Actuator arrangement with a magnetorheological rotary brake

Abstract

An actuator arrangement (100) comprising a braking device (1) with two terminal ends (2, 3) movable relative to each other, the relative movement of which can be braked. One of the two terminal ends is an actuating terminal end (2) and is connectable to an actuating element (4) and can be moved from a rest position (5) to an actuating position (6). The other terminal end (3) is connectable to a support device (50). A transmission rod (7) is included, which is coupled to one of the two terminal ends (2, 3). The braking device (1) has a controllable magnetorheological rotary brake (10) with two rotating units rotatable relative to each other. A conversion device (20) is provided for converting a longitudinal movement (8) of the transmission rod (7) into a rotary movement (15) of the rotary component (15) and vice versa.A freewheel device is formed between the rotating component and one of the rotating units of the rotary brake, which transmits a torque in one direction of rotation and enables a freewheel state in the other direction of rotation.

Description

[0001] The present invention relates to an actuator arrangement with a magnetorheological rotary brake whose rotational movement can be braked. The magnetorheological rotary brake is part of a braking device having at least two connecting ends that are movable relative to one another and whose relative movement can be braked. One of the two connecting ends is an actuatable connecting end and can be connected, in particular, to an actuating element and moved from a rest position to at least one actuated position. The other connecting end is preferably connectable to a support device.

[0002] In the prior art, various actuator arrangements have become known which comprise a braking device with a magnetorheological rotary brake.

[0003] It is the object of the present invention to provide an actuator arrangement with improved properties.

[0004] This object is achieved by an actuator arrangement having the features of claim 1. Advantageous actuator arrangements, developments, and refinements are specified in the further claims. Further advantages and features of the present invention will become apparent from the general description and the description of the exemplary embodiments.

[0005] An actuator arrangement according to the invention comprises at least one braking device with at least two connecting ends movable relative to one another, the relative movement of which can be braked. One of the two connecting ends is an actuatable connecting end and is in particular connectable to an actuating member. The actuatable connecting end can be transferred from a rest position into at least one actuated position. Another or the other of the two connecting ends is connectable to a carrier device. A transmission rod is included, which is coupled to one of the two connecting ends. The braking device comprises at least one controllable magnetorheological rotary brake with two rotary units rotatable relative to one another (about a rotational axis). A conversion device is provided for converting a longitudinal movement of the transmission rod into a rotary movement of the rotary component and vice versa.Preferably, (at least) one freewheel device is coupled or formed between the rotary component and one of the rotary units of the rotary brake, which transmits a torque in one direction of rotation and enables (and preferably ensures) a freewheeling state in the other direction of rotation.

[0006] The actuator arrangement according to the invention has many advantages. A significant advantage of the actuator arrangement according to the invention is that a longitudinal movement (which is particularly designed as a linear movement) is converted into a rotary movement of a rotary component. This converts a longitudinal movement or a linear movement into a rotary movement, allowing flexible braking of the magnetorheological rotary brake.

[0007] The actuating element can be designed in different ways. For example, the actuating element can be designed as an actuating pedal, an operating unit or operating device, a pivoting lever, or the like. The transmission rod can be designed as a conversion rod, an actuating rod, or even as a rack or spindle. The support device can be included in the actuator assembly or can be a separate component not included in the actuator assembly and can serve, for example, to accommodate an actuator assembly. This can be, for example, a device, a vehicle, or another type of apparatus.

[0008] Preferably, the rotary component can be coupled to the rotary brake, in particular by means of a freewheel device. A (or at least one) freewheel device (in the torque flow) between the rotary component and the rotary brake, which is in particular accommodated between the rotary component and the rotary brake, is very advantageous. The freewheel device transmits a torque in particular in one direction of rotation and allows or ensures a freewheeling state in the other direction of rotation. This is particularly advantageous because a freewheel device makes it possible for the rotary brake to be active (only) in one direction of rotation, while it is, for example, disengaged in the other direction of rotation and thus contributes nothing (or almost nothing) to a base torque of the rotary brake or the braking device. As a result, such a design can provide a particularly smooth-running braking device.Actuation and resetting can be performed faster and with less (additional) force. Furthermore, it ensures that the rotary brake is rotated further with each actuation, but the direction of rotation does not reverse. This ensures even loading of the rotary brake across its entire circumference, preventing localized wear. Furthermore, it ensures complete mixing of the magnetorheological medium. No, or at least virtually no, dead spaces remain without mixing. When a powder is used as the magnetorheological medium, the powder is continually redistributed.

[0009] An actuator arrangement equipped with this feature allows for a particularly high ratio of maximum torque or braking torque to the minimum effective base torque. Even if a magnetorheological rotary brake is designed and constructed with care to achieve a low base torque, the specified parameters still result in a relatively high base torque (at a specified or desired maximum braking torque that should be achievable), which is noticeable to the user upon actuation. The base torque of a magnetorheological rotary brake is considerably greater than the base torque of a conventional brake with friction linings. The base torque of a magnetorheological rotary brake can influence the actuation and the haptics during use and actuation in such a way that the user does not receive optimal feedback.However, if a (particularly mechanical) freewheel device is integrated into the actuator arrangement, the low basic torque has a positive effect.

[0010] For example, the force required for resetting is lower. This allows for a smaller restoring force, as the base torque is lower. This ensures that the actuating force can be lower when operating the actuator, for example. A lower actuating force is then required to achieve a desired or appropriate response, which improves the haptic feedback. Resetting can occur more quickly with less force.

[0011] The rotary brake preferably has (at least) one outer rotary unit and (at least) one inner rotary unit rotatable relative thereto about a rotation axis. Preferably, the outer rotary unit surrounds the inner rotary unit at least partially or almost completely.

[0012] It is particularly preferred that the freewheel device comprises two cooperating freewheel parts, wherein one of the freewheel parts is coupled to the rotary component and wherein the other freewheel part is coupled to one of the rotary units.

[0013] It is possible and preferred that one of the freewheel parts is formed on the rotating component. It is possible and preferred that one of the freewheel parts (namely, preferably the other freewheel part) is formed on one of the rotating units.

[0014] A freewheel part formed on the rotating component and a freewheel part formed on one of the rotating units enable a compact and simple design.

[0015] For the purposes of this application, the term "connection end" is to be interpreted broadly. According to the application, a connection end is understood to be a force transmission element via which a force can be transmitted to the actuator assembly. On the other hand, a force can also be exerted by the actuator assembly via the connection end or force transmission element. The respective connection end, which can thus also be referred to as a force transmission element, can be designed, for example, as a bearing journal, as a component of a bolt-and-bracket connection, or as part of a ball joint connection, etc. Other configurations are also possible.

[0016] In preferred refinements of all embodiments, at least one reset device is preferably included, which moves the operable connection end (directly or indirectly) (in particular automatically) into the rest position. A reset device can, for example, preload the operable connection end into the rest position. It is also possible for the reset device to move the operable connection end into the rest position using a motor. A spring device, which can operate magnetically, mechanically, or pneumatically, for example, is suitable for preloading into the rest position.

[0017] In preferred embodiments, the reset device is arranged adjacent to and / or spaced from the braking device. For example, it is preferred that the reset device be arranged next to and preferably not concentrically (and / or coaxially) with the braking device. This allows, for example, a mechanical reset device to be easily adjustable. Overall, a compact design of an actuator arrangement is enabled.

[0018] In other embodiments, it is preferred that the reset device (radially) surrounds the transmission rod or is arranged within the transmission rod. For example, the reset device can be designed as a type of spiral spring whose windings extend around (or within) the transmission rod. It is also possible for the reset device to have two or more reset units that extend adjacent (and in particular approximately parallel) to the transmission rod.

[0019] Preferably, the actuating member is arranged, formed, or fastened to a lever device, wherein the lever device comprises at least one lever arm, and wherein the lever device is pivotally attachable or is pivotally attached to the support device. In a specific embodiment, the lever device comprises (at least) one lever arm with (at least) one actuating member, preferably at one end (or in the vicinity thereof), while the lever device is pivotally received on the support device at the other end (or in the vicinity thereof). This allows for an advantageous embodiment in which a pivoting movement of the lever arm is converted into a linear movement or longitudinal movement of the transmission rod.

[0020] Preferably, according to the application, a mechanical device is referred to as an actuating member, which can be operated (actuated) by the user to adjust the actuator arrangement, wherein an actuating force (or an actuating torque) can be applied by the user. In a simple embodiment, the actuating member can be designed as a pedal, foot pedal, or hand pedal. However, it is also possible for the actuating member to be designed as, or be suitable as, a handle, grip, plate, or (computer) key. Thus, in simple embodiments, the actuating member can also be a part or a separate or integrated section or an end, e.g., of a lever arm or a lever device, which is suitable for actuation with the hand, one or more fingers, the foot, the arm, a knee, a leg, or another body part, or by means of other aids.

[0021] Preferably, the actuatable connecting end is pivotally attachable or secured to the lever device. This converts a pivoting movement of the lever device into a pivoting movement of the actuatable connecting end. The pivoting movement of the actuatable connecting end is converted into a linear movement, which is in turn converted into a rotary or pivoting movement by the conversion device.

[0022] In a further development, the linear movement along the longitudinal axis of the transmission rod is converted by the conversion device into a rotary or pivoting movement of one (inner) rotary unit relative to the other (outer) rotary unit of the rotary brake about the rotational axis. The longitudinal movement along the longitudinal axis of the transmission rod is caused by the movement of the connecting ends relative to one another. Preferably, the rotational axis of the rotary brake is coaxial and particularly preferably coincident with the longitudinal axis of the transmission rod.

[0023] Preferably, the other connection end is pivotally coupled to the support device. Such configurations allow for a flexible and compact arrangement.

[0024] In preferred embodiments, a pivot axis of the actuatable connection end and / or the lever device is aligned transversely to the rotation axis of the rotary brake.

[0025] In advantageous embodiments, a pivot axis of the actuatable connection end, a pivot axis of the lever device, and a pivot axis of the other connection end each run transversely and in particular perpendicularly to a rotation axis of the rotary brake. In advantageous embodiments, a pivot axis of the actuatable connection end, a pivot axis of the lever device, and a pivot axis of the other connection end define vertices of a polygon with a polygonal surface and in particular vertices of a triangle with a triangular surface. Preferably, the rotation axis of the rotary damper runs (approximately) parallel to or within the polygonal surface. The pivot axes are then aligned transversely to the polygonal surface (or triangular surface). Particularly preferably, the pivot axes of the actuatable connection end, the lever device, and the other connection end are aligned (approximately) perpendicularly to the triangular surface.

[0026] In all embodiments, it is particularly preferred that the freewheel device is mechanically designed and engages and disengages via a mechanical intervention. The freewheel device can, for example, comprise a pawl freewheel and / or a toothed disc freewheel and / or a roller freewheel (also called a clamping roller freewheel). A pawl freewheel is usually oriented radially, while a toothed disc freewheel engages and disengages in the axial direction. A roller freewheel has the advantage of generating less noise and, in some cases, enabling silent operation. A toothed disc freewheel or a pawl freewheel, on the other hand, usually generates (minor) noise, which, depending on the application, can be irritating or even annoying to the user. If quiet operation is important, a roller freewheel offers advantages.

[0027] In all embodiments, it is particularly preferred that the freewheel device is controllable, preferably electrically controllable. However, it is also possible for the freewheel device to be magnetically, electrically, pneumatically, hydraulically, or mechanically controllable. A controllable freewheel device can be activated as needed. In preferred embodiments, for example, two counter-rotating freewheel devices can be included, at least one of which is controllable. Then, one (selectable) direction of movement can be selectively braked, while, for example, the freewheel acts in the other direction, enabling low-friction movement.

[0028] In all embodiments, it is preferred that the conversion device comprises two spindle units coupled to one another. Preferably, one of the two spindle units is formed on the transmission rod. This spindle unit can be designed, for example, as a threaded spindle or can comprise (one, two, or more) outwardly projecting drivers. The transmission rod can be designed, for example, as a spindle axis or comprise at least a section of a spindle axis. The transmission rod is preferably designed to be non-rotatable. It is also conceivable for the transmission rod to be mounted rotatably relative to the connection ends. The transmission rod is preferably made of solid material.

[0029] In all embodiments, it is particularly preferred that the spindle or spindle units are designed so that they are not self-locking. It is particularly preferred that the conversion device converts the corresponding movements in both directions. This means that a longitudinal movement of the transmission rod in a first direction results in a corresponding rotational movement of the rotary component. Conversely, a corresponding longitudinal movement of the transmission rod in one direction or the other direction results when the rotary component is rotated accordingly.

[0030] The spindle units preferably have a spindle pitch between 30° and 70°. Pitch angles of (approximately) 40° to 60° are preferred.

[0031] It is preferred that the other of the two spindle units is formed on the rotary component and, for example, is designed as a spindle nut or includes one. The spindle unit on the rotary component can, for example, also include (one, two, or more) inwardly projecting drivers. In such configurations, reliable guidance of the two spindle units relative to each other is always ensured. A reliable conversion of a longitudinal movement (in one direction or the other) into a rotational movement of the rotary component is achieved.

[0032] In other embodiments, it is possible for the conversion device to comprise two interacting toothings. The transmission rod can comprise a rack section, and the rotary component can have external toothing that interacts with the rack section. This also converts a longitudinal movement into a rotary movement.

[0033] In preferred embodiments, the rotary brake radially surrounds the freewheel device at least in sections. This enables a particularly compact design. The freewheel device can be partially or completely housed within the rotary brake.

[0034] The braking device can have a central receptacle for the transmission rod. The transmission rod then preferably enters the central receptacle (on one side) or at least dips into it. It is also possible for the transmission rod (at least in some positions) to completely penetrate the central receptacle, so that the transmission rod extends completely through the rotary brake.

[0035] In other embodiments, it is possible for the freewheel device (or a freewheel device) to be arranged axially adjacent to the rotary brake. This may make the brake device somewhat longer in the axial direction. However, a smaller diameter in the radial direction can be achieved.

[0036] The braking device preferably comprises a housing. Particularly preferably, the rotary brake comprises a casing part on the outer rotary unit, a core on the inner rotary unit, an electrical coil unit, and at least one braking gap between the core and the casing part. The braking gap preferably comprises at least one magnetorheological medium.

[0037] In all embodiments, it is particularly preferred and advantageous for the magnetorheological medium to be in the form of a powder. In particular, the powder is contained in a gas, preferably in air. In particular, the magnetorheological medium comprises magnetically responsive (magnetizable) particles and gas as a filling medium. In particular, the magnetically responsive particles are contained in air. In particular, the magnetorheological medium is in the form of a powder. With such a magnetorheological medium, the invention presented here enables a particularly low fundamental moment. Alternatively, it is conceivable and possible for the magnetorheological medium to comprise magnetizable particles and a carrier fluid, such as oil, water, or alcohol.

[0038] It is particularly preferred that the magnetizable particles (in each case) consist predominantly of carbonyl iron powder or derivatives thereof. Other magnetically responsive particles are also possible. The magnetizable particles can have coatings to protect against abrasion and / or corrosion and / or additional components to make the magnetically responsive particles more durable, abrasion-resistant, and / or more lubricious during operation. The magnetorheological medium can, for example, comprise a graphite additive.

[0039] Preferably, the electrical coil unit is attached to and / or accommodated in the casing part. In preferred embodiments, the core comprises two core parts, which together form a circumferential outer contour with a circumferential groove. The electrical coil unit is preferably accommodated or arranged in the circumferential groove in such a way that relative rotation of the core to the electrical coil unit is possible. The electrical coil unit can then, for example, be supplied with power from the outside and be designed to be stationary.

[0040] Preferably, at least one braking gap or the braking gap is formed radially between the core and the casing part. The braking gap can have a (also periodically) variable gap height over the circumference.

[0041] Preferably, at least one sensor is included for detecting a relative rotation of the rotary component with respect to the transmission rod. Preferably, a control device is included for controlling the coil unit depending on the angle of rotation and / or depending on the distance between the connecting ends. Alternatively or additionally, the pivot angle of the lever device or the change in the distance between the connecting ends could also be measured by at least one sensor (e.g., indirectly via displacement sensors on the transmission rod). The actuator arrangement can also be controlled by this.

[0042] Particularly preferably, (at least) one characteristic curve of the actuator arrangement can be preconfigured and set using the control device and the at least one sensor. It is also possible for multiple characteristic curves of the actuator arrangement to be preconfigured and stored in an internal memory of the control device or in an external memory. This allows for the setting of any desired force curves across the angle of rotation.

[0043] In a further embodiment, the invention is directed to a brake pedal assembly which is intended in particular for the electrically controlled actuation of vehicle brakes or for use in a simulator (of, for example, vehicles or vehicle brakes). The brake pedal assembly comprises at least one actuator assembly with at least one braking device having at least two connecting ends which are movable relative to one another and whose relative movement can be braked. One of the two connecting ends is an actuatable connecting end and is connectable or connected to a brake pedal as an actuating element and can be transferred from at least one rest position to at least one actuated position. The other connecting end of the two connecting ends can be connected to a carrier device. A transmission rod is included which is coupled to one of the two connecting ends.The braking device comprises a controllable magnetorheological rotary brake with two rotary units rotatable relative to one another (about a rotational axis). A conversion device is provided for converting a longitudinal movement of the transmission rod into a rotary movement of the rotary component and vice versa. Particularly preferably, (at least) one freewheel device is coupled or formed between the rotary component and one of the rotary units of the rotary brake, which transmits a torque in one direction of rotation and enables a freewheeling state in the other direction of rotation. It is possible for the freewheel device to ensure a freewheeling state.

[0044] Such a brake pedal assembly may further comprise (at least) one brake such as a vehicle brake, or the vehicle brake may be associated with it. The vehicle brake is actuated or adjusted via a (controllable) actuating unit. For example, the brake pedal assembly may be used on a vehicle that includes at least one vehicle brake. The applicant reserves the right to claim a vehicle component (and a vehicle) that includes a previously described brake pedal assembly and a vehicle brake. The vehicle brake is actuated by an actuating unit, wherein the actuating unit is (remotely) controlled by a control device.

[0045] The control device is preferably configured and designed to adjust the actuating unit depending on a relative position of the actuating element (brake pedal) of the brake pedal arrangement. In doing so, a movement resistance of the actuating element is adjusted depending on the relative position of the actuating element. When adjusting the movement resistance (the braking force or braking torque) of the magnetorheological rotary brake, sensor data from additional sensors can be consulted and taken into account. For example, data from speed sensors, from sensors for detecting ambient conditions (temperature, humidity, wind), from sensors for detecting the distance and speed of people and / or vehicles and / or moving or stationary objects (parked cars, trees, etc.) can be taken into account. Sensors or data about the current location (e.g., via GPS or other localization data, Wi-Fi, cell tower, etc.) can also be used.), the traffic condition or traffic density or the permitted or recommended maximum speed.

[0046] Another simple actuator arrangement according to the invention comprises (at least) one braking device with at least two connecting ends movable relative to one another, the relative movement of which can be braked. One of the two connecting ends is an actuatable connecting end and is connectable to an actuating member. The actuatable connecting end can be transferred from a rest position into at least one actuated position. The other connecting end is connectable or connected to a support device. A transmission rod is included, which is coupled to one of the two connecting ends. The braking device has a controllable magnetorheological rotary brake with two rotary units rotatable relative to one another. A conversion device is provided for converting a longitudinal movement of the transmission rod into a rotary movement of a rotary component and vice versa.

[0047] Preferably, a freewheel device is formed between the rotary component and one of the rotary units of the rotary brake, which transmits a torque in one direction of rotation and enables a freewheeling state in the other direction of rotation.

[0048] In preferred embodiments, an operating device comprising (at least) one actuator arrangement is provided. The actuator arrangement is preferably designed according to at least one of the previously described embodiments.

[0049] Furthermore, the invention is directed to an operating device comprising an actuator arrangement with a braking device having at least two connecting ends that can be moved relative to one another and whose relative movement can be braked. One of the two connecting ends is an actuatable connecting end and can be connected to an operating lever as an actuating element and can be transferred from a rest position into at least one actuated position. The other connecting end is connectable to a carrier device. A transmission rod is included, which is coupled to one of the two connecting ends. The braking device has a controllable magnetorheological rotary brake with two rotary units that can be rotated relative to one another. In addition, a rotary component that can be coupled to the rotary brake and a conversion device for converting a longitudinal movement of the transmission rod into a rotary movement of the rotary component and vice versa are provided and comprised.

[0050] Preferably, an actuator arrangement according to the application can be provided for a brake pedal for the electrically controlled actuation of vehicle brakes or for use in a simulator with an actuator arrangement as described above. In particular, the values ​​detected by at least one sensor are used as a default value for controlling a vehicle brake or a virtual brake in a simulator for a (driving) simulation, etc.

[0051] The invention makes it possible to provide a brake-by-wire brake pedal device (foot lever, brake pedal) with a magnetorheological rotary brake, whereby the haptics or force feedback of the braking system can be specified. For example, in simulators, appropriate braking characteristics can be set depending on the simulated vehicle type. When used in vehicles, the haptics can be adapted to the needs and preferences of the driver. For example, the driver's height and build, as well as their preferences, can be taken into account when adjusting the pedal's haptics.

[0052] Preferably, a spindle unit is pivotally connected to the brake pedal as a transmission rod. The magnetorheological rotary brake and the lever arm are also preferably pivotally mounted on a support device or base.

[0053] Because the rotational axis of the magnetorheological rotary brake is spaced apart from the pivot axis of the lever device or lever arm, larger braking torques can be generated more easily. This translates the movement or translates the acting forces or torques.

[0054] A return device is preferably provided in the brake pedal assembly or operating device and comprises, in particular, a return spring and / or a motor. The return device returns the actuating element or pedal toward the rest position or initial position upon reduction or removal of the actuating force.

[0055] The brake pedal arrangement preferably comprises a freewheel device, wherein, for example, the one and, for example, inner rotary unit can be coupled to a spindle nut via the freewheel device. The spindle nut can then interact, for example, with the external thread of the spindle. The freewheel device enables the magnetorheological rotary brake to exert a (freely adjustable) braking torque or an (adjustable) braking torque curve only upon movement from the initial position towards the actuated position. Decoupling is possible upon movement in the opposite direction. This allows the base torque of the magnetorheological rotary brake to be decoupled or switched off. Such a freewheel device can be arranged and connected radially or axially.

[0056] Particularly preferably, the transmission device of the brake pedal assembly is non-self-locking. This means that a longitudinal movement of the transmission rod (in either direction) leads to a corresponding rotation of the rotary component, and vice versa.

[0057] A reset mechanism for the brake pedal assembly, which returns the actuating element from the actuated position to the rest position, is very advantageous when used as a brake pedal. In other designs and applications, a reset mechanism is not necessarily required or provided.

[0058] Such actuator arrangements are well suited, for example, to operate a brake pedal using the brake-by-wire principle. In this case, the brake pedal is not directly connected to the brake pads via hydraulic lines. When the user presses the brake pedal, corresponding sensors detect the movement, and an electrical digital or analog signal is transmitted to the braking system or used in a driving simulator.

[0059] The invention can be used to realize a brake-by-wire arrangement and an operating lever arrangement and also an actuator arrangement, for example for damping a movement of a car door.

[0060] The actuator device according to the invention can also be used for the path-dependent damping of the movement of a linearly movable control element, e.g. a (computer) key.

[0061] Further advantages and features of the present invention will become apparent from the embodiments which are explained below with reference to the accompanying figures.

[0062] The figures show: Fig. 1 a schematic perspective view of an actuator arrangement in a rest position; Fig. 2 the actuator arrangements from Fig. 1 in an operating position; Fig. 3 a side view of the actuator arrangement according to Fig. 1; Fig. 4 a schematic section through an actuator arrangement according to the application; and Fig. 5 a schematic section through another actuator arrangement according to the application.

[0063] Fig. 1 shows an actuator assembly 100, which is designed as a brake pedal assembly 200 or operating device 300 and here comprises an actuating member 4. The actuating member 4 is arranged on a lever device 51, which is pivotably mounted on a support device 50 about a pivot axis 51a. Fig. 1 shows the rest position 5. The actuatable connection end 2 of the braking device 1 is pivotally connected to the actuating member 4 or the lever device 51 in an articulated or pivotable manner about the pivot axis 2a.

[0064] The actuatable connecting end 2 is formed or attached to the transmission rod 7, which here forms a spindle unit or threaded spindle 21. The actuatable connecting end 2 is rotationally fixedly coupled to the transmission rod 7 in this embodiment. The connecting end 2 is pivotally connected to the lever device 51 by means of a bolt (not shown in detail). The pivot axis 2a does not have to be formed at the very end of the transmission rod 7. However, it is advantageous in many embodiments.

[0065] The threaded spindle as spindle unit 21 extends into a central receptacle 18 of the braking device 1. The braking device 1 is pivotally mounted about a pivot axis 3a of the other connection end 3 of the braking device 1. The other connection end 3 can, for example, be formed on a housing 30 of the braking device 1 and be pivotally attached to a support plate 50a. Fig. 5, for example, shows pivot pins 3b attached to the housing 30, which form the connecting end 3. In the exemplary embodiment, a bolt-and-lug connection is provided. A hole in the support plate 50a of the support device 50 serves for fastening. The support plate 50a is firmly connected to the support device 50.

[0066] When the actuating element 4 is actuated from the Fig. 1 shown rest position 5 (= initial position in the non-actuated state of the actuating element 4) into the Fig. In the actuating position 6 shown in Figure 2, the lever arm 51 is pivoted about the pivot axis 51a. As a result, the transmission rod 7 is pushed (further) into the central receptacle 18 and can exit at the other end from the central receptacle 18, which is continuous here, as shown here in Fig. 2 can be seen.

[0067] The braking device 1 further comprises a freewheel device 16 and the magnetorheological rotary brake 10. The magnetorheological rotary brake 10 is accommodated in the housing 30, or the casing part forms part of the housing 30.

[0068] Approximately parallel to the transmission rod 7, a return device 17 can be seen here, which is also pivotally attached to the lever device 51. The return device 17 is pivotably received there about the pivot axis 17a. The return device 17 here comprises a guide rod 19 and a guide rod 19 extending around the guide rod 19 (and in Fig. 1 and Fig. 2) coil spring, which preloads the braking device 1 into the rest position 5. The restoring force of the restoring device 17 is dimensioned such that a reliable and adequate restoring speed is enabled.

[0069] At the lower or rear end of the braking device 1, which is arranged opposite the actuating member 4, the sensor device 37 can be seen, which is arranged centrally around the central receptacle 18 and enables the determination or knowledge of a relative position of the transmission rod 7.

[0070] In this exemplary embodiment, the sensor device 37 detects the movement of the rotary brake 10, or the relative rotation of the inner rotary unit 12, to which a magnet 37a is coupled (and in particular fastened thereto), and the outer rotary unit 11, to which the magnetic sensor 37b of the sensor device 37 is coupled. In particular, the magnetic sensor 37b of the sensor device 37 is fastened to the outer rotary unit 11. An additional sensor 38 detects the relative rotation of the spindle nut 22 and the spindle (transmission rod 7). The sensor 38 detects any movement of the transmission rod, whereas the sensor device 37, due to the freewheel 16, only detects the movement from the rest position 5 toward the actuated position 6.

[0071] In principle, the sensor device 37 can be omitted in this embodiment. However, by comparing the signals from the sensor device 37 and the sensor 38, the correct function of the freewheel 16 can be checked.

[0072] Fig. 2 shows the actuator arrangement 100 from Fig. 1 in actuation position 6, in which the actuating element 4 is largely actuated. Here, it is clearly visible that the transmission rod 7 is immersed deep into the central receptacle 18 and protrudes again from the magnetorheological rotary brake 10 at the rear end of the braking device. By moving the actuating element 4 into actuation position 6, the guide rod 19 of the return device 17 also protrudes a corresponding distance at the bottom. This ensures a corresponding return force of the return device 17.

[0073] Fig. 3 shows a side view of the actuator assembly 100 from Fig. 1, wherein the rest position 5 is shown here. In the side view, it can be seen that the pivot axis 2a of the actuatable connection end 2, the pivot axis 3a of the other connection end 3 and the pivot axis 51a of the lever device 51 together form a polygon or triangle or form or define a triangular surface, and here triangular surface 53, which encloses the rotational axis 13 of the transmission rod 7. The respective pivot axes are perpendicular to the triangular surface 53. The pivot axis 51a is spaced from the rotational axis 13 and is arranged transversely and in particular orthogonally to the rotational axis 13 of the rotary brake 10 and the longitudinal axis of the transmission rod 7.

[0074] The side view also clearly shows the return mechanism 17 with the guide rod 19 and the spiral spring extending around it. Instead of a single spiral spring, several spiral springs can be used, for example, arranged adjacent to the guide rod 19.

[0075] When the actuating member 4 is actuated, the transmission rod 7 is inserted into the magnetorheological rotary brake 10 and displaces the rotary component 14 (see Fig. 4) into a rotary motion. At the same time, the magnet 37a also rotates, enabling position detection or tracking of the actuating element 4 or the transmission rod 7.

[0076] Fig. Figure 4 shows a possible design of the braking device 1, in which the actuatable connecting end 2 can be seen at the left end here. The connecting end 2 can be pivoted about the pivot axis 2a. The connecting end 2 is connected to the transmission rod 7, which here is designed as a spindle unit 21 or spindle axis. The spindle unit 22, which is designed as a spindle nut and is arranged here inside the braking device 1, interacts with the spindle unit 21. The spindle units 21 and 22 are part of the conversion device 20, which converts linear movements of the transmission rod 7 into a rotary movement of the rotary component 14. The rotary component 14 is formed here by the spindle nut 22 and the rotary part 14a. Formed or fastened to the spindle nut 22 (here by means of several screws not shown in more detail), the rotary part 14a forms a type of sleeve and radially surrounds the transmission rod 7.The rotating part 14a is connected to the spindle nut 22 in a rotationally fixed manner.

[0077] The rotary component 14 here directly forms part of the freewheel device 16, which transmits a rotary movement from the rotary component 14 to the inner rotary unit 12 of the magnetorheological rotary brake 10 in one direction of rotation. A freewheel state is set in the other direction of rotation, so that a controllable braking torque can be applied in one direction of rotation, while a freewheel state is set in the other direction of rotation, so that only a very low base torque has to be overcome during rotation, which is therefore not influenced at all by the magnetorheological rotary brake.

[0078] The freewheel device 16 is here in the Fig. 4, the freewheel device 16 is received radially inside the magnetorheological rotary brake 10. The freewheel device 16 is designed here as a clamping roller freewheel and, in the illustrated embodiment, comprises rollers 16c which, in the freewheeling state (first direction of rotation), are loosely received between an inner freewheel part 16a and an outer freewheel part 16b. When the outer freewheel part 16b rotates relative to the inner freewheel part 16a, the rollers 16c become jammed between the inner and outer freewheel parts 16a, 16b (= clamping state), whereby a torque, in particular the braking torque of the rotary brake 10, can be transmitted to the actuating element 4.

[0079] In the Fig. In the embodiment shown in Figure 4, the freewheel device 16 has optional bearing rollers 16d for supporting the inner freewheel part 16a relative to the outer freewheel part 16b. Bearing rollers are generally not required. Other bearings can also be used.

[0080] The magnetorheological rotary brake 10 comprises an outer rotary unit 11 and an inner rotary unit 12, wherein the inner rotary unit 12 also forms or can form a (here radially outer) part 16a of the freewheel device 16. The radially inner freewheel part 16a is formed directly on the rotary component 14 or is provided on the rotary part 14a or is attached thereto.

[0081] The outer rotating unit 11 is rotatably mounted relative to the inner rotating unit 12 via the bearings 27.

[0082] The magnetorheological rotary brake 10 comprises a radially outer shell part 31 and two core parts 32a, 32b, which together form the core 32, in which a circumferential groove 36 is formed. This simplifies manufacturing and assembly. The electrical coil unit 33 is accommodated in the circumferential groove 36. The connecting cables 39 of the electrical coil unit 33 are led outward through the shell part 31. The electrical coil unit 33 is fixedly and non-rotatably attached to the shell part 31. Here, the core 32 is attached to the inner rotating unit 12 and rotates together with the inner rotating unit 12.

[0083] A braking gap 34 is formed radially between the shell part and the core 32, which is at least partially filled with a magnetorheological medium 35. The magnetorheological medium 35 can be a magnetizable powder or a fluid. In all cases, seals 28 are provided to seal the braking gap 34 from the outside and prevent or reduce the escape of the magnetorheological medium 35.

[0084] As an example, a magnetic field 29 is schematically shown, which extends around the coil windings of the electrical coil unit 33 through the core parts 32a, 32b. The magnetic field lines pass through the braking gap 34 in the radial direction and are guided in the axial direction through the casing part 31 before the magnetic field lines pass through the magnetic gap 34 again and enter the other core part 32a or 32b.

[0085] With increasing magnetic field strength, an increasing braking effect is set, so that a longitudinal movement 8 of the transmission rod 7, or the rotation of the inner rotating unit 12 relative to the outer rotating unit 11, is braked accordingly.

[0086] To detect the position or the relative position of the two spindle units 21, 22 to each other or the relative position of the two connection ends 2, 3 to each other or the position of the actuating element 4, a sensor device 37 is provided, which here comprises a magnetic sensor 37b and magnetic rings 37a or a magnetic ring and is designed in particular as a Hall sensor. The housing 30 with the casing part 31 does not rotate, but is pivotally mounted about the pivot axis 3a.

[0087] The design according to Fig. 4 allows a very compact design with a short axial length.

[0088] Fig. 5 shows an alternative embodiment in which the freewheel device 16 is axially connected to the magnetorheological rotary brake 10.

[0089] Fig. 5 shows a preferred embodiment and here a cross section. Fig. 5 shows a useful and preferred cross-section through the construction of the Fig. 1 to 3. It is also possible that the internal structure during construction according to Fig. 1 to 3 also from the cross section according to Fig. 5. Not shown in Fig. 5 in any case the support device 50, the actuating member 4 and also not the support plate 50a. However, it is also possible that a (modified) construction according to Fig. 4 also (in an adapted manner) in an actuator arrangement 100 according to the Fig. 1 to 3 is used.

[0090] Here too, Fig. 5 at the actuating end 2 of the transmission rod 7, the connecting end 2 is pivotably received about the pivot axis 2a. Here, too, the transmission rod 7 is designed as a spindle unit 21 and interacts with a spindle nut 22 as a rotary component 14, which transmits the linear movements of the transmission rod 7 into rotary movements of the rotary component 14. The rotationally fixed coupling of the outer part 16b of the freewheel device 16 with the inner rotary unit 12 enables an adjustable deceleration of a rotary movement in one direction of rotation, while in the other direction of rotation, a freewheeling state is established and there is no or only an extremely slight deceleration of the rotary movement. This makes it possible to provide an advantageous actuator arrangement 100 in which a very high ratio of maximum braking torque to minimum base torque is achieved during resetting.

[0091] The freewheel device 16 can in the embodiment according to Fig. 5 can also feature (optional) bearing rollers 16d or separate bearings. This offers advantageous properties. However, it is also possible to dispense with such bearings or bearing rollers 16d.

[0092] In Fig. Figure 5 shows the additional magnetic ring 38a. This is useful for determining the relative position of the transmission rod 7 with the sensor 38. List of reference symbols: 1 braking device 2 connection end (operable) 2a Swivel axis of 2 3 Connection end 3a Swivel axis of 3 3b Swivel bolt 4 Actuating element 5 Resting position 6 Operating position 7 Transmission rod 8 Longitudinal movement 10 magnetorheological rotary brake 11 outer rotating unit 12 inner rotating unit 13 axis of rotation 14 Turning component 14a Turned part 15 rotational movement 16 Freewheel device 16a (inner) freewheel part 16b (outer) freewheel part 16c reels of 16 16d bearing rollers of 16, bearing 17 Reset device 17a Swivel axis of 17 18 recording 19 Guide rod 20 Conversion facility 21 Spindle unit 22 spindle unit 26 warehouses 27 camps 28 Seal 29 Magnetic field 30 housings 31 Sheath part 32 core 32a core part 32b core part 33 Coil unit 34 brake gap 35 magnetorheological medium 36 circumferential groove 37 Sensor device 37a Sensor holder 37a Magnet 37b Magnetic sensor 38 Sensor (additional) 38a Magnetic ring 39 cables for 33 50 carrier device 50a carrier plate 51 Lever device 51a Swivel axis of 51 53 polygonal area, triangular area 100 actuator arrangement 200 Brake pedal arrangement 300 operating device

Claims

[1] Actuator arrangement (100) comprising a braking device (1) with at least two connection ends (2, 3) which are movable relative to one another and whose relative movement can be braked, wherein one of the two connection ends is an actuatable connection end (2) and can be connected to an actuating member (4) and can be transferred from a rest position (5) into at least one actuating position (6), and of which the other connection end (3) can be connected to a carrier device (50), wherein a transmission rod (7) is included which is coupled to one of the two connection ends (2, 3), wherein the braking device (1) a controllable magnetorheological rotary brake (10) with two rotary units (11, 12) rotatable relative to one another, wherein a conversion device (20) is provided for converting a longitudinal movement (8) of the transmission rod (7) into a rotary movement (15) of a rotary component (14) and vice versa, characterized by , that a freewheel device (16) is formed between the rotary component (14) and one of the rotary units (11, 12) of the rotary brake (10), which transmits a torque in one direction of rotation and enables a freewheeling state in the other direction of rotation. [2] Actuator arrangement (100) according to the preceding claim, wherein the rotary brake (10) has an outer rotary unit (11) and an inner rotary unit (12) rotatable relative thereto about a rotation axis (13). [3] Actuator arrangement (100) according to one of the two preceding claims, wherein the freewheel device (16) comprises two cooperating freewheel parts (16a, 16b), and wherein one of the freewheel parts (16a) is coupled to the rotary component (14) and wherein the other freewheel part (16b) is coupled to one of the rotary units (12). [4] Actuator arrangement (100) according to the preceding claim, wherein one of the freewheel parts (16a) is formed on the rotary component (14). [5] Actuator arrangement (100) according to one of the two preceding claims, wherein one of the freewheel parts (16b) is formed on one of the rotary units (12). [6] Actuator arrangement (100) according to one of the preceding claims, wherein at least one return device (17) is included, which automatically transfers the actuatable connection end (2) into the rest position (5). [7] Actuator arrangement (100) according to the preceding claim, wherein the return device (17) preloads the actuatable connection end (2) into the rest position (5). [8] Actuator arrangement (100) according to one of the two preceding claims, wherein the return device (17) is arranged adjacent to the braking device (1). [9] Actuator arrangement (100) according to one of the three preceding claims, wherein the reset device (17) surrounds the transmission rod (7) and / or wherein the reset device (17) has two or more reset units extending adjacent to the transmission rod (7). [10] Actuator arrangement (100) according to one of the preceding claims, wherein the actuating member (4) is arranged on a lever device (51) which comprises a lever arm (52), wherein the lever device (51) is pivotally attachable to the carrier device (50). [11] Actuator arrangement (100) according to one of the preceding claims, wherein the actuatable connection end (2) is pivotally attachable to the lever device (51). [12] Actuator arrangement (100) according to one of the preceding claims, wherein the other connection end (3) is pivotally coupled to the carrier device (50). [13] Actuator arrangement (100) according to one of the preceding claims, wherein a pivot axis (2a, 51a) of the actuatable connection end (2) and / or of the lever device (51) is aligned transversely to the rotational axis (13) of the rotary damper (10). [14] Actuator arrangement (100) according to one of the preceding claims, wherein a pivot axis (2a) of the actuatable connection end (2), a pivot axis (51a) of the lever device (51) and a pivot axis (3a) of the other connection end (3) form corner points of a polygonal surface (53). [15] Actuator arrangement (100) according to one of the preceding claims, wherein the freewheel device (16) is mechanically designed. [16] Actuator arrangement (100) according to the preceding claim, wherein the freewheel device (16) is controllable. [17] Actuator arrangement (100) according to one of the preceding claims, wherein the conversion device (20) comprises two spindle units (21, 22) coupled to one another. [18] Actuator arrangement (100) according to the preceding claim, wherein one of the two spindle units (21, 22) is formed on the transmission rod (7) and is designed, for example, as a threaded spindle (21) or comprises outwardly projecting drivers. [19] Actuator arrangement (100) according to one of the two preceding claims, wherein the other of the two spindle units (22) is formed on the rotary component (14) and is designed, for example, as a spindle nut (22) or comprises inwardly projecting drivers. [20] Actuator arrangement (100) according to one of the preceding claims, wherein the rotary brake (10) radially surrounds the freewheel device (16) at least in sections. [21] Actuator arrangement (100) according to one of the preceding claims, wherein the braking device (1) has a central receptacle (18) for the transmission rod (7) and wherein the transmission rod (7) at least dips into the central receptacle (18). [22] Actuator arrangement (100) according to one of the preceding claims, wherein the freewheel device (16) is arranged axially adjacent to the rotary brake (10). [23] Actuator arrangement (100) according to one of the preceding claims, wherein the rotary brake (10) comprises a casing part (31) on the outer rotary unit (11), a core (32) on the inner rotary unit (12), an electrical coil unit (33) and at least one braking gap (34) between the core (32) and casing part (31), wherein the braking gap (34) comprises at least one magnetorheological medium (35). [24] Actuator arrangement (100) according to the preceding claim, wherein the electrical coil unit (33) is received on the casing part (31). [25] Actuator arrangement (100) according to one of the two preceding claims, wherein the core (32) comprises two core parts (32a, 32b) which together form a circumferential outer contour with a circumferential groove (36), wherein the electrical coil unit (33) is received in the circumferential groove (36) such that a relative rotation of the core (32) to the electrical coil unit (33) is possible. [26] Actuator arrangement (100) according to one of the three preceding claims, wherein at least one / the braking gap (34) is formed radially between the core (32) and the casing part (31). [27] Brake pedal arrangement (200), in particular for the electrically controlled actuation of vehicle brakes or for use in a simulator, comprising an actuator arrangement (100) with a braking device (1) with at least two connection ends (2, 3) which are movable relative to one another and whose relative movement can be braked, wherein one of the two connection ends is an actuatable connection end (2) and is connected to a brake pedal as an actuating member (4) and can be transferred from a rest position (5) into at least one actuating position (6), and of which the other connection end (3) can be connected to a carrier device (50), wherein a transmission rod (7) is included which is coupled to one of the two connection ends (2, 3), wherein the braking device (1) a controllable magnetorheological rotary brake (10) with two rotary units (11, 12) rotatable relative to one another, wherein a conversion device (20) is provided for converting a longitudinal movement (8) of the transmission rod (7) into a rotary movement (15) of a rotary component (14) and vice versa, characterized by , that a freewheel device (16) is formed between the rotary component (14) and one of the rotary units (11, 12) of the rotary brake (10), which transmits a torque in one direction of rotation and enables a freewheeling state in the other direction of rotation. [28] Actuator arrangement (100) comprising a braking device (1) with at least two connection ends (2, 3) which are movable relative to one another and whose relative movement can be braked, wherein one of the two connection ends is an actuatable connection end (2) and can be connected to an actuating member (4) and can be transferred from a rest position (5) into at least one actuating position (6), and of which the other connection end (3) can be connected to a carrier device (50), wherein a transmission rod (7) is included which is coupled to one of the two connection ends (2, 3), wherein the braking device (1) a controllable magnetorheological rotary brake (10) with two rotary units (11, 12) rotatable relative to one another, wherein a conversion device (20) is provided for converting a longitudinal movement (8) of the transmission rod (7) into a rotary movement (15) of a rotary component (14) and vice versa. [29] Actuator arrangement (100) according to the preceding claim, wherein a freewheel device (16) is formed between the rotary component (14) and one of the rotary units (11, 12) of the rotary brake (10), which transmits a torque in one direction of rotation and enables a freewheeling state in the other direction of rotation. [30] Operating device (300) comprising an actuator arrangement (100) according to one of the preceding claims. [31] Brake pedal arrangement (200) comprising an actuator arrangement (100) according to one of the preceding claims.

Images