through-hole which is designed as a bearing point for supporting the guide elements such that the guide elements can be contacted from the outside of the housing module, wherein the housing module has a first coupling region on the outside, wherein the first coupling region comprises one of the bearing points and the first coupling region is designed and arranged to receive an additional module which comprises a region formed at least partially complementary to the first coupling region such that the additional module can be functionally connected to the guide elements.

Description

Technical Field

[0001] The present invention relates to a control device for operating at least one actuator of a vehicle, preferably a manually operable control device. Background Technology

[0002] Vehicles equipped with multiple actuators or actuator elements typically have a control system and control elements for controlling these actuator elements. Examples of such vehicles are forklifts, tractors, or excavators. Examples of such actuator elements are, for example, hydraulic, pneumatic, electronic, and / or electromechanical drives configured for the movement of an excavator shovel or a controllable valve. Part of the control system is typically an electronic control unit that receives signals from sensors and transmits control signals to the actuator elements.

[0003] Control elements for actively controlling actuator components are known in the prior art as so-called joysticks, levers, or lever elements, which are similar to the gearshift lever in a car and can be manually operated by the vehicle user (vehicle driver) inside the passenger compartment. These lever elements are arranged such that they can be moved (rotated and / or displaced) left, right, forward, and / or backward, for example, by the driver's muscle force from an initial position (basic position / starting position, neutral position).

[0004] Because the available space for layout is typically very limited, existing control systems are built very compactly in order to be designed to save as much space as possible. This is achieved, for example, by arranging the different components of the control system in an overlapping manner to reduce space, i.e., the components are built into each other but can be functionally separated.

[0005] If such a control system malfunctions, the entire control system must be removed and replaced. Similarly, the control system cannot simply adapt to the different requirements of the vehicle. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art, so that while occupying little space, the control system can be easily and quickly adjusted, and faulty parts can be quickly replaced.

[0007] The objective of this invention is achieved by the control device provided by this invention.

[0008] The present invention aims to provide a control device for operating at least one actuator of a vehicle, comprising a deflectable control lever and a housing module, wherein a first guide element rotatable about a first rotation axis and a second guide element rotatable about a second rotation axis are provided, wherein the first guide element is disposed at a first end of the control lever, and the second guide element is disposed between the first and second ends of the control lever, wherein the housing module has channel openings designed for support points of the guide elements such that the guide elements can be contacted from the outside of the housing module, the housing module having a first coupling region on its outer side, the first coupling region including one of the support points, and the first coupling region being designed and configured to receive an additional module, the additional module including a region at least partially complementary to the first coupling region, such that the additional module can be functionally connected to the guide element.

[0009] Preferably, the control lever can be deflected from a basic position. It is conceivable that the control lever can be deflected by rotation about a first axis of rotation and / or a second axis of rotation. The basic position can be defined, for example, as the direction in which the control lever extends perpendicular to both the first and second axes of rotation.

[0010] According to a particularly preferred embodiment, the first rotation axis and the second rotation axis are perpendicular to each other. Thus, preferably, the first rotation axis and the second rotation axis are always perpendicular to each other, that is, these axes are perpendicular to each other regardless of the deflection of the control lever.

[0011] The control lever is preferably deflectable in all directions from a base position. Therefore, the control lever can preferably undergo deflection about a first axis and / or about a second axis, both including positive rotation (corresponding to forward rotation) and negative rotation (corresponding to reverse rotation) about their respective axes. Furthermore, preferably, superposition of the described deflections is possible. More preferably, all mentioned displacement movements can be performed in an infinitely variable manner.

[0012] The outer casing module is preferably cubic or cuboid in shape. Preferably, the outer casing module has at least four sidewalls, each side having one, preferably exactly one, through hole. More preferably, two sidewalls are arranged parallel to each other; more preferably, two sidewalls are formed parallel to the first axis of rotation and two sidewalls are formed parallel to the second axis of rotation.

[0013] Preferably, the first guide element and the second guide element form a universal joint.

[0014] According to the present invention, a first guide element is provided disposed at a first end of the control rod, the control rod being rotatably mounted about a first rotation axis and forming a first guide link, the first guide link being used to restrict the rotation of the control rod element about the first rotation axis within a specific first angle range.

[0015] Furthermore, it is advantageous that the first guide element forms a bearing for a rotary bearing at the first end of the control lever. For example, the first guide element has a hole through the guide groove. For example, the first end of the control lever also has a hole. Preferably, the two holes are arranged aligned with each other, thereby arranging the lever element within the two holes, with the control lever rotatably arranged around the lever element and preferably rigidly connected to the first guide element. Thus, for example, by forming a pivot bearing for the control lever through the first guide element and the lever element, the space requirements of the control device are further reduced.

[0016] Furthermore, a second guide element is provided between a first end and a second end of a control lever, the control lever being rotatably mounted about the second rotation axis and forming a second guide groove, through which the rotation of the control lever about the second rotation axis can be restricted to a specific second angle range.

[0017] Preferably, the second guide element is arranged such that it at least partially overlaps the first guide element in the height direction of the control device. For example, the second guide element is at least partially arc-shaped, wherein the virtual central axis of the relevant arc is arranged parallel to the second axis and / or intersects with the first guide element. This arrangement also reduces the required installation space.

[0018] According to the present invention, the guide element is supported by bearings of the housing module, wherein first and second bearings are respectively provided. For example, the first and / or second bearings include rolling bearing connections.

[0019] According to the present invention, the through-hole of the housing module forms a bearing for supporting the guide element. Because the bearing is a through-hole in the housing module, the guide element can be connected to an additional module from the outside of the housing module according to the present invention.

[0020] According to the invention, a first coupling region is also provided, which includes one of the support points, preferably exactly one support point. The first coupling region is designed and intended to at least partially receive an additional module, wherein the additional module is designed to be at least partially complementary to the first coupling region. According to the invention, the additional module can be functionally connected to the guide element, i.e., the additional module can act on the corresponding guide element, particularly directly.

[0021] Particularly preferably, a first coupling region and a second coupling region are provided, wherein the first coupling region and the second coupling region include the support point of the first guide element or the second guide element.

[0022] Particularly preferably, a first coupling region, a second coupling region, a third coupling region, and a fourth coupling region are provided, wherein the first coupling region and the second coupling region include the support point of the first guide element, and the third coupling region and the fourth coupling region include the support point of the second guide element.

[0023] Regardless of the number of coupling regions, each coupling region can accommodate an additional module.

[0024] According to a particularly preferred embodiment, the additional module is provided to be selected from an actuator module and a reset module, wherein the actuator module is designed to apply torque to one of the rotation axes, and wherein the reset module is designed to apply force to one of the rotation axes to counteract the deflection of the control lever.

[0025] The actuator module allows for indirect active control of the control lever, either through actuation of a rotating shaft or guide element, and / or through programming. This means that force or torque can be applied to the control lever element without being affected by the driver's muscle strength. This technology is also known as "force feedback."

[0026] Therefore, force and / or torque can be transmitted to the control lever via the actuator module, which, for example, has the effect of vibration and / or displacement of the control lever. The vibration can be a time series of small displacements.

[0027] With the help of the actuator module, a torque can be applied in the direction of rotation or in the opposite direction of rotation, so that the torque can support or counteract the motion.

[0028] Particularly preferably, an actuator module can be used to prevent the control lever from rotating about one or two rotation axes.

[0029] According to a preferred embodiment, the actuator module includes a drive unit and an output unit. More preferably, the actuator module forms a motor-gearbox assembly. Particularly preferably, the drive unit is a planetary gear and the drive unit is an electric motor.

[0030] The electric motor is preferably a torque motor, which can achieve high torque at low speeds.

[0031] To support a compact design of the control device, it is advantageous that the planetary gears include a rotatably mounted sun gear, a ring gear radially surrounding the sun gear, and a plurality, preferably three, planetary gears radially arranged between and meshing with the sun gear and the ring gear. Preferably, the sun gear is aligned with and rotatably mounted about one of the axes of rotation in each case.

[0032] For example, the module of the sun gear, ring gear, and planetary gear, i.e., the ratio of their respective pitch circle diameters to their respective tooth numbers, each has the same value in the range of 0.3 mm to 0.7 mm, preferably 0.5 mm.

[0033] Preferably, the gear ring is mounted in a fixed position; therefore, the output preferably does not pass through the gear ring. For example, the gear ring has an anti-rotation device by which its radial position can be fixed relative to the rest of the actuator module. For example, the anti-rotation device is formed on the outer diameter of the gear ring by a special first geometry. For example, the first geometry is designed as at least one, preferably four, flat portions on the outer radius of the gear ring. Preferably, the anti-rotation device is also designed as a second geometry complementary to the first geometry on the rest of the actuator module; for example, flat portions are also formed on the inner radius of the rest of the actuator module, the number and arrangement of which are preferably the same as the number of flat portions on the gear ring.

[0034] Preferably, the drive is performed via the motor or the motor shaft (motor shaft) and the sun gear, whereby the central axis of the motor shaft is preferably aligned with the central axis of the sun gear. More preferably, the motor shaft and the sun gear are mechanically engaged, thereby transmitting the torque of the motor to the sun gear; preferably, the shaft and the sun gear are rigidly connected to each other. Therefore, in particular, rotation of the motor shaft can be transmitted to rotation of the sun gear, which is in the same direction and at the same speed. For example, the connection between the motor shaft and the sun gear includes a keyed connection.

[0035] However, preferably, no separate connection is required between the motor shaft and the sun gear. Therefore, the motor shaft and the sun gear are preferably integrally formed; for example, the motor shaft and the sun gear are made from a single part and / or a single semi-finished product, and preferably machined (“milled”).

[0036] For example, at least one or more, preferably all, of the gears (sun gear, ring gear, and / or planetary gears) are made of plastic. Possible plastics include polyacetal (POM) and / or polyketone (PK).

[0037] According to another preferred embodiment, the actuator module is provided to include an actuator module housing, wherein the actuator module housing is formed by a first actuator module housing component and a second actuator module housing component that can be connected to the housing module, wherein the output unit is housed within the actuator module housing, and the drive unit is disposed on the second actuator module housing component outside the actuator module housing.

[0038] This makes it easy to provide an actuator module that has all the necessary components to apply torque and / or force to the axis of rotation. Since the actuator module housing can be connected to both the housing module and the control lever, if the actuator module is defective, it can simply be removed.

[0039] The ring gear of the planetary gear may be a component of the housing of the first actuator module.

[0040] Preferably, the reset module is a passive reset module. This means that no active control or adjustment of the reset module is provided.

[0041] In particular, it is conceivable that when the control lever deflects from its original position, a force can be applied that returns the control lever to its original position.

[0042] According to a preferred embodiment, the reset module includes a reset module housing, wherein the reset module housing is formed by a first reset module housing component and a second reset module housing component connectable to the housing module, the reset module having a torsion spring element, a torsion spring element support rotatable relative to the reset module housing, and a torsion spring element base fixedly disposed relative to the reset module housing, wherein the torsion spring element is connected to the torsion spring element support and the torsion spring element base.

[0043] The rotation of the torsion spring element bracket relative to the torsion spring element base causes the torsion spring element to deflect, thereby generating a spring force that can be transmitted to one of the guide elements.

[0044] Particularly preferably, the torsion spring element bracket can be connected to one of the guide elements.

[0045] Preferably, the torsion spring element is a leg spring, but other types of torsion springs are also conceivable.

[0046] This makes it easy to provide a reset module with all the necessary components to apply force to the rotating axis. Since the reset module can be connected to the housing module and the control lever, if the reset module is defective, it can simply be removed.

[0047] According to another preferred embodiment, the guide elements are provided each having a first bearing segment and a second bearing segment, the first bearing segment of the guide element including a first connecting region and the second bearing segment of the guide element including a second connecting region. Particularly preferably, the bearing segments of the guide elements are formed identically. More preferably, the bearing segment of one guide element is different from the bearing segment of the other guide element.

[0048] Preferably, the individual bearing segments are formed such that they can be received by the bearing. Preferably, all bearings and all bearing segments are identical, which allows for a reduction in the manufacturing process. Furthermore, it is not necessary to pay attention to the specific orientation of the guide elements during assembly.

[0049] Different connection regions are advantageous if different add-on modules are to be provided. Therefore, it is particularly preferred that the add-on module includes a first add-on module connection region complementary to the first connection region, or a second add-on module connection region complementary to the second connection region.

[0050] Therefore, it is conceivable to allocate the first connection area to the actuator module and the second connection area to the reset module, or vice versa. For example, it can be determined that only one actuator module and one reset module can be provided on the guide element. Thus, accidental installation of two actuator modules or two reset modules for the guide element can be prevented, thereby preventing malfunctions during operation.

[0051] Particularly preferably, the housing module has four through holes and four coupling regions, each coupling region including a support point, whereby the first rotation axis extends through two opposing through holes, and the second rotation axis extends through two other opposing through holes.

[0052] This means that a maximum of two additional modules can be mounted on each guide element. Therefore, this design of the housing module allows for the following arrangement of the housing module:

[0053] - No actuator module, one actuator module, two actuator modules

[0054] - No reset module, one reset module, two reset modules

[0055] - Any combination of the above.

[0056] If no additional module is provided at the corresponding location of the housing module, a concealed cover may be provided to cover the corresponding coupling area to prevent the ingress of dust, water, etc. Preferably, the concealed cover may include an area that is at least partially, and preferably completely, complementary to the coupling area. Attached Figure Description

[0057] Other advantages, objects and features of the present invention will be explained with reference to the accompanying drawings and the following description, in which the control device is shown and described by way of example.

[0058] The attached image shows:

[0059] Figure 1a Displays the control device according to a preferred embodiment;

[0060] Figure 1b Displays a control device according to another preferred embodiment;

[0061] Figure 2 The exploded view shows the housing module of the control device;

[0062] Figure 3 An exploded view of the display control device actuator module;

[0063] Figure 4 The reset module of the control device is shown in the exploded view;

[0064] Figure 5 Displays various arrangements of interconnected modules. Detailed Implementation

[0065] In the accompanying drawings, the same parts should be understood to have corresponding reference numerals. For clarity, some components may not have reference numerals in some figures, but have been specified elsewhere.

[0066] Figure 1A shows a perspective view of the control device 1 according to a preferred embodiment. The control device 1 includes a housing module 3 and a control lever 2, which are only partially shown here. In addition, additional modules 16, 16', 16'', 16''', 16'''' are shown, wherein the first additional module 16' and the second additional module 16'' are designed as actuator modules 18, and the third additional module 16''' and the fourth additional module 16'''' are designed as reset modules 19.

[0067] The first coupling region 12 and the second coupling region 13 are also visible, while the third coupling region 14 and the fourth coupling region 15 are hidden by the housing module 3. The coupling regions 12, 13, 14, and 15 are designed to complement their respective add-on modules 16, enabling proper installation of the add-on modules 16. A complementary region 17 for the add-on modules 16 is provided for this purpose.

[0068] Similarly, each coupling region 12, 13, 14, 15 has a through hole 10, which is formed as a support point 10 for the guide elements 6, 7, which are also hidden.

[0069] The housing module 3, actuator module 18, and reset module 19 are shown and described in more detail in the following figures.

[0070] Figure 1B shows a similar design to control device 1, but actuator module 18 and the reset module 19 opposite to actuator module 18 have been removed and replaced by a cover 71. As a result, one of the guide elements 6 and 7 is set to be unaffected by external influences, so that no external force is applied to the corresponding guide element 6 or 7.

[0071] Figure 2 The housing module 3 of the control device 1 according to the preferred embodiment is shown in more detail.

[0072] Preferably, the housing module 3 comprises a first housing module component 39 and a second housing module component 40, which are preferably connected to each other by screws 41. Both housing module components 39 and 40 have through-hole components 42, which are formed relative to the housing module components 39 and 40 such that they form through-holes 10. Particularly preferably, all through-holes 10 are formed identically. Particularly preferably, a lower cover element 73 can be provided, which is also connected to the first housing module component 39 by screws 41. More preferably, the cover element can be formed by a PCBA 73, which has a sensor 72 arranged to interact with the magnet 49 and thus detect an initial or intermediate position.

[0073] This design facilitates the assembly of the housing module because the bearing sections 20 and 21 of the guide elements 6 and 7 can be at least partially inserted into the through hole 10.

[0074] The bearing sections 20 and 21 of the guide elements 6 and 7 are designed to connect to the through hole 10 or the support point 10. A first connection area 22 or a second connection area 23 is arranged on each bearing section 20 and 21.

[0075] Preferably, the bearing sections 20 and 21 of one guide element 6 and 7 each have a first connecting region 22, while the bearing sections 20 and 21 of the other guide element 6 and 7 each have a second connecting region 23.

[0076] In addition, coupling regions 12, 13, 14, and 15 are provided, thereby enabling... Figure 2Only the first coupling region 12 and the second coupling region 13 can be identified by the illustration. Similar to the through hole 10 or the support point 10, the coupling regions 12, 13, 14, and 15 are all formed by the first coupling segment 44 and the second coupling segment 45. The first coupling segment 44 is formed on the first housing module component 39, and the second coupling segment 45 is formed on the second housing module component 40. If the housing module 3 composed of the first housing module component 39 and the second housing module component 40 is assembled, the housing module components 39 and 40 complement each other in such a way that the coupling segment regions 44 and 45 form their respective coupling regions 12, 13, 14, and 15.

[0077] Guide elements 6 and 7 are rotatably mounted in support point 10. The first guide element 6 can rotate about the first rotation axis 4, and the second guide element 7 can rotate about the second rotation axis 5. Preferably, the first rotation axis 4 and the second rotation axis 5 are perpendicular to each other.

[0078] Since the control lever 2 cannot be fully displayed, it can have an additional section for better operation. Preferably, this section is located at the second end 9 of the control lever 2.

[0079] The control lever 2 also has a first end 8, which preferably has a channel 46 into which a connecting rod 43 can be introduced to rotatably connect the first guide element 6 to the control lever 2.

[0080] The second guide element 9 is arranged between the first end 8 and the second end 9 of the control lever 2. Preferably, a universal joint bushing 47 is provided, which can also be connected to the first guide element 6 and the second guide element 7 via a connecting rod 43, such that the universal joint bushing 47 can function as a guide in the guide groove of the second guide element 7. Similarly, preferably, the universal joint bushing 47 can be connected to the control lever 2 via a connecting rod 43. More preferably, the universal joint bushing 47 can have a base into which the control lever 2 can be inserted, preferably, the base being at least complementary to the construction of the control lever relative to the first end 8.

[0081] More preferably, a spring is provided, which is operably connected to the universal joint bushing 47 on one hand and to the control lever 2 on the other. In this case, the spring is preloaded so that the spring force acts between the universal joint bushing 47 and the control lever 2, so that the external force acting on the control lever 2 cannot be directly and completely applied to the connecting rod 43, thereby providing a protective function at this point.

[0082] Preferably, a magnet 49 is also provided, which can also apply a reaction force to the control lever 2, thereby preferably being connected to the universal joint bushing 47. Particularly preferably, the control lever 2 has a countermagnet at its lower first end 8, the polarity of which is opposite to that of the magnet 49.

[0083] Figure 3 An additional module 16 is shown, which is designed as an actuator module 18.

[0084] The actuator module 18 includes a drive unit 26 and an output unit 27, wherein the drive unit 26 is preferably designed as an electric motor 29 and the output unit 27 is designed as a planetary gear 28. Similarly, the actuator module 18 includes an actuator module housing 30, which includes a first actuator module housing component 31 and a second actuator module housing component 32.

[0085] Preferably, the planetary gear 28 includes a rotatably mounted sun gear 50, a ring gear 51 radially surrounding the sun gear 50, and a plurality (preferably three) of planetary gears 52 radially arranged between and meshing with the sun gear 50 and the ring gear 51. Preferably, the sun gear 50 is arranged to be aligned with one of the rotation axes 4 and 5 and is mounted to be rotatable about it.

[0086] Preferably, the gear ring 51 is mounted in a fixed position; therefore, the output preferably does not pass through the gear ring 51. The gear ring 51 is preferably formed as part of the first actuator module housing 31.

[0087] Thus, the gear ring 51 is designed to be non-rotatable relative to the actuator module 18, such that the radial position of the gear ring 51 is fixed relative to the rest of the actuator module 18.

[0088] Preferably, the drive is performed via the motor shaft 53 or the motor shaft (motor shaft) and the sun gear 50, whereby the central axis of the motor shaft 53 is preferably aligned with the central axis of the sun gear 50. More preferably, the motor shaft 53 and the sun gear 50 are mechanically engaged, thereby transmitting the torque of the motor 29 to the sun gear 50; preferably, the shaft 53 and the sun gear 50 are rigidly connected to each other. Thus, in particular, the rotation of the motor shaft can be converted into rotation of the sun gear 50 in the same direction and at the same speed.

[0089] The planetary gear 52 is supported by a support element consisting of a first support element component 54 and a second support element component 55. Preferably, the support element of each planetary gear 52 includes a rotation shaft 56 through which the planetary gears 52 are rotatably connected.

[0090] The support element, particularly the first support element component 54, forms a first additional module connection area 24 or a second additional module connection area 25, which can be connected to the corresponding complementary connection areas 22, 23 of the guide elements 6, 7. For this purpose, a first channel 57 is preferably provided in the first actuator module housing component 31 through which the connection between the connection areas 22, 23 and the additional module connection areas 24, 25 can be extended.

[0091] More preferably, the output unit 27 is disposed inside the actuator module housing 30. Preferably, the drive unit 26 is disposed outside the actuator module housing component 30, wherein preferably, the second actuator module housing component 32 has a bracket 58 that is at least partially complementary to the drive unit 27 or the motor 29 and is designed to receive the motor 29, preferably securely preventing it from falling off.

[0092] The electric motor 29 preferably has an electrical connection 59 for operating the electric motor 29, wherein the mounting bracket 58 is preferably designed to receive the electrical connection 59. Preferably, the mounting bracket 58 has a downward opening 60 that can accommodate the electrical connection 59.

[0093] The second actuator module housing component 32 has a second channel 61 through which the motor shaft 52 and / or the sun gear 51 can extend.

[0094] Preferably, a gearbox mount 70 is provided, which is particularly preferably in the form of a helical element. The gearbox mount 70 allows the first support element component 54 and the corresponding connecting areas 22, 23 to be connected to each other in at least an effective manner. The screw head of the gearbox mount 70 specifically serves as a reverse bearing for the first support element component 54.

[0095] Figure 4 Another additional module 16 is shown, which is designed as a reset module 19.

[0096] According to a preferred embodiment, the reset module 19 includes a reset module housing 33, wherein the reset module housing 33 is formed by a first reset module housing component 34 and a second reset module housing component 35 that can be connected to the housing module 3, wherein the reset module 19 includes a torsion spring element 36, a torsion spring element support 37 rotatable relative to the reset module housing 33, and a torsion spring element base 38 fixedly arranged relative to the reset module housing 33, wherein the torsion spring element 36 is connected to the torsion spring element support 37 and the torsion spring element base 38.

[0097] The rotation of the torsion spring element bracket 37 relative to the torsion spring element base 38 causes the torsion spring element 36 to deflect, thereby generating a spring force that can be transmitted to one of the guide elements 6 and 7.

[0098] The torsion spring element bracket 37 preferably includes a first additional module connection area 24 or a second additional module connection area 25, which can be connected to a first connection area 22 or a second connection area 23. The connection between the additional module connection areas 24, 25 and the connection areas 22, 23 extends through the third channel 62 of the reset module 19, and in particular the third channel 62 of the reset module housing 33.

[0099] Particularly preferably, the torsion spring element bracket 37 can be connected to one of the guide elements 6 and 7. More preferably, the torsion spring element bracket 37 is connected to one of the guide elements 6 and 7 via a screw element 74, thereby further preferably, the head of the screw element 74 can be used as a central shaft so that the torsion spring element 36 can be arranged in its position.

[0100] Preferably, the torsion spring element 36 is a leg spring, but other types of torsion springs are also conceivable.

[0101] This makes it easy to provide a reset module 19 with all the necessary components to apply force to the rotating shaft. Since the reset module can be connected to the housing module and the control lever, if the reset module is defective, it can simply be removed.

[0102] The torsion spring element 36 preferably has a first end 63 and a second end 64, the first end 63 preferably being operably connected to the torsion spring element base 38, and the second end preferably being operably connected to the torsion spring element support 37. The torsion spring element base 38 has a recess 65 that extends in both the circumferential and longitudinal directions L of the torsion spring element support 37, such that the first end 63 is received in the recess 65.

[0103] Preferably, the torsion spring element base 38 is circular, and more preferably, the torsion spring element support 37 is configured to be at least partially surrounded by the torsion spring element base 38 such that the torsion spring element base 38 can at least partially accommodate the torsion spring element support 37, thereby enabling a more compact design.

[0104] The torsion spring element base 38 has a circumferential recess 68 that can connect to the protrusion 69 of the first reset module housing component 34. Particularly preferably, the recess 68 and the protrusion 69 are complementary to each other. It is also conceivable that the torsion spring element base 38 includes the protrusion 69 and the first reset module housing component 34 includes the recess 68.

[0105] More preferably, the torsion spring element support 37 has a torsion spring retainer 66 on which the torsion spring element 36 can be disposed. More preferably, the torsion spring element support 37 includes a torsion spring support 67 connectable to a second end 64 of the torsion spring element 36.

[0106] The torsion spring element 36, the torsion spring element base 38, and the torsion spring element bracket 37 are preferably arranged inside the reset module housing 33.

[0107] Preferably, the second reset module housing component 35 serves as a cover member that encloses the reset module housing 35 to the outside.

[0108] Figure 5 Various positions of the control device 1 are shown, with possible arrangements of the additional modules 16, 18, 19 and the housing module 3 illustrated according to the given embodiment. Preferably, two actuator modules 18 and two reset modules 19 are provided, with one actuator module 18 and one reset module 19 assigned to their respective rotation axes 4, 5. Depending on the available space when installing the control device 1, the additional modules 16, 18, 19 may be arranged differently on the housing module 3.

[0109] In principle, the outer casing module 3 can be configured with any combination of the additional modules 16, where all combinations are conceivable, from:

[0110] - No actuator module 18, one actuator module 18, two actuator modules 18;

[0111] - No reset module 19, one reset module 19, two reset modules 19;

[0112] - If no additional modules 16, 18, or 19 are provided at at least one location, that location may be covered by a concealed cover 71;

[0113] - Any combination of the above.

[0114] This means, for example, that actuator module 18 and reset module 19 may not be provided, or there may be one actuator module 18 and one reset module 19, or two actuator modules 18 and no reset module 19, two actuator modules 18 and one reset module 19, or two actuator modules 18 and two reset modules 19.

[0115] Particularly preferably, each guide element 6, 7 can be connected to a maximum of one actuator module 18 and a maximum of one reset module 19.

[0116] All features disclosed in this application are considered to be inventive when they are novel individually or in combination with the prior art.

[0117] List of reference numerals

[0118] 1 Control device

[0119] 2 control levers

[0120] 3 shell modules

[0121] 4 First axis of rotation

[0122] 5 Second axis of rotation

[0123] 6 First guide element

[0124] 7 Second guide element

[0125] 8 control levers, first end

[0126] 9. Control lever second end

[0127] 10 Through Holes, Support Points

[0128] 11 outer

[0129] 12 First coupling region

[0130] 13 Second coupling region

[0131] 14 Third coupling region

[0132] 15 Fourth coupling region

[0133] 16 additional modules

[0134] 16' First Additional Module

[0135] 16'' Second Additional Module

[0136] 16'''Third Additional Module

[0137] 16''''Fourth Additional Module

[0138] 17 complementary regions

[0139] 18 actuator modules

[0140] 19 Reset Module

[0141] 20 First bearing section

[0142] 21 Second bearing section

[0143] 22 First Connection Area

[0144] 23 Second Connection Area

[0145] 24 First Additional Module Connection Area

[0146] 25 Second Additional Module Connection Area

[0147] 26 drive units

[0148] 27 Output Units

[0149] 28 planetary gears

[0150] 29 electric motors

[0151] 30 Actuator Module Housing

[0152] 31 First Actuator Module Housing Component

[0153] 32 Second actuator module housing component

[0154] 33 Reset Module Housing

[0155] 34 First Reset Module Housing Component

[0156] 35 Second Reset Module Housing Component

[0157] 36 Torque Spring Element

[0158] 37 Torque Spring Element Support

[0159] 38 Torque Spring Element Base

[0160] 39 First outer shell module component

[0161] 40 Second outer shell module component

[0162] 41 screws

[0163] 42 through-hole component

[0164] 43 connecting rod

[0165] 44 First coupling component

[0166] 45 Second coupling component

[0167] 46 channels

[0168] 47 Universal joint bushing

[0169] 49 magnets

[0170] 50 Sun Gear

[0171] 51 gear ring

[0172] 52 planetary gears

[0173] 53 motor shaft

[0174] 54 First Support Element Component

[0175] 55 Second support element component

[0176] 56 rotating axes

[0177] 57 First Channel

[0178] 58-seat frame

[0179] 59 Electrical Connection

[0180] 60 downward opening section

[0181] 61 Second Channel

[0182] 62 Third Channel

[0183] 63 Torque Spring Element First End

[0184] 64 Torque Spring Element Second End

[0185] 65 recess

[0186] 66 Torque Spring Retainer

[0187] 67 Torsion Spring Support

[0188] 68 notch

[0189] 69 protrusions

[0190] 70 Gearbox Mount

[0191] 71 Concealed Cover

[0192] 72 sensors

[0193] 73 bottom cover components; PCBA

[0194] 74 screw components

[0195] L-axis

[0196] B width direction

[0197] H-axis (height direction)

Claims

1. A control device (1) for operating at least one actuator of a vehicle, the control device (1) comprising a deflectable control lever (2) and a housing module (3), wherein a first guide element (6) rotatable about a first rotation axis (4) and a second guide element (7) rotatable about a second rotation axis (5) are provided, wherein the first guide element (6) is disposed at a first end (8) of the control lever (2), and the second guide element (7) is disposed between the first end (8) and the second end (9) of the control lever (2). Its features The housing module (3) has at least two through holes (10), both of which are designed as support points (10) for supporting the guide elements (6, 7), such that the guide elements (6, 7) can be contacted from the outside of the housing module (3). The outer shell module (3) has a first coupling region (12) on its outer side (11). The first coupling region (12) includes one of the support points (10), and the first coupling region (12) is designed and configured to receive an additional module (16), the additional module (16) including a region (17) that is at least partially complementary to the first coupling region (12), such that the additional module (16) can be functionally connected to the guide elements (6, 7). The additional module (16) is an actuator module (18) designed to apply torque to either the first rotation axis (4) or the second rotation axis (5). The actuator module (18) includes a drive unit (26) and an output unit (27), and the actuator module (18) forms a motor-gearbox assembly. The actuator module (18) includes an actuator module housing (30), which is formed by a first actuator module housing component (31) and a second actuator module housing component (32) connectable to the housing module (3). The output unit (27) is housed within the actuator module housing (30), and the drive unit (26) is disposed on the second actuator module housing component (32) outside the actuator module housing (30).

2. The control device (1) according to claim 1, Its features It also includes a reset module (19) designed to apply a force to the first rotation axis (4) or the second rotation axis (5) to counteract the deflection of the control lever (2).

3. The control device (1) according to claim 1 or 2, Its features The guide elements (6, 7) each have a first bearing section (20) and a second bearing section (21), the first bearing section (20) of the guide elements (6, 7) includes a first connecting region (22), and the second bearing section (21) of the guide elements (6, 7) includes a second connecting region (23).

4. The control device (1) according to claim 3, Its features The additional module (16) includes a first additional module connection region (24) that is complementary to the first connection region (22) or a second additional module connection region (25) that is complementary to the second connection region (23).

5. The control device (1) according to claim 2, Its features The output unit (27) is formed by a planetary gear (28), and the drive unit (26) is formed by an electric motor (29).

6. The control device (1) according to claim 2, Its features The reset module (19) includes a reset module housing (33), which is formed by a first reset module housing component (34) and a second reset module housing component (35) that can be connected to the housing module (3). The reset module (19) has a torsion spring element (36), a torsion spring element support (37) that can be rotated relative to the reset module housing (33), and a torsion spring element base (38) that is fixedly disposed relative to the reset module housing (33). The torsion spring element (36) is at least operatively connected to the torsion spring element support (37) and the torsion spring element base (38).

7. The control device (1) according to any one of claims 1, 2 and 4-6, Its features The housing module (3) has four through holes (10) and four coupling regions (12, 13, 14, 15), each coupling region including a support point (10), the first rotation axis (4) extending through two opposite through holes (10), and the second rotation axis (5) extending through two other opposite through holes (10).

8. The control device (1) according to any one of claims 1, 2 and 4-6, Its features The first rotation axis (4) and the second rotation axis (5) are perpendicular to each other.

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