Torque assist device and seat suspension

Abstract

The application relates to a torque assisting device and a seat suspension. The torque assisting device comprises a torque output assembly, a torque assisting piece and at least two elastic pieces. The torque output assembly comprises a rotating shaft and is used for outputting torque. The torque assisting piece is connected with the rotating shaft. The at least two elastic pieces are connected with the torque output assembly and are uniformly distributed around the torque assisting piece. During rotation of the rotating shaft in a direction, the torque output assembly drives the at least two elastic pieces to move in the same direction, and the torque assisting piece can compress the at least two elastic pieces in the opposite direction of the direction to generate a reverse torsion force, which is used for compensating the torque. The application can realize reliable torque output under the condition of limited power.

Description

Technical Field

[0001] This application mainly relates to the field of torque compensation mechanism technology, specifically to a torque assist device and a seat suspension. Background Technology

[0002] Torque assist mechanisms control and adjust the connecting devices by outputting torque from a motor. These mechanisms are valuable in applications requiring dynamic balance, such as in vehicle vibration-damping seat systems, where the mechanism outputs torque to maintain seat balance when the seat rolls or pitches due to vehicle movement.

[0003] Existing torque assist mechanisms have limitations, including: as the seat offset angle increases, the required output torque increases, but due to limitations in the motor's rated torque and power, it is often difficult to provide sufficient torque; sustained high torque output can easily lead to motor overheating and wear of transmission components, affecting the mechanism's reliability. While performance can be improved by increasing the motor size, this would increase size and cost. Existing torque assist mechanisms suffer from the inability to achieve reliable torque output under limited power conditions. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a torque assist device and a seat suspension that can achieve reliable torque output under limited power conditions.

[0005] The technical solution adopted in this application to solve the above-mentioned technical problems is a torque assist device, comprising: a torque output component including a rotating shaft, the torque output component being used to output torque; a torque assisting element connected to the rotating shaft; and at least two elastic elements connected to the torque output component, the at least two elastic elements being evenly distributed around the torque assisting element; wherein, during the rotation of the rotating shaft in one direction, the torque output component drives the at least two elastic elements to move in the same direction, and the torque assisting element can compress the at least two elastic elements in the opposite direction to generate a reverse torque, the reverse torque being used to compensate for the torque.

[0006] In one embodiment of this application, the torque assisting component includes a torque assisting arm, which includes a shaped portion and a straight rod portion. The straight rod portion is used to connect with an external target mechanism. The shaped portion is connected to the rotating shaft, and a first groove adapted to the elastic element is provided on the side of the shaped portion facing the elastic element. The number of the first grooves is equal to the number of elastic elements.

[0007] In one embodiment of this application, the torque assist component includes a torque assist arm and a torque assist disk. The torque assist arm includes a connecting portion and a bent rod portion. The connecting portion is connected to the torque assist disk, and the bent rod portion is used to connect to an external target mechanism. The torque assist disk is connected to the rotating shaft. The torque assist disk has a second groove adapted to the elastic element on the side facing the elastic element. The number of the second grooves is equal to the number of elastic elements.

[0008] In one embodiment of this application, the number of elastic elements is even, and the even number of elastic elements are symmetrically arranged in pairs as a group of elastic elements. Each group of elastic elements is located on both sides of the axis of the rotating shaft, and the distance from each group of elastic elements to the axis is equal.

[0009] In one embodiment of this application, the number of elastic elements is odd, and the odd number of elastic elements are evenly distributed circumferentially around the axis of the rotating shaft.

[0010] In one embodiment of this application, the torque output assembly further includes a connecting rod and a reducer. The connecting rod is connected to the rotating shaft through the reducer. The connecting rod is used to connect to an external target mechanism. The torque output assembly is used to output the torque to drive the connecting rod to move, thereby driving the target mechanism to move.

[0011] In one embodiment of this application, a first bearing is also included; the reducer includes a reducer body and a lifting rod, the rotating shaft passes through the reducer body and is connected to the torque assist component; the lifting rod is connected to the connecting rod through the first bearing.

[0012] In one embodiment of this application, an end cap is also included, the end cap being connected to the torque output assembly, and the at least two elastic elements are housed within the end cap.

[0013] In one embodiment of this application, a second bearing and a third bearing are also included. The torque booster is connected to the end cap via the second bearing, and the torque booster is connected to the rotating shaft via the third bearing.

[0014] In one embodiment of this application, a fixing member is further included, which is disposed on the outward-facing end of the torque assist arm and is used to fix the torque assist arm to the target mechanism.

[0015] In one embodiment of this application, the torque assist device is adapted to connect to a vehicle seat and a controller, the controller being configured to adjust the torque output by the torque output component according to torque control parameters calculated using the following formula:

[0016]

[0017] in, This refers to the torque control parameters; This represents the elastic coefficient matrix of the torque assist device; Indicates the current joint angle position of the torque assist device; The gravity matrix of the seating system is represented, the seating system including the vehicle seat, the object supported by the vehicle seat, and the torque assist device; This indicates that the controller performs the derivative gain of the PID controller; This indicates that the controller performs a PID proportional gain; This indicates that the controller is executing the speed error term of the PID controller; This indicates that the controller is executing the position error term of the PID.

[0018] In one embodiment of this application, the position error term It is calculated using the following formula:

[0019]

[0020] in, This indicates the target joint angle position of the torque assist device. It is calculated using an inverse kinematics algorithm based on the vertical vibration displacement, left and right roll angle, and front and rear pitch angle of the vehicle seat.

[0021] To address the aforementioned technical problems, this application also proposes a seat suspension, comprising: a top frame, a bottom frame, and a torque assist device as described above. The top frame is used to connect to the seat body, the top frame is connected to the torque output component of the torque assist device, and the bottom frame is connected to the torque assist element of the torque assist device. During the pitching motion of the top frame, the torque output component is configured to output a torque opposite to the direction of motion to maintain the balance of the top frame.

[0022] The technical solution of this application uses a torque output component to drive uniformly distributed elastic elements to rotate synchronously, and at the same time utilizes a torque assist component to compress the elastic elements in the opposite direction to generate a reverse torque. As the rotation angle of the torque output component gradually increases, the compression volume of the elastic elements by the torque assist component also gradually increases, which can generate a gradually increasing reverse torque to effectively compensate for the torque output by the torque output component. This allows the torque output component to achieve reliable torque output under limited power conditions, thereby improving the stability of the torque output component's operation. Attached Figure Description

[0023] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings, wherein:

[0024] Figure 1 This is a schematic diagram of the overall structure of a torque assist device according to an embodiment of this application;

[0025] Figure 2 This is an exploded view of a torque assist device according to an embodiment of this application;

[0026] Figure 3 This is a cross-sectional view of a torque assist device according to an embodiment of this application, taken in the front view direction.

[0027] Figure 4 This is a cross-sectional view of a torque assist device according to an embodiment of this application, viewed from the side.

[0028] Figure 5 This is a schematic diagram of the lifting rod of the torque output component in the upper swing position in one embodiment of this application;

[0029] Figure 6 This is a schematic diagram showing the lifting rod of the torque output assembly in the center position in one embodiment of this application;

[0030] Figure 7 This is a schematic diagram of the lifting rod of the torque output component in the lowered position in one embodiment of this application;

[0031] Figure 8 This is a schematic diagram showing the relationship between the output torque of the torque output component and the compensated torque in one embodiment of this application;

[0032] Figure 9 This is a schematic diagram of the overall structure of a torque assist device with three elastic elements according to another embodiment of this application;

[0033] Figure 10 This is an exploded view of a torque assist device with three elastic elements according to another embodiment of this application;

[0034] Figure 11 This is a schematic diagram of the lifting rod of the torque output component in the upper swing position in another embodiment of this application;

[0035] Figure 12 This is a schematic diagram showing the lifting rod of the torque output assembly in the center position in another embodiment of this application;

[0036] Figure 13 This is a schematic diagram of the lifting rod of the torque output component in the lowered position in another embodiment of this application;

[0037] Figure 14 This is a cross-sectional view of the torque assist device according to another embodiment of this application, viewed from the side.

[0038] Figure 15 This is a schematic diagram of the overall structure of a torque assist device with four elastic elements according to another embodiment of this application;

[0039] Figure 16 This is an exploded view of a torque assist device with four elastic elements according to another embodiment of this application;

[0040] Figure 17 This is a schematic diagram of the lifting rod of the torque output component in the upper swing position in another embodiment of this application;

[0041] Figure 18 This is a schematic diagram showing the lifting rod of the torque output component in the center position in another embodiment of this application;

[0042] Figure 19 This is a schematic diagram of the lifting rod of the torque output component in the lowered position in another embodiment of this application;

[0043] Figure 20 This is a cross-sectional view of the torque assist device according to another embodiment of this application, viewed from the side.

[0044] Figure 21 This is an exploded view of a torque assist device with five elastic elements according to another embodiment of this application;

[0045] Figure 22 This is a schematic diagram of the lifting rod of the torque output component in the upper swing position in another embodiment of this application;

[0046] Figure 23 This is a schematic diagram of the lifting rod of the torque output component in the center position in another embodiment of this application;

[0047] Figure 24 This is a schematic diagram of the lifting rod of the torque output component in the lowered position in another embodiment of this application;

[0048] Figure 25 This is a schematic diagram of a seat suspension according to an embodiment of this application;

[0049] Figure 26 This is a schematic diagram of the base frame of the torque assist device and the seat suspension in one embodiment of this application;

[0050] Figure 27 This is a schematic diagram of a seat suspension and a vehicle seat in one embodiment of this application;

[0051] Figure 28 This is a block diagram illustrating the overall control principle of the torque assist device and the vehicle seat in one embodiment of this application;

[0052] Figure 29 This is a block diagram illustrating the control principle of a single torque assist device in one embodiment of this application.

[0053] Explanation of reference numerals in the accompanying drawings for specific embodiments:

[0054] 1. Torque booster device;

[0055] 11. Torque output component;

[0056] 111. Shaft;

[0057] 112. Connecting rod;

[0058] 113. Gearbox;

[0059] 1131. Gearbox body;

[0060] 1132. Lifting rod;

[0061] 114. Electric motor;

[0062] 12. Torque booster;

[0063] 121. Torque assist arm;

[0064] 1211. Irregular parts;

[0065] 1212. Straight rod section;

[0066] 1213. Connecting part;

[0067] 1214. Bending section of the rod;

[0068] 122. Torque booster disc;

[0069] 1231. First groove;

[0070] 1232. Second groove;

[0071] 13. Elastic components;

[0072] 141. First bearing;

[0073] 142. Second bearing;

[0074] 143. Third bearing;

[0075] 15. End cap;

[0076] 16. Fasteners;

[0077] 161. Rubber sleeve retaining ring;

[0078] 2. Seat suspension;

[0079] 21. Top frame;

[0080] 22. Base frame;

[0081] 3. Vehicle seats;

[0082] 31. Seat body;

[0083] 4. Screws. Detailed Implementation

[0084] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0085] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein, and therefore this application is not limited to the specific embodiments disclosed below.

[0086] As illustrated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0087] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0088] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0089] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0090] The embodiments of this application are described below based on the accompanying drawings. However, the embodiments shown below are examples of torque assist devices and seat suspensions used to embody the technical concept of this application, and the torque assist devices and seat suspensions of this application are not specifically defined as follows. This application is by no means intended to limit the scope of this application to the dimensions, materials, shapes, and relative arrangements of the constituent components described in the embodiments. In particular, unless otherwise specified, it is not intended to limit the scope of this application to these aspects, but merely to provide illustrative examples.

[0091] However, the dimensions or positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity. Therefore, in the following description, detailed descriptions of the same names and symbols representing the same or homogeneous components are appropriately omitted. Furthermore, the elements constituting this application may be multiple elements composed of the same components, thus allowing one component to function as multiple elements; conversely, multiple components may share the function of one component. Additionally, the content described in some embodiments and implementations can be applied to other embodiments and implementations. Furthermore, in this specification, "upper" is not limited to the case of being formed in contact with an upper surface, but also includes the case of being formed separately on top, and also includes the meaning of an intermediate layer between layers.

[0092] This application uses flowcharts or control principle block diagrams to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0093] This application proposes a torque assist device that can be applied to scenarios where torque output components (such as motors) need to achieve reliable torque output under limited power conditions. For example, the torque assist device can be connected to a vehicle seat with vibration damping function. The torque assist device can provide torque assistance to the rolling and pitching movements of the vehicle seat to avoid power overload and loss of control of the vehicle seat system.

[0094] Figure 1 This is a schematic diagram of the overall structure of a torque assist device according to an embodiment of this application. Figure 2 This is an exploded view of a torque assist device according to an embodiment of this application. (Reference) Figure 1 and Figure 2 As shown, the torque assist device 1 of this embodiment includes a torque output assembly 11, a torque assist component 12, and at least two elastic components 13. Figure 2 Two elastic elements 13 are shown. Specifically, the torque output assembly 11 includes a rotating shaft 111, and the torque output assembly 11 is used to output torque. The component of the torque output assembly 11 that outputs torque can be a motor 114; the torque booster 12 is connected to the rotating shaft 111. (See reference...) Figure 3 As shown, at least two elastic elements 13 are connected to the torque output assembly 11, and at least two elastic elements 13 are evenly distributed around the torque assisting element 12.

[0095] refer to Figures 5 to 7 As shown, during the rotation of the shaft 111 in one direction (not shown in the figure), the torque output assembly 11 drives at least two elastic elements 13 to move in the same direction (such as along...). Figure 5 The U-shaped direction is shown, swinging upwards, or along... Figure 7 (As shown, the D direction swings downwards), the torque booster 12 can compress at least two elastic elements 13 in the opposite direction to generate a reverse torque, which is used to compensate for the torque. Figure 5 and Figure 7 The elastic element 13 shown is in a compressed state.

[0096] For example, the torque output component 11 corresponds to the reduction gear swing arm linkage assembly. (See reference...) Figure 2 As shown, the elastic element 13 can be a circular elastic block, which can be made of rubber. A suitable elastic modulus can be set to improve the lifespan of the elastic element 13. Currently, existing torque assist mechanisms rely solely on the motor 114 to output torque. To overcome the limitations of existing torque assist mechanisms, this application designs a series of structures, including the elastic element 13 and the torque assist element 12, which can control the torque output by the torque output component 11 within a suitable range.

[0097] refer to Figure 8 As shown, as the swing arm angle increases, the output torque of the torque output component gradually increases, and the reverse torque generated by the torque booster also gradually increases. After compensating for the torque with the reverse torque, the torque output component only needs to output less torque to maintain a specific target swing arm angle.

[0098] The torque assist device 1 of this application has a compact structure. It drives the uniformly distributed elastic elements 13 to rotate synchronously through the torque output component 11. At the same time, it utilizes the torque assist component 12 to compress the elastic elements 13 in the opposite direction to generate a reverse torque. As the rotation angle of the torque output component 11 gradually increases, the compression volume of the elastic elements 13 by the torque assist component 12 also gradually increases, which can generate a gradually increasing reverse torque to effectively compensate for the torque output by the torque output component 11. This allows the torque output component 11 to achieve reliable torque output under limited power conditions, thereby improving the working stability of the torque output component 11.

[0099] refer to Figure 2 and Figure 3 As shown, in some embodiments, the torque assist component 12 includes a torque assist arm 121, which includes a shaped portion 1211 and a straight rod portion 1212. The straight rod portion 1212 is used to interact with an external target mechanism (such as...). Figure 27 The seat suspension 2 shown is connected; the irregular part 1211 is connected to the rotating shaft 111, and the irregular part 1211 is provided with a first groove 1231 adapted to the elastic member 13 on the side facing the elastic member 13. The number of first grooves 1231 is equal to the number of elastic members 13.

[0100] For example, the design of the torque booster 12 in this application makes the torque transmission more accurate and reliable. The groove structure can effectively limit the elastic element 13 and guide the elastic element 13 to compress and deform, ensuring the stable transmission of reverse torque, while simplifying the assembly process and improving the compactness of the device.

[0101] refer to Figure 9 and Figure 10 As shown in the figure, the structural design corresponding to the three elastic elements 13 is illustrated. In some embodiments, the torque assist element 12 includes a torque assist arm 121 and a torque assist disk 122. (Reference) Figure 14 As shown, the torque assist arm 121 includes a connecting portion 1213 and a bending rod portion 1214. The connecting portion 1213 is connected to the torque assist disk 122, and the bending rod portion 1214 is used to connect with an external target mechanism (such as...). Figure 27 The seat suspension 2) shown is connected; the torque booster disc 122 is connected to the pivot 111. (Reference) Figures 10 to 13 As shown, the torque assist disk 122 has a second groove 1232 on the side facing the elastic member 13, which is adapted to the elastic member 13. The number of second grooves 1232 is equal to the number of elastic members 13.

[0102] For example, by designing the torque assist component 12 as a combined structure including the torque assist arm 121 and the torque assist disk 122, this application can optimize the torque transmission path. The groove structure can guide the compression deformation of the elastic component 13, ensuring the uniform distribution and efficient transmission of the reverse torque. The design of the bent rod portion 1214 enhances the adaptability and compactness of the structure, making it easy to connect with different external mechanisms.

[0103] refer to Figures 15 to 20 As shown in the figure, the structural design corresponding to the four elastic elements 13 is illustrated. (Reference) Figure 3 and Figure 18 As shown, in some embodiments, the number of elastic elements 13 is even (e.g., two, four, six, etc.), and the even number of elastic elements 13 are symmetrically arranged in pairs as a group of elastic elements. Each group of elastic elements is located on the axis of the rotating shaft 111 (e.g., Figure 4 On both sides of axis L shown in the figure, the distance from each set of elastic elements to the axis is equal.

[0104] For example, by symmetrically arranging an even number of elastic elements 13 on both sides of the axis of the rotating shaft 111, this application can improve the stability of torque compensation, enhance the force balance of the overall structure, and thus improve the smooth operation and service life of the device.

[0105] refer to Figures 21 to 24 As shown in the figure, the structural design corresponding to the five elastic elements 13 is illustrated. (Reference) Figure 12 and Figure 23 As shown, in some embodiments, the number of elastic elements 13 is odd (e.g., three, five, seven, etc.), and the odd number of elastic elements 13 are evenly distributed circumferentially around the axis of the rotating shaft 111. Exemplarily, by distributing the odd number of elastic elements 13 evenly circumferentially around the axis of the rotating shaft 111, this application can enhance the stress balance and reliability of the overall structure.

[0106] refer to Figure 1 and Figure 2 As shown, in some embodiments, the torque output assembly 11 further includes a connecting rod 112 and a reducer 113. The connecting rod 112 is connected to the rotating shaft 111 via the reducer 113. The connecting rod 112 is used to interact with an external target mechanism (such as...). Figure 27 The seat suspension 2) shown is connected, and the torque output assembly 11 is used to output torque to drive the linkage 112 to move, thereby driving the target mechanism to move. For example, refer to... Figures 5 to 7 As shown, the torque output component 11 can drive the connecting rod 112 along the torque output path. Figure 5 The U-shaped swing direction shown causes the target mechanism to swing upwards as well; the torque output component 11 can drive the connecting rod 112 along the direction of the torque output. Figure 7 The D direction shown swings downwards, thereby causing the target mechanism to swing downwards as well.

[0107] This application, by setting up a connecting rod 112 and a reducer 113, enables the torque generated by the rotating shaft 111 to be transmitted to the connecting rod 112 after adjustment by the reducer 113, thereby driving the target mechanism to move. The reducer 113 can optimize the transmission of torque; the connecting rod structure simplifies the connection method with the external target mechanism, improves the assembly efficiency and the reliability of motion transmission.

[0108] refer to Figures 1 to 4 As shown, in some embodiments, the torque assist device 1 further includes a first bearing 141; the reducer 113 includes a reducer body 1131 and a lifting rod 1132, and the rotating shaft 111 passes through the reducer body 1131 and is connected to the torque assist component 12; the lifting rod 1132 is connected to the connecting rod 112 through the first bearing 141.

[0109] For example, the first bearing 141 can be a flat bearing, with two flat bearings arranged opposite each other on both sides of the lifting rod 1132. The lifting rod 1132 is equivalent to the output swing arm of the reducer. By designing the reducer 113 into a structure including the reducer body 1131 and the lifting rod 1132, this application achieves a low-friction connection between the lifting rod 1132 and the connecting rod 112 through the first bearing 141, ensuring smooth torque transmission and enhancing the reliability of the lifting structure.

[0110] refer to Figure 1 and Figure 2 As shown, in some embodiments, the torque assist device 1 further includes an end cap 15, which is connected to the torque output assembly 11, and at least two elastic elements 13 are housed within the end cap 15. Exemplarily, the end cap 15 and the torque output assembly 11 can be connected by screws 4, and the end cap 15 acts as a resilient mounting cover. This application utilizes the design of the end cap 15 to protect the internal elastic elements 13, preventing external environmental influences on the performance of the elastic elements 13 and extending the service life of the device.

[0111] refer to Figure 2 and Figure 4 As shown, in some embodiments, the torque assist device 1 further includes a second bearing 142 and a third bearing 143. The torque assist component 12 is connected to the end cap 15 via the second bearing 142, and the torque assist component 12 is connected to the rotating shaft 111 via the third bearing 143. Exemplarily, the second bearing 142 ensures smooth and stable relative movement between the torque assist component 12 and the end cap 15, while the third bearing 143 improves the efficiency of torque transmission. This application, through the dual bearing structure of the second bearing 142 and the third bearing 143, can reduce the mechanical wear of the torque assist device 1, thereby improving the stability and service life of the device.

[0112] refer to Figure 3As shown, in some embodiments, the torque assist device 1 further includes a fixing member 16, which is disposed on the outward-facing end of the torque assist arm 121. The fixing member 16 is used to connect the torque assist arm 121 to the target mechanism (such as...). Figures 25 to 27 The seat suspension 2) shown is fixedly connected. For example, the fixing member 16 can be a fixing sleeve, which is positioned at the outward-facing end of the torque assist arm 121. A retaining ring 161 can also be provided on the outside of the fixing member 16 to increase the stability of the connection between the torque assist arm 121 and the target mechanism.

[0113] This application enhances the connection strength between the torque assist arm 121 and the target mechanism by setting the fixing component 16, preventing relative displacement or loosening, and ensuring a stable connection between the torque assist arm 121 and the target mechanism. This effectively transmits torque and maintains structural stability. This connection method simplifies the installation and disassembly process, and facilitates maintenance and component replacement.

[0114] This application also designs a control method for the output torque of the torque assist device 1. For example, in practical application scenarios, the torque assist device 1 is suitable for use with a vehicle seat 3 (such as...). Figure 27 The torque output component 11 is connected to a controller (not shown in the figure), and the controller is configured to adjust the torque output by the torque output component 11 according to the torque control parameters. The principle of torque control in this application will be introduced first, and the calculation method of torque control parameters will be explained later.

[0115] refer to Figure 27 As shown, the seat structure of this application is a parallel seat structure with a torque assist device 1 and a seat suspension 2 and a vibration damping function, which can effectively alleviate the insufficient output of the motor 114 of the torque assist device 1. The system model of the torque assist device can be represented by formula (1):

[0116] (1)

[0117] in, The joint space inertia matrix of the torque assist device; This indicates the current joint angle position of the torque assist device (i.e., the joint space position, which can be obtained from the degree of rotation of the motor shaft); Indicates the current speed of the torque booster; Indicates the current acceleration of the torque booster; The matrix represents the Coriolis force and the centrifugal force. This represents the gravity matrix of the seating system, which includes the vehicle seat, the object supported by the vehicle seat, and the torque assist device. The matrix representing the elastic coefficients of the torque assist device, such as Figure 26As shown, this application provides three torque assist devices. Therefore, the elastic coefficient vectors of the three torque assist devices together constitute an elastic coefficient matrix, which is related to the material elastic modulus of the torque assist device. This indicates the torque control parameter, which is used in this application to adjust the torque output of the torque output component.

[0118] Ideally, the torque assist device can completely balance the gravity term of the seat system, which can be expressed by formula (2).

[0119] (2)

[0120] Substituting formula (2) into formula (1) and rearranging, we get formula (3).

[0121] (3)

[0122] As can be seen from formula (3), when the torque assist device can completely balance gravity, the output force of the torque output component can be effectively reduced. When the torque assist device cannot completely balance gravity, the residual gravity term can be compensated by feedforward compensation. Therefore, this application designs a controller with residual gravity compensation, which runs a proportional-integral-derivative (PID) algorithm, and is therefore also referred to as a PID controller in this application.

[0123] In some embodiments, the torque control parameters are calculated using the following formula (4):

[0124] (4)

[0125] in, Indicates torque control parameters; This represents the elastic coefficient matrix of the torque assist device; Indicates the current joint angle position of the torque assist device; This represents the gravity matrix of the seating system, which includes the vehicle seat, the object supported by the vehicle seat, and the torque assist device. This represents the derivative gain of the PID controller. This indicates the proportional gain of the controller when performing a PID control. This indicates the speed error term of the PID controller. This indicates the position error term of the PID controller. yes The derivative of .

[0126] For example, this application calculates the torque control parameters by designing the above formula (4). It can automatically combine the seat system's status with parameters such as proportional gain, derivative gain, and error term of PID control to quickly respond to seat position and speed deviations, suppress vibration, and improve the stability and adaptability of torque adjustment, thus achieving intelligent and high-precision seat posture control.

[0127] In some embodiments, the position error term It is calculated using the following formula (5):

[0128] (5)

[0129] in, This indicates the target joint angle position of the torque assist device. It is calculated using an inverse kinematics algorithm based on the vertical vibration displacement, left and right roll angle, and front and rear pitch angle of the vehicle seat. The rotation angle of the motor shaft can be calculated in reverse using the inverse kinematics algorithm.

[0130] This application, by real-time calculation of multi-dimensional vibration parameters of the vehicle seat (such as vertical vibration displacement, lateral roll angle, and fore-and-aft pitch angle), can quickly respond to the comprehensive vibration state of the seat and generate a target joint angle position that matches the current vibration mode. Combined with the position error term To provide feedback on the torque control parameters It can effectively compensate for seat posture shift caused by road bumps and improve the seat's vibration damping effect.

[0131] Figure 28 This is a block diagram illustrating the overall control principle of the torque assist device and the vehicle seat in one embodiment of this application. Figure 29 This is a block diagram illustrating the control principle of a single torque assist device in one embodiment of this application. Exemplary, Figure 29 The control flow shown corresponds to Figure 28 One of the three branch path regions, for example Figure 29 The control process can correspond to Figure 28 The area is 2800. This application incorporates three torque assist devices in the seat suspension, therefore... Figure 28 The torque assist device is referred to as No. 1, No. 2, and No. 3. This application does not limit the number of torque assist devices.

[0132] refer to Figure 28 As shown, in the “Seat Suspension and Human Body Model”, ms is the equivalent mass of the seat and passenger; mu is the mass of the vehicle cabin; Zr is the ground bump displacement; Zu is the cabin bump displacement; Zs is the seat vertical displacement; ku is the tire elastic coefficient; Ru is the cabin roll angle; and Pu is the cabin pitch angle.

[0133] Sensors installed in the passenger compartment can detect the vertical vibration acceleration ddZu, lateral roll angular velocity dRu, and longitudinal pitch angular velocity dPu of the vehicle seat when the vehicle is traveling on bumpy roads. Then, an integrator can calculate the vertical vibration displacement Zu, lateral roll angle Ru, and longitudinal pitch angle Pu of the vehicle seat. An inverse kinematics algorithm can then be used to calculate the target position of each torque assist device (i.e., ...). Figure 29 The target joint angle position of the torque assist device shown in the figure Based on the target position of each torque assist device, a PID controller can perform PID closed-loop control on each individual torque assist device, thereby ensuring that the vehicle seat remains level regardless of road surface roughness and providing active vertical damping, thus improving ride comfort.

[0134] For example, Figure 29 The control principle flow of the single torque assist device shown can be understood by referring to the formulas (1) to (5) mentioned above. Figure 29 This is equivalent to a control block diagram of a single torque booster with residual gravity compensation. Figure 29 Target joint angle position It can be done Figure 28 The inverse algorithm is used to obtain it. Figure 29 The calculation formula in It can be by Figure 28 It is run by the PID controller in the middle. This represents the Laplace transform factor. The PID controller calculates the torque control parameters. This adjusts the torque output of the torque output component, thereby affecting the seat suspension and the human body model, so that the seat suspension remains balanced. Figure 29 Output of the process It can correspond to Figure 28 The feedback position of torque assist device No. 1 within the central area 2800.

[0135] refer to Figure 29 As shown, the seat suspension and the human body model can provide feedback on the residual gravity after compensation by the torque assist device (i.e., Ideally, the compensated residual gravity should be equal to 0. However, in reality, there may be a non-zero difference. Therefore, the torque control parameters need to be adjusted based on the compensated residual gravity. The calculation is then used to optimize the torque control parameters. .

[0136] refer to Figures 25 to 27As shown, embodiments of this application also disclose a seat suspension 2, which includes a top frame 21, a bottom frame 22, and a torque assist device 1 as described above. The top frame 21 is connected to the seat body 31, and the top frame 21 is connected to the torque output component 11 of the torque assist device 1. The bottom frame 22 is connected to the torque assist element 12 of the torque assist device 1. During the pitching motion of the top frame 21, the torque output component 11 is configured to output a torque opposite to the direction of motion to maintain the balance of the top frame 21.

[0137] For example, Figure 27 The vehicle seat 3 shown is equivalent to a rocking-damping seat. In practical applications, when the vehicle seat 3 rolls and pitches away from the center of seat balance (i.e., the original zero position), the torque required for the torque output component 11 to perform work tends to gradually increase. The torque assist device 1 of this application can generate a correspondingly increasing counter-torque (i.e., assist torque), thus compensating for the power consumption of the torque output component 11 and reducing its design power. For example, to maintain seat balance, conventional torque assist mechanisms require an output of 30 N·m (Newton-meters). The torque of the torque booster device 1 of this application is only required to output a torque of 15 N·m.

[0138] This application, by incorporating a torque assist device 1 into the seat suspension 2, can assist in the balance control of the seat suspension 2. For example, when the overhead frame 21 undergoes pitching motion, the torque assist device 1 can provide a counter-torque according to the direction of motion to help counteract the seat tilt caused by road bumps, thereby maintaining the dynamic balance of the overhead frame 21.

[0139] While the foregoing disclosure has discussed various embodiments that are currently considered useful, it should be understood that such details are for illustrative purposes only, and this application is not limited to the disclosed embodiments. Rather, this application is intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on existing servers or mobile devices.

[0140] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned foregoing. In fact, the embodiments have fewer features than all the features of the single embodiments disclosed above.

[0141] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0142] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of this application will fall within the scope of this application.

Claims

1. A torque assist device, characterized in that, include: A torque output component, including a rotating shaft, is used to output torque; A torque booster is connected to the rotating shaft; At least two elastic elements are connected to the torque output assembly, and the at least two elastic elements are evenly distributed around the torque assist component; During the rotation of the shaft in one direction, the torque output component drives the at least two elastic elements to move in the same direction, and the torque assist component can compress the at least two elastic elements in the opposite direction to generate a reverse torque, which is used to compensate for the torque.

2. The torque assist device as described in claim 1, characterized in that, The torque assist component includes a torque assist arm, which includes a shaped portion and a straight rod portion. The straight rod portion is used to connect with an external target mechanism. The shaped portion is connected to the rotating shaft. The shaped portion has a first groove adapted to the elastic element on the side facing the elastic element. The number of the first grooves is equal to the number of elastic elements.

3. The torque assist device as described in claim 1, characterized in that, The torque assist component includes a torque assist arm and a torque assist disk. The torque assist arm includes a connecting part and a bending rod part. The connecting part is connected to the torque assist disk, and the bending rod part is used to connect to an external target mechanism. The torque assist disk is connected to the rotating shaft. The torque assist disk has a second groove adapted to the elastic element on the side facing the elastic element. The number of the second grooves is equal to the number of elastic elements.

4. The torque assist device as described in any one of claims 1-3, characterized in that, The number of elastic elements is even, and the even number of elastic elements are symmetrically arranged in pairs as a group of elastic elements. Each group of elastic elements is located on both sides of the axis of the rotating shaft, and the distance from each group of elastic elements to the axis is equal.

5. The torque assist device as described in any one of claims 1-3, characterized in that, The number of elastic elements is odd, and the odd number of elastic elements are evenly distributed circumferentially around the axis of the rotating shaft.

6. The torque assist device as described in claim 1, characterized in that, The torque output assembly further includes a connecting rod and a reducer. The connecting rod is connected to the rotating shaft through the reducer. The connecting rod is used to connect to an external target mechanism. The torque output assembly is used to output the torque to drive the connecting rod to move, thereby driving the target mechanism to move.

7. The torque assist device as described in claim 6, characterized in that, It also includes a first bearing; the reducer includes a reducer body and a lifting rod, the rotating shaft passes through the reducer body and is connected to the torque assist component; the lifting rod is connected to the connecting rod through the first bearing.

8. The torque assist device as described in claim 1, characterized in that, It also includes an end cap, which is connected to the torque output assembly, and the at least two elastic elements are housed within the end cap.

9. The torque assist device as described in claim 8, characterized in that, It also includes a second bearing and a third bearing. The torque booster is connected to the end cap via the second bearing, and the torque booster is connected to the rotating shaft via the third bearing.

10. The torque assist device as described in claim 2 or 3, characterized in that, It also includes a fixing member disposed on the outward-facing end of the torque assist arm, which is used to fix the torque assist arm to the target mechanism.

11. The torque assist device as described in claim 1, characterized in that, The torque assist device is adapted to connect to a vehicle seat and a controller, the controller being configured to adjust the torque output by the torque output component according to torque control parameters calculated using the following formula: in, This refers to the torque control parameters; This represents the elastic coefficient matrix of the torque assist device; Indicates the current joint angle position of the torque assist device; The gravity matrix of the seating system is represented, the seating system including the vehicle seat, the object supported by the vehicle seat, and the torque assist device; This indicates that the controller performs the derivative gain of the PID controller; This indicates that the controller performs a PID proportional gain; This indicates that the controller is executing the speed error term of the PID controller; This indicates that the controller is executing the position error term of the PID.

12. The torque assist device as described in claim 11, characterized in that, The position error term It is calculated using the following formula: in, This indicates the target joint angle position of the torque assist device. It is calculated using an inverse kinematics algorithm based on the vertical vibration displacement, left and right roll angle, and front and rear pitch angle of the vehicle seat.

13. A seat suspension, characterized in that, include: The top frame, the bottom frame, and the torque assist device as described in any one of claims 1-12, wherein the top frame is used to connect to the seat body, the top frame is connected to the torque output component of the torque assist device, and the bottom frame is connected to the torque assist component of the torque assist device; During the pitching motion of the top frame, the torque output component is configured to output a torque opposite to the direction of motion to maintain the balance of the top frame.

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