Rotary actuators for vehicle applications

Abstract

The invention relates to a rotary actuator (1) for vehicle applications, comprising an actuating element (2) which is mounted so as to be rotatable about an axis of rotation (3) and which has an edge (4) which runs circumferentially in a circumferential direction (U) and on which a person can manually grasp the edge (4) at different actuating locations (10) in the circumferential direction (U) along the edge (4) and introduce an actuating force (15) for a rotary adjustment of the actuating element (2), comprising an actuator (5) which is coupled to the actuating element (2), and comprising a controller (7) which is coupled to the actuator (5) and which is configured such that it controls the actuator (5) to generate a haptic detent of the rotary adjustment of the actuating element (2) such that the actuator (5) generates a detent force (16) which counteracts the actuating force (15). The design flexibility available for the actuating element can be increased while providing excellent actuation comfort by designing the actuating element (2) in such a way that a distance (9) of the edge (4) from the rotational axis (3) varies in the circumferential direction (U) along the edge (4), and by configuring the controller (7) to control the actuator (5) as a function of the distance (9) of the edge (4) from the rotational axis (3) at the actuation location (10) to generate the locking force (16), such that the locking force (16) is greater when the distance (9) is greater at the actuation location (10), and the locking force (16) is smaller when the distance (9) is smaller at the actuation location (10).

Description

[0001] The present invention relates to a rotary actuator for vehicle applications according to the preamble of claim 1.

[0002] Rotary actuators can be used particularly in motor vehicles, for example, in conjunction with data input devices, where, for example, cursor control in different menu levels can be performed by rotating an actuating element of the rotary actuator and, if necessary, by pressing or pivoting it. In particular, such a rotary actuator can be part of a joystick.

[0003] A rotary actuator of this type is known, for example, from DE 100 41 935 A1 and comprises an actuating element that is mounted for rotation about a rotation axis and has a circumferentially extending rim. A person can manually grasp the rim at various actuating locations along the rim and apply an actuating force to rotate the actuating element. The actuating force acts in the circumferential direction and serves to rotate the actuating element, thus generating a torque or actuating moment.The rotary actuator is also equipped with an actuator coupled to the actuating element and with a control coupled to the actuator, wherein the control is configured to control the actuator to generate a haptic detent of the rotary adjustment of the actuating element such that the actuator generates a detent force counteracting the actuating force, preferably such that to overcome a detent of the detent the actuating force must be greater than the detent force.

[0004] From US 2008 / 0 000 762 A1 a rotary actuator is known which is equipped with a click mechanism to generate a haptic sensation when an actuating element is actuated.

[0005] From DE 10 2015 103 407 A1 a rotary actuator is known in which an actuator for generating a haptic feedback also interacts with an actuating element, wherein a controller controls the actuator depending on a direction of rotation of the actuation of the actuating element for generating the feedback.

[0006] From DE 10 2016 224 635 A1, an infotainment system for motor vehicles with a touchpad is known which activates different functions of the infotainment system depending on the location of the person, whereby the finger positions are recorded by means of a sensor in order to be able to distinguish between a person sitting in the driver's seat and a person sitting in the passenger seat.

[0007] From US 2011 / 0 018 832 A1 a rotary actuator is known in which the tactile sensation when operating the actuating element is programmable, in particular in such a way that the tactile sensation changes depending on the function controlled by means of the rotary actuator.

[0008] From DE 601 28 202 T2 a manual input device is known which has a shift handle for actuating a transmission control, an actuator for applying an external force to the shift handle, a control part for controlling the actuator so that it applies a slight feeling of resistance to the shift handle when it is manipulated so that a switchover from one switching position to another takes place, a sensing device for detecting the operating state of the shift handle, and an input / output part for sending and receiving a signal to or from the transmission control.The transmission control is connected to a speed sensor for detecting the speed of an output shaft of the transmission and for outputting an external signal. The control part receives at least the external signal to generate a control signal for the actuator which corresponds to the external signal, thereby controlling the actuator to apply a strong resistance feeling to the shift handle when the speed of the output shaft of the transmission is and the shift handle is manipulated to switch between drive and reverse.

[0009] From EP 2 030 098 B1, a rotary input control device is known, comprising a rotatable shaft; a manipulandum coupled to the shaft; a mechanical haptic arrangement coupled to the manipulandum and configured to generate one or more mechanical haptic effects in response to rotation of the shaft; a sensor; a controller; and an actuator; wherein the mechanical haptic arrangement comprises a plurality of mechanical detents; the sensor is configured to measure a manipulation aspect of the manipulandum and output a signal; the controller is configured to receive the signal from the sensor and output a haptic signal; the actuator is configured to output electronically based haptic effects to the device upon receipt of the haptic signal from the controller, and the device is configured toselectively deactivate the one or more mechanical haptic effects and / or selectively disable the electronic-based haptic effects. The controller is further configured to generate the haptic signal using the sensed manipulation aspect of the rotary input control device and information about the mechanical haptic arrangement to obtain a programmable haptic effect profile that combines the mechanical haptic effects and the electronic-based haptic effects, wherein the information about the mechanical haptic arrangement comprises at least one of the following: a number of mechanical detents, a width of the mechanical detents, or a location of the center of the mechanical detents.

[0010] Rotary actuators usually have a manually operated actuating element that has a circular cross-section perpendicular to the axis of rotation, so that the same visual impression is achieved for every rotational position of the actuating element.

[0011] The present invention addresses the problem of providing an improved or at least a different embodiment for a rotary actuator of the type described above, which is characterized in particular by improved haptics and / or by greater design flexibility with high operating comfort.

[0012] This problem is solved by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0013] According to a first solution, the invention is based on the general idea of ​​designing the actuating element such that a radial distance of the edge from the axis of rotation varies in the circumferential direction along the edge. The radial direction is perpendicular to the axis of rotation. In other words, the actuating element has a cross-section transverse to the axis of rotation that deviates from a circular cross-section. For example, a polygonal, rectangular, star-shaped, or elliptical or oval cross-section is conceivable, so that the distance of the edge from the axis of rotation, i.e., a radius of the cross-section, varies in the circumferential direction, i.e., increases and decreases in a stepped or continuously variable manner. This opens up new dimensions for the design of the actuating element, resulting in additional possibilities for the design of the rotary actuator and, in particular, for the visual integration of the rotary actuator into a vehicle interior.In this first solution, the controller is configured to control the actuator to generate the locking force depending on the distance of the edge from the rotation axis at the actuation point where the person grasps the edge to rotate the actuating element and applies the actuation force. The locking force is greater when the distance of the edge from the rotation axis is greater at the actuation point, and the locking force is smaller when the distance of the edge from the rotation axis is smaller at the actuation point. This first solution is based on the realization that the distance of the edge from the rotation axis represents a lever arm, which, in conjunction with the actuation force, generates an actuation torque, or actuation torque for short. As the distance varies, the lever arm therefore varies, so that the actuation torque varies for the same actuation force.If the locking force generated by the actuator were always the same, the person would experience a varying haptic sensation depending on the actuation location. The inventive proposal of selecting the locking force depending on the actuation location and the distance prevailing there allows a locking torque generated by the locking force, or "locking torque" for short, which counteracts the actuation torque, to be adapted accordingly to the varying actuation torque. This can be achieved, in particular, in such a way that the actuation force remains essentially constant.If the person grasps the actuating element at an actuation point with a greater distance, they generate a greater actuation torque with a constant actuation force, which is now counteracted by a correspondingly increased detent torque due to the greater detent force, so that to overcome a detent essentially the same actuation force is required as in the case of the person grasping the actuating element at an actuation point with a smaller distance from the rotation axis. As a result, the tactile sensation when rotating the actuating element is largely independent of the actuation point, since the varying distances or lever arms can be largely compensated for by correspondingly varying detent forces. The first solution increases the design flexibility available for the actuating element, while at the same time achieving and maintaining excellent actuation comfort.

[0014] In the present context, a ‘configuration’ corresponds to a ‘design’ and / or a ‘means’ and / or a ‘programming’, so that the expression ‘configured so that’ is synonymous with the expression ‘designed so that’ and / or ‘arranged so that’ and / or ‘programmed so that’.

[0015] The detent of the rotary adjustment defines a torque-angle characteristic that creates the tactile sensation of a detent, with each detent representing a stable rotational position of the actuating element. A labile intermediate position is provided between two adjacent detent positions. By rotating the actuating element from one detent to the next, the labile intermediate position must be overcome against the detent force. From there, the actuating element automatically reaches the next detent, i.e., the next stable rotational position.

[0016] According to a second solution of the invention, which can in particular also be combined with the first solution described above, it is proposed that, in the event that the person grips the edge simultaneously at several actuation locations to initiate the actuation force, the control system controls the actuator to generate the locking force depending on the number of multiple actuation locations, such that the locking force is greater when the number of actuation locations is greater and that the locking force is smaller when the number of actuation locations is fewer. This takes into account that, depending on whether the person actuates the actuation element with just one finger, with two fingers, or with three or more fingers, the person automatically and intuitively introduces an actuation force into the actuation element that depends on the number of fingers.With a conventional rotary actuator, the detent force required to overcome a notch is always the same, so that a varying tactile sensation occurs depending on the number of fingers with which the person operate the actuating element. The second solution according to the invention can now more or less compensate for this by adapting the detent force to the number of fingers with which the person operate the actuating element. The more fingers, the more actuation points, the greater the detent force that must be applied or overcome using the actuating force to overcome the respective notch. If the actuating element is operated with just one finger, it moves comparatively easily. If, on the other hand, it is comparatively stiff.The tactile sensation, however, is the same for the person in both cases, since with more fingers, they intuitively apply a greater actuation force overall than with fewer. Thus, this second inventive solution results in a significant increase in comfort when operating the rotary actuator. It is worth noting that this second solution can, in principle, also be used when the actuating element has a circular cross-section perpendicular to the rotation axis, so that the distance of the edge from the rotation axis remains constant in the circumferential direction. However, a combination of the two inventive solutions results in an additional increase in comfort.

[0017] According to an advantageous development of the second solution, the controller can be configured to multiply a predetermined minimum force, which must be introduced into the actuating element to overcome a notch of the detent, by the number of actuation locations. Furthermore, the controller is expediently configured to control the actuator to generate a detent force so large that, to overcome the respective notch, the minimum force multiplied by the number of actuation locations must be introduced into the actuating element as the actuation force. Consequently, the minimum force must be introduced into the actuating element on average at each individual actuation location in order to be able to overcome the respective notch.In other words, when the actuating element is actuated with three fingers, the total actuating force required to overcome the notch is 50% greater than if the actuating element is gripped with only two fingers, whereby in both cases the local actuating force on the individual finger is essentially the same.

[0018] According to an advantageous embodiment, the controller can be coupled to a sensor system configured to determine the actuation location. The sensor system provides the controller with information about the respective actuation location and can thus determine the distance and / or the number of simultaneously actuated actuation locations. The sensor system can be designed externally and can, for example, be formed by a camera, which, in a vehicle application of the rotary actuator, can be arranged in the vehicle interior.

[0019] In another advantageous embodiment, the rotary actuator itself can comprise the sensor system. The sensor system is then designed internally. In particular, the sensor system can comprise several touch sensors distributed circumferentially along the edge. Each of these is configured to determine the actuation location and accordingly detects contact by the person and thus the current actuation location. Such touch sensors can, in particular, operate capacitively and can be designed as so-called touch sensors. Due to the number of sensors distributed circumferentially along the edge, the edge can be subdivided into virtually any number of actuation locations. Advantageously, the edge is closed circumferentially, virtually completely covered with such touch sensors, so that every touch of the edge can be detected.The touch sensors distributed along the edge are coded or numbered and have a defined assignment to corresponding peripheral sections of the edge, and thus each to a defined actuation location. The controller knows the assignment of the touch sensors to the respective actuation location and the assignment of the distances to the respective actuation location. When a touch sensor is touched, the controller receives a corresponding signal from the respective touch sensor. The controller can then determine and assign the corresponding actuation location and the corresponding distance from the rotation axis.

[0020] In another advantageous embodiment, which can be used in particular as an alternative to the second solution and / or as an embodiment of the first solution, the controller can be configured such that, in the event that the person grasps the edge simultaneously at several actuation locations to initiate the actuation force, it determines the average distance from the distances between the actuation locations and controls the actuator to generate the locking force depending on the average distance between the several actuation locations. Thus, with two or more actuation locations, not only their position but also their distance from the rotation axis is taken into account in order to generate a correspondingly adjusted locking force.

[0021] In another advantageous embodiment, the controller can be configured to control the actuator depending on the distance from the actuation location, such that the actuation force required to overcome a notch of the detent is essentially independent of the actuation location and, in particular, corresponds to a predetermined minimum force. This results in a particularly significant increase in comfort.

[0022] The wording “essentially” is to be understood in the present context as meaning that the characteristic described as “essentially” is fulfilled to at least 80% and preferably to at least 90%, while fulfilling this characteristic to 100% is indeed desired but is generally not achievable within the scope of the usual tolerances and / or with regard to a reasonable effort.

[0023] Additionally or alternatively, the control system can be configured to control the actuator depending on the distance of the actuation point, so that the actuation force required to overcome a notch of the detent is essentially the same at all actuation points. This measure also improves the comfort of operating the rotary actuator.

[0024] In another embodiment, the control can be configured in such a way that a number of notches per revolution of the actuating element can be set. In addition, the control can be configured in such a way that it sets the number of notches per revolution of the actuating element as a function of the distance of the edge from the axis of rotation at the actuation location at which the person grips the edge and applies the actuating force to rotate the actuating element, in such a way that the number of notches per revolution of the actuating element is greater if the distance of the edge from the axis of rotation is greater at the actuation location, and the number of notches per revolution of the actuating element is smaller if the distance of the edge from the axis of rotation is smaller at the actuation location. This measure simplifies precise actuation of the actuating element even if the distance of the edge from the axis of rotation depends on the actuation location.varies in the circumferential direction.

[0025] In an advantageous embodiment, the control system can be configured to adjust the number of notches per revolution of the actuating element as a function of the distance from the actuation location, such that a travel measured at the edge in the circumferential direction between two adjacent notches is essentially independent of the actuation location and thus corresponds in particular to a predetermined notch travel. For example, it can be provided that, for the desired tactile feedback, a travel or notch travel of 5 mm should be felt, which the person must turn the actuating element in the circumferential direction to get from one notch to the next notch. However, the notch travel at the edge, in conjunction with the distance, creates an angle or notch angle that can depend significantly on the actuation location. If the distance at the actuation location is smaller, a larger notch angle must be traversed to achieve the predetermined notch travel.If, on the other hand, the distance at the actuation point is greater, a correspondingly smaller angle of rotation must be traversed in order to achieve the predetermined detent travel. By taking the actuation point into account, the detent can be divided in such a way that the detent angles to be traversed vary such that essentially the same detent travel is always achieved at the edge. Additionally or alternatively, the control system can also be configured to adjust the number of detents per revolution of the actuating element depending on the distance of the actuation point so that an actuation travel or detent travel between two adjacent detents measured in the circumferential direction at the edge is essentially the same at all actuation points. This measure also compensates for the varying detent angles by correspondingly adjusting the number of detents per revolution and improves operating comfort.

[0026] According to an advantageous embodiment, the actuating element can have a polygonal, rectangular, star-shaped, elliptical, or oval cross-section transverse to the axis of rotation. Additionally or alternatively, the actuating element can have a cross-section transverse to the axis of rotation in which the distances of the edge from the axis of rotation vary along the circumference within a distance range defined by a lower limit and an upper limit for the distance values, wherein the upper limit is at least 25% greater than the lower limit. Additionally or alternatively, the axis of rotation can be arranged eccentrically with respect to the actuating element. Thus, the actuating element can basically have a circular cross-section transverse to the axis of rotation, but can be arranged eccentrically with respect to the axis of rotation. As a result, the distance of the edge from the axis of rotation varies in the circumferential direction along the edge.Additionally or alternatively, the actuating element can be connected to a shaft in a rotationally fixed manner, with the actuator interacting with this shaft in such a way that the actuator transmits the locking force to the actuating element via the shaft. This simplifies the structural integration of the rotary actuator into the vehicle.

[0027] The actuator can be an actuator that drives the actuating element linearly, for example a piezoelectric or an electromagnetic actuator.

[0028] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0029] It is understood that the features mentioned above and those to be explained below can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. Components mentioned above and those to be mentioned below of a higher-level unit, such as a device, a device, or an arrangement, which are designated separately, may form separate parts or components of this unit or be integral areas or sections of this unit, even if this is shown differently in the drawings.

[0030] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0031] They show, schematically, Fig. 1 a highly simplified schematic diagram of a rotary actuator, Fig. 2 a further simplified top view of the rotary actuator.

[0032] Accordingly Fig. 1, a rotary actuator 1, which can be used in particular in a motor vehicle (not shown here), preferably in the area of ​​an instrument panel, comprises an actuating element 2 that is rotatably mounted about a rotation axis 3. The circumferential direction U is defined here by the rotation axis 3 and extends around the rotation axis 3. The rotation axis 3 also defines an axial direction that runs parallel to the rotation axis 3 and a radial direction that runs transversely to the axial direction and is in particular perpendicular to the rotation axis 3.

[0033] The actuating element 2 has a radially outer edge 4 extending in the circumferential direction U. The actuating element 2 is designed here purely as an example in a wheel-shaped or disc-shaped manner. It can also be button-shaped or stick-shaped. A person can manually grasp the edge 4 of the actuating element 2 at different actuation locations 10 in the circumferential direction U along the edge 4 and apply an actuation force 15 to rotate the actuating element 2. Fig. 2, purely exemplary, four such actuation locations 10 are symbolized by circles that touch the edge 4. Furthermore, in Fig. 2, the actuating force 15 at each actuation location 10 is indicated by a clockwise arrow, illustrating, for example, a clockwise rotation of the actuating element 2. It is clear that the actuating element 2 can also be conveniently rotated counterclockwise.

[0034] The rotary actuator 1 is according to Fig. 1 is also equipped with an actuator 5, which is suitably coupled to the actuating element 2 and, in particular, is drive-connected. In the example shown, the actuating element 2 is rotationally fixedly connected to a shaft 6, which leads to the actuator 5. The actuator 5 can now be coupled to this shaft 6, whereby the actuator 5 is coupled to the actuating element 2 via the shaft 6. The rotary actuator 1 also has a controller 7, which is coupled to the actuator 5, for example, via a control line 8. The controller 7 is configured to control the actuator 5 to generate a haptic detent of the rotary adjustment of the actuating element 2, such that the actuator 5 generates a detent force 16 that counteracts the actuating force 15. In Fig. 2, the locking force 16 at the respective actuation location 10 is indicated by an arrow oriented counterclockwise.

[0035] The generation of the locking force 16 is dimensioned such that in order to overcome a notch of the locking mechanism, the actuating force 15 must be greater than the locking force 16.

[0036] The actuating element 2 can now be expediently configured in such a way that, according to Fig. 2 a distance 9 of the edge 4 from the rotation axis 3 in the circumferential direction U, i.e. along the edge 4, varies. Shown in Fig. 2 shows, purely by way of example, an actuating element 2 configured elliptically with respect to the axis of rotation 3. In principle, any cross-sections other than a circular cross-section for the actuating element 2 transverse to the axis of rotation 3 are conceivable.

[0037] In the event that the actuating element 2 has a non-circular cross-section transverse to the axis of rotation 3, the controller 7 can be configured such that the controller 7 controls the actuator 5 depending on the distance 9 that the edge 4 has from the axis of rotation 3 at the respective actuation location 10, in order to generate the locking force 16. The locking force 16 is then generated by the actuator 5 depending on the distance 9 such that the locking force 16 is greater when the distance 9 is greater at the actuation location 10, while the locking force 16 is smaller when the distance 9 is smaller at the actuation location 10. Additionally or alternatively, the controller 7 can also be configured such that, in the event that the person grips the edge 4 simultaneously at several actuation locations 10 to initiate the actuation force 15, it controls the actuator 5 depending on the number of actuation locations 10 to generate the locking force 16.The actuator 5 can, for example, generate a larger detent force 16 if the number of actuation locations 10 is larger, while it generates a smaller detent force 16 if the number of actuation locations 10 is smaller. The detent force 16, which depends on the number of actuation locations 10, can fundamentally be realized independently of the geometry of the cross-section of the actuation element 2 transverse to the axis of rotation 3, i.e., in particular, even with circular cross-sections. In particular, this detent force 16, which depends on the number of actuation locations 10, can also be realized in conjunction with cross-sections of the actuation element 2 that deviate from the circular shape, in which case the distance 9 at the respective actuation location 10 is also taken into account when generating the detent force 16.

[0038] The controller 7 can be expediently configured such that it multiplies a predetermined minimum force, which must be introduced into the actuating element in order to overcome a notch of the detent, by the number of actuation locations 10 and controls the actuator 5 to generate a detent force 16 which is so large that, in order to overcome the respective notch, the minimum force multiplied by the number of actuation locations 10 must be introduced into the actuating element 2 as the actuation force 15.

[0039] In Fig. 2, four actuation locations 10 are shown purely by way of example, namely a first actuation location 10-1, a second actuation location 10-2, a third actuation location 10-3 and a fourth actuation location 10-4. The actuation locations 10 are represented by a circle symbol, each representing a person's finger, which, for a rotary actuation of the actuating element 2, touches or grasps the edge 4 at the respective actuation location 10 and introduces an actuation force 15 there. The first actuation location 10-1 and the second actuation location 10-2 are in the example of Fig. 2 are arranged diametrically opposite one another with respect to the axis of rotation 3 and are located in the region of the smallest diagonal of the elliptically configured actuating element 2. The third actuating location 10-3 and the fourth actuating location 10-4 are also arranged diametrically opposite one another with respect to the axis of rotation 3 and are located in the region of the largest diagonal of the elliptical actuating element 2. When the actuating element 2 is actuated at the first actuating location 10-1 and at the second actuating location 10-2, there is obviously a significantly smaller distance 9 in each case than in the case of actuation at the third actuating location 10-3 and at the fourth actuating location 10-4.If the person to actuate the actuating element 2 grasps the first actuation location 10-1 or the second actuation location 10-2, the controller 7 controls the actuator 5 to generate a smaller detent force 16, which counteracts the actuation force 15 and which must be overcome in order to rotate the actuating element 2 from one notch to the next. If the person to rotate the actuating element 2 grasps the actuating element 2 at the third actuation location 10-3 or the fourth actuation location 10-4, the controller 7 controls the actuator 5 to generate a larger detent force 16, which counteracts the rotational actuation. Fig. 2, the arrows representing the locking force 16 at the first actuation location 10-1 and at the second actuation location 10-2 are correspondingly smaller or shorter than the arrows representing the locking force 16 at the third actuation location 10-3 and at the fourth actuation location 10-4.

[0040] However, the lever arms, which are dependent on the distance 9, ultimately ensure that the actuating force 15 to be introduced into the actuating element 2 by the person at the respective actuating location 10 is essentially the same in order to be able to move the actuating element 2 from notch to notch. Fig. 2, the arrows representing the actuating force 15 at the first actuating location 10-1, the second actuating location 10-2, the third actuating location 10-3 and the fourth actuating location 10-4 are accordingly of equal size or length.

[0041] For example, it can be provided that in order to overcome a notch of the detent, a predetermined minimum force, for example 0.5 N, must be introduced into the actuating element 2. So that the haptics for the person do not change or do not change fundamentally when rotating the actuating element 2, it can be provided that the controller 7 controls the actuator 5 in such a way that this minimum force must ultimately be introduced at each actuation location 10. If the person grips the actuating element 2 with only a single finger, i.e. only at one actuation location 10, the minimum force must be introduced at this actuation location 10. If, on the other hand, the person grips the actuating element 2 with two fingers, i.e. at two actuation locations 10, the minimum force is multiplied by the number of actuation locations 10, so that on average the minimum force must be introduced into the actuating element 2 at each actuation location 10.With two fingers, each finger must then introduce 0.5 N, so that ultimately 1 N is introduced into the actuating element 2. The actuator 5, on the other hand, is controlled to generate a locking force 16, which is increased depending on the number of simultaneously actuated actuation points 10 and defines the correspondingly multiplied minimum force.

[0042] Accordingly Fig. 1, the controller 7 can be coupled to a sensor 11 configured to determine the actuation location 10. A corresponding signal line 12 is provided in Fig.1. The sensor system 11 can basically be implemented by a camera 13 arranged outside the rotary actuator 1, which is coupled to the controller 7 in a suitable manner. For example, a vehicle interior in which the rotary actuator 1 is arranged can be equipped with such a camera 13. However, the one embodiment in which the rotary actuator 1 itself is equipped with the sensor system 11 is preferred. In this case, the sensor system 11 can in particular have a plurality of touch sensors 14, which are distributed along the edge 4 in the circumferential direction U on the actuating element 2. The touch sensors 14 are configured such that they detect contact by the person and thus the current actuation location 10. The touch sensors 14 are coupled to the controller 7 in a suitable manner, in particular via the signal line 12.

[0043] Optionally, the controller 7 can also be configured such that, in the event that the person grips the edge 4 simultaneously at several actuation locations 10 to initiate the actuation force 15, it determines an average distance 9 from the distances 9 of the simultaneously actuated or touched actuation locations 10 and controls the actuator 5 depending on the average distance 9 of the multiple actuation locations 10 to generate the locking force 16. For example, the person can grip the actuation element 2 at the first actuation location 10-1 and at the fourth actuation location 10-4, so that two significantly different distances 9 exist. The controller 7 then determines an average distance 9 from the two different distances 9 and controls the actuator 5 based on the average distance 9 to generate a suitable locking force 16.

[0044] The controller 7 is expediently configured such that it controls the actuator 5 as a function of the distance 9 such that the actuating force 15 required to overcome a notch of the detent is essentially independent of the actuating location 10 or is essentially the same at all actuating locations 10. The actuating force 15 at the respective actuating location 10 then corresponds, for example, to a predetermined minimum force, which is determined, for example, based on the geometry of the actuating element 2. For example, at the third actuating location 10-3, the distance 9 can be approximately 50% greater than at the second actuating location 10-2. This means that a significantly larger lever arm is available at the third actuating location 10-3 to generate an actuating torque.In order to produce essentially the same tactile sensation for the person at the second actuation location 10-2 and at the third actuation location 10-3, the locking force 16 for the third actuation location 10-3 must be increased by approximately 50% compared to the second actuation location 10-2.

[0045] According to another advantageous embodiment, the controller 7 can be configured such that a number of notches per revolution of the actuating element 2 can be set. The number of notches per revolution results in a notch angle as the angular distance between adjacent notches. For example, twelve notches per revolution result in a notch angle of 30° if the first notch at 0° and the last notch at 360° are identical. The controller 7 can now also be configured such that it sets the number of notches per revolution of the actuating element 2 depending on the distance 9 of the edge 4 from the axis of rotation 3 at the actuation location 10, in such a way that the number of notches is greater if the distance 9 is greater at the actuation location 10, while the number of notches is smaller if the distance 9 is smaller at the actuation location 10.If the person grips the actuating element 2, for example, at the first actuating location 10-1, a comparatively small distance 9 is present. Accordingly, a comparatively small number of notches per revolution is set, so that the actuating element 2 must be rotated by a correspondingly larger notch angle in order to move it from one notch to the next. If, on the other hand, the person grips the fourth actuating location 10-4, a comparatively large distance 9 is present. Accordingly, a larger number of notches is set, which correspondingly reduces the notch angle by which the actuating element 2 must be rotated in order to move from notch to notch.In particular, the controller 7 can be configured to adjust the number of notches as a function of the distance 9 such that a travel or detent travel measured at the edge 4 in the circumferential direction U between two adjacent notches is substantially independent of the actuation location 10 or is substantially the same at all actuation locations 10. For example, a detent travel of approximately 10 mm can be specified or desired, which the actuating element 2 must move at the edge 4 at the respective actuation location 10 in the circumferential direction U in order to move from notch to notch. To ensure that this is the same for an actuation at the first actuation location 10-1 as, for example, at the fourth actuation location 10-4, the number of notches is reduced for the first actuation location 10-1, thereby increasing the detent angle, while at the fourth actuation location 10-4, due to the greater distance 9, the number of notches is increased and the detent angle is thereby reduced.The adjustment of the locking angle is carried out in such a way that the travel range felt by the person at edge 4 remains largely the same or constant, namely in the example at about 10 mm.

Claims

[1] Rotary actuator (1) for vehicle applications, - with an actuating element (2) which is mounted so as to be rotatable about a rotational axis (3) and which has an edge (4) which runs around in a circumferential direction (U) and on which a person can manually grasp the edge (4) at different actuating locations (10) in the circumferential direction (U) and can apply an actuating force (15) for a rotational adjustment of the actuating element (2), - with an actuator (5) coupled to the actuating element (2), - with a control (7) which is coupled to the actuator (5) and which is configured to control the actuator (5) to generate a haptic detent of the rotary adjustment of the actuating element (2) in such a way that the actuator (5) generates a detent force (16) counteracting the actuating force (15), characterized by , - that the actuating element (2) is designed such that a distance (9) of the edge (4) from the axis of rotation (3) varies in the circumferential direction (U) along the edge (4), - that the control (7) is configured such that it controls the actuator (5) as a function of the distance (9) of the edge (4) from the axis of rotation (3) at the actuation location (10) to generate the locking force (16), such that the locking force (16) is greater when the distance (9) is greater at the actuation location (10), and that the locking force (16) is smaller when the distance (9) is smaller at the actuation location (10). [2] Rotary actuator (1) according to the preamble of claim 1, in particular according to claim 1, characterized by , - that the control (7) is configured such that, in the event that the person grips the edge (4) simultaneously at several actuation locations (10) to initiate the actuation force (15), it controls the actuator (5) depending on the number of actuation locations (10) to generate the locking force (16), such that the locking force (16) is greater if the number of actuation locations (10) is greater, and that the locking force (16) is smaller if the number of actuation locations (10) is smaller. [3] Rotary actuator (1) according to claim 2, characterized by , - that the control (7) is configured in such a way that it multiplies a predetermined minimum force, which must be introduced into the actuating element (2) in order to overcome a notch of the detent, by the number of actuation locations (10), and controls the actuator (5) to generate a detent force (16) which is so great that in order to overcome the respective notch, the minimum force multiplied by the number of actuation locations (10) must be introduced into the actuating element (2) as the actuation force (15). [4] Rotary actuator (1) according to one of the preceding claims, characterized by , - that the control (7) is coupled to a sensor system (11) for determining the actuation location (10). [5] Rotary actuator (1) according to claim 4, characterized by , - that the rotary actuator (1) has the sensor system (11), - that the sensor system (11) has a plurality of touch sensors (14) distributed along the edge (4) in the circumferential direction (U), which detect contact by the person. [6] Rotary actuator (1) according to one of the preceding claims, characterized by , - that the control (7) is configured such that, in the event that the person grips the edge at several actuation locations (10) simultaneously to initiate the actuation force (15), it determines an average distance (9) from the distances (9) of the several actuation locations (10) and controls the actuator (5) as a function of the average distance (9) of the several actuation locations (10) to generate the locking force (16). [7] Rotary actuator (1) according to one of the preceding claims, characterized by , - that the control (7) is configured to control the actuator (5) as a function of the distance (9) of the actuation location (10) in such a way that the actuation force (15) required to overcome a notch of the detent is essentially independent of the actuation location (10), and / or, - that the control (7) is configured such that it controls the actuator (5) as a function of the distance (9) of the actuation location (10) such that the actuation force (15) required to overcome a notch of the detent is substantially the same at all actuation locations (10). [8] Rotary actuator (1) according to one of the preceding claims, characterized by , - that the control (7) is configured in such a way that a number of notches per revolution of the actuating element (2) can be set, - that the control (7) is configured to adjust the number of notches per revolution of the actuating element (2) as a function of the distance (9) of the edge (4) from the axis of rotation (3) at the actuating location (10), such that the number of notches is greater when the distance (9) is greater at the actuating location (10), and that the number of notches is smaller when the distance (9) is smaller at the actuating location (10). [9] Rotary actuator (1) according to claim 8, characterized by , - that the control (7) is configured to adjust the number of notches as a function of the distance (9) of the actuation location (10) such that a travel measured at the edge (4) in the circumferential direction (U) between two adjacent notches is substantially independent of the actuation location (10) and / or - that the control (7) is configured such that it sets the number of notches as a function of the distance (9) of the actuation location (10) such that an adjustment path measured at the edge (4) in the circumferential direction (U) between two adjacent notches is substantially the same at all actuation locations (10). [10] Rotary actuator (1) according to one of the preceding claims, characterized by , - that the actuating element (2) has a polygonal or elliptical cross-section transverse to the axis of rotation (3), and / or - that the axis of rotation (3) is arranged eccentrically with respect to the actuating element (2), and / or - that the actuating element (2) is connected in a rotationally fixed manner to a shaft (6), wherein the actuator (5) interacts with the shaft (6) in such a way that the actuator (5) transmits the locking force (16) to the actuating element (2) via the shaft (6).

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