DAMPER FOR DAMPING A PIVOT MOVEMENT

Abstract

A rotary damper for damping a pivoting motion has two components, one component being an inside component and the other component an outside component. The outside component radially surrounds the inside component at least in sections. Between the components a damping gap is formed that is bordered radially inwardly by the inside component and radially outwardly, by the outside component. The gap is filled with a magnetorheological medium. The damping gap can be exposed to a magnetic field to damp a pivoting motion between the two counter-pivoting components about an axle. One of the components is provided with a plurality of radially extending arms. The arms are equipped with an electric coil having a winding, the winding extending adjacent to the axle and spaced apart from the axle.

Claims

1-26.

27. A rotary damper for damping a pivoting motion, comprising: two components, including an inside component and an outside component radially surrounding the inside component at least in sections; said two components being disposed to form an annular and circumferential damping gap therebetween, with said damping gap being bordered radially inwardly by said inside component and radially outwardly by said outside component; a magnetorheological medium at least partly filling said damping gap and to be exposed in said damping gap to a magnetic field for damping a rotary motion between the two contrapivoting components around an axle; a plurality of at least partially radially extending arms disposed on at least one of said two components; an electric coil having at least one winding disposed on at least part of said arms, each of said windings extending adjacent to, and spaced apart from, said axle.

28. The rotary damper according to claim 27 wherein said two components are pivotable relative to one another only by a limited pivoting angle.

29. The rotary damper according to claim 27 wherein the damping gap is formed by a chamber, and wherein the chamber is sealed by said two components and by a sealing device disposed between said two components or by two sealing devices disposed between said two components.

30. The rotary damper according to claim 29 wherein said chamber is radially disposed between said first component and said second component over an axial length thereof.

31. The rotary damper according to claim 27 wherein said damping gap has a radial height of less than 2% of a diameter of said damping gap.

32. The rotary damper according to claim 27 wherein said damping gap has a volume of less than 10 ml.

33. The rotary damper according to claim 27 wherein said inside component comprises radially extending arms on which said electric coils are disposed.

34. The rotary damper according to claim 27 wherein said electric coils are connected through electric connecting lines that are routed outwardly inside or outside said inside component.

35. The rotary damper according to claim 27 wherein the adjacent ends of adjacent arms of at least one component are provided with opposite poles of the magnetic field generating devices.

36. The rotary damper according to claim 27 wherein said outside component is part of a housing on which said inside component is accommodated, and wherein a pivot shaft of said inside component is routed outwardly out of said outside component.

37. The rotary damper according to claim 36 wherein one end of said pivot shaft is routed out of said housing and an opposite end of said pivot shaft terminates within said housing.

38. The rotary damper according to claim 27 which comprises a suspension device configured for building up a counterforce or a counter torque in the case of a deflection of said two components in at least one direction.

39. The rotary damper according to claim 27 wherein said damping gap is one of a multitude of damping gaps distributed over a circumference of said components.

40. The rotary damper according to claim 27 wherein said damping gap is fluidically connected with at least one reservoir for a magnetorheological medium.

41. The rotary damper according to claim 27 wherein a permanent magnet is assigned to at least one electric coil.

42. The rotary damper according to claim 27 wherein a length of said damping gap is greater than a diameter thereof.

43. An apparatus, comprising at least one rotary damper according to claim 27.

44. The apparatus according to claim 43 wherein a linear movement is damped by a damping device having said rotary damper.

45. The apparatus according to claim 43 wherein a damping force or a damping torque can be adaptively varied by a damping device having a rotary damper during one single actuation.

46. The apparatus according to claim 43, configured as a training apparatus for controlled muscular activities, comprising at least one at least partially muscular energy-operated operating member wherein the rotary damper is configured to damp at least one movement of the operating member, and further comprising at least one control device configured to register at least one characteristic quantity of a movement of the operating member and in dependence on the characteristic quantity to intentionally set and adjust the rotary damper taking into account at least one parameter.

Description

[0127] The figures show in:

[0128] FIG. 1 a schematic, exploded view of a rotary damper according to the invention;

[0129] FIG. 2 a schematic cross-section of the rotary damper of FIG. 1;

[0130] FIG. 3 a perspective view of part of the rotary damper of FIG. 1;

[0131] FIG. 4 a schematic cross-section of the rotary damper of FIG. 1;

[0132] FIG. 5 schematically illustrated magnetic field lines in the rotary damper of FIG. 4;

[0133] FIG. 6 a cross-section of another rotary damper;

[0134] FIG. 7 a schematic perspective view of an operating pedal;

[0135] FIG. 8 a schematic view of a prosthesis; and

[0136] FIG. 9 a simplistic sketch of the damper device control;

[0137] FIG. 10 a simplistic sketch of another configuration of the control of the damper device; and

[0138] FIG. 11 a training apparatus or fitness apparatus.

[0139] FIG. 1 shows a schematic perspective view of a damper device 10 comprising a rotary damper 1, wherein the individual parts of the rotary damper 1 are recognizable.

[0140] The rotary damper 1 is substantially formed of the components 2 and 3 with the pivot shaft 4 disposed or configured on the component 2. The pivot shaft 4 comprises a first end 31 and a second end 32. The component 2 shows over its circumference a number of arms 21, 22 and 23 which will be discussed in more detail in the description of the FIGS. 3 to 5.

[0141] The pivot shaft 4 may be provided with an engaging dog 4a (e.g. parallel key) for non-rotatable connection of the component 2 with a damped component. A splined toothing, polygon connection or another force-fit or form-fit connection may be used instead of the parallel key. For mounting the component 3 is pushed onto the component 2 and then screwed to the cover 3a, the first end 31 of the pivot shaft 4 extending outwardly from what is shown as the right end of the component 3. Spacer sleeves 38 may be used to observe predetermined distances.

[0142] Basically, two variations are possible namely, the second end 32 of the pivot shaft extends outwardly on the other side of the component 3, or else the second end 32 of the pivot shaft 4 is supported in the interior of the component 3, e.g. in the bearing 37 of the cover 3a consisting e.g. of aluminium or the like. The bearing 37 may be a low-cost sliding bearing or else, in the case of high or very high requirements on the base friction and service life, it may be a ball bearing or roller bearing. In the case of minimal requirements it may be dispensed with.

[0143] A rotary encoder or angle sensor 17 serves to capture the relative angular position of the components 2 and 3 relative to one another. The angle sensor 17 may comprise a magnet stack and may be provided for contactless reading from outside the housing 30. The sensors may be disposed on coupling members or operatively coupled parts. A linear measuring system instead of a rotative measuring system may be used.

[0144] The connecting lines 14 supply electric energy to the rotary damper 1.

[0145] Furthermore shown are from left to right, a collar end bearing, a shim ring, another collar end bearing, seals and bearings, spacer sleeve etc.

[0146] The components 2 and 3 may be conical in shape. The damping gap 6 does not need to be consistent in size or shape over the axial extension 16.

[0147] FIG. 2 shows a schematic cross-section in the assembled state, revealing that in the assembled state the component 3 forms a housing 30 of the rotary damper 1. The component 3 receives in its interior the substantial part of the component 2 so that after screwing the cover 3a onto the component 3 only the first end 31 of the pivot shaft 4 protrudes outwardly out of the housing 30. The engaging dog 4a is disposed on the part protruding outwardly of the pivot shaft 4. The component 3 comprises an outside component 13 and forms the housing 30. The component 2 comprises an inside component 12 that is surrounded by the outside component 13.

[0148] The pivot shaft 4 is supported by way of a bearing 37 in the vicinity of the first end 31 and the other end 32 is provided with a presently spherical mounting having a kind of bearing 37 so that the pivot shaft 4 only passes through outwardly. This allows to reduce the base friction and thus the base momentum so as to achieve higher sensitivity and better responsivity of the rotary damper 1 to loads.

[0149] A geometric axis 9 extends centrally through the pivot shaft 4. The electric connecting lines 14 also extend through the pivot shaft 4, passing from the outside (absent a slip ring) through the pivot shaft 4 to the electric coils 8 disposed in the interior of the housing 30.

[0150] In this simplistic cross-section of the rotary damper 1, two arms 21, 22 can be seen on the inside component 12 of the component 2.

[0151] The damping gap 6 is provided radially between the inside component 12 and the outside component 13 and extends over an axial length 16 which comprises a substantial part of the length of the inside component 12. The length 16 of the damping gap 6 is preferably at least half and in particular at least of the length of the component 3.

[0152] Given large diameters 27 of the damping gap 6 it is in particular possible to provide each of the axial ends of the damping gap 6 with seals to contain the magnetorheological medium substantially, and preferably entirely, within the damping gap 6. Simple configurations may provide for a magnetic seal for magnetically sealing the very narrow gap still remaining between the components 2 and 3.

[0153] At least one seal is provided at the exit of the very thin pivot shaft 4 out of the housing 30. In this case the seal 11 is provided between the pivot shaft and the corresponding lead-through opening in the cover 3a.

[0154] Absent a separate seal at the axial ends of the damping gap 6 there is a very low base friction. The volume of the magnetorheological medium is determined by the volume of the damping gap 6 and the approximately disk-shaped volumes at the two axial front faces between the inside component 12 and the outside component 13 and it is small on the whole.

[0155] The volume of the damping gap 6 is very small since the radial height of the damping gap is preferably less than 2% of the diameter 27 of the presently cylindrical damping gap. The radial height of the damping gap is in particular less than 1 mm and preferably less than 0.6 mm and particularly preferably less than 0.3 mm. Given a length 16 of for example up to 40 or 50 mm and a diameter 27 of up to 30 mm and a gap height in the region of 0.3 mm, there ensues a gap volume of <2 ml, which allows to keep the manufacturing costs down. The volume of the magnetorheological medium is in particular less than 3 ml and preferably less than 2 ml.

[0156] A prior art transmission may be positioned between the pivot shaft 4 and the damped member, preferably a planetary gear largely without play, a micro transmission or e.g. a harmonic drive.

[0157] A disk may be positioned on the input shaft instead of a direct seat mounting or seat mounting via a coupling linkage. The disk or the outer disk diameter may be connected with the damped member (force-fit or effective fit) by means of at least one rope or belt. The connecting member may be connected for interaction with the damped member by means of deflections, gear ratio translation (e.g. block and tackle principle . . . ). This provides high structural flexibility in terms of attaching. Or else an eccentric or cam disk may be used so as to make the forces/momenta dependent on the angular position. Or else a continuous rope with a fixing spot may be used so as to enable positive control, i.e. both tractive and compressive forces can be transmitted. The transmission member (e.g. the rope) may be connected with the disk by way of force-fit or form-fit.

[0158] FIG. 3 shows a schematic perspective illustration of a part of the rotary damper 1 wherein the component 2 is illustrated absent the pivot shaft 4. In mounting, the illustrated part of the component 2 is non-rotatably coupled with the pivot shaft 4.

[0159] The component 2 comprises a plurality of radially outwardly protruding arms 21, 22, 23 etc. In this instance, eight arms are provided. Or else, 6 or 10 or 12 or more arms are possible and preferred.

[0160] A coil 8 having at least one and presently a plurality of windings is wound around each of the arms. The electric coils are wound and connected such that adjacent spots of adjacent arms show opposite magnetic field poles when the coils 8 are energized.

[0161] FIG. 4 shows a cross-section of the rotary damper 1, the component 2 comprising the inside component 12 that is surrounded by the outside component 13 of the component 3. In this instance a substantially cylindrical damping gap 6 containing a magnetorheological medium 5 extends between the two components 2 and 3. The damping gap 6 is in particular entirely filled with the magnetorheological medium 5. At least one reservoir 15 may be provided in which a supply of magnetorheological medium is stored to enable compensating losses of certain amounts of the medium throughout the service life of the rotary damper 1. This reservoir 15 may for example be provided in the clearance between two arms 22, 23. Or else the reservoir may be located external of the component 3.

[0162] In manufacturing, the coils 8 are first wound around each of the arms. Thereafter the remaining hollow spaces between the arms may be partially or entirely filled with a medium so that no magnetorheological fluid needs to be filled in. For example casting resin or the like may be poured in for filling up the hollow spaces. Casting resin or the like is lower in cost than the magnetorheological fluid. The function does not require filling up the hollow spaces. Or else it is possible to apply a thin protective layer in the shape of a covering 34 to delimit the locations of the damping gaps 6 while the clearances between arms remain hollow.

[0163] The damping gap is preferably cylindrical. Or else it is possible to dispose separating elements 29 in the coupling gap which subdivide the per se cylindrical coupling gap into a number of partial gaps. The separating elements 29 are preferably connected either with the component 2 or the component 3.

[0164] The coupling gap 6 itself may form the chamber 28 for the magnetorheological medium or else the coupling gap 6 together with the reservoir 15 forms at least a substantial part of the chamber 28.

[0165] FIG. 5 shows a simplistic view of a field line pattern over the cross-section of the rotary damper 1 in FIG. 6. The field lines 36 pass approximately radially through the damping gap 6, run across an angular section through the component 3 before re-entering (the adjacent arm) next to the adjacent arm approximately vertically through the damping gap 6.

[0166] FIG. 5 illustratively shows that a high field line density prevails virtually over the entire circumference of the rotary damper so as to enable effectively damping a pivoting motion.

[0167] FIG. 6 shows another configuration of a rotary damper 1 whose functionality is basically identical to that of the rotary damper 1 described above. Unlike the previous configurations the rotary damper 1 according to FIG. 6 provides for the pivot shaft 4 to protrude outwardly both at the first end 31 and also at a second end 32. This is why the pivot shaft 4 is supported at both ends and sealed outwardly by means of seals 11. Again, magnetic seals 11a may seal the damping gap 6 in the axial directions.

[0168] In this and also in the other configurations the pivot shaft 6 may be standing upright, i.e. as an axle, wherein the housing 3 then pivots while damping and is operatively coupled with the damped member.

[0169] FIG. 7 shows an operating pedal 100, such as a brake pedal, a clutch pedal or an accelerator pedal with an integrated rotary damper 1.

[0170] So-called X-by-wire systems show increasing use in many fields of application. X-by-Wire designates the replacement of mechanical connections, signals and systems for manual control by guiding electric, electronic, optoelectronic or optical control signals between the operating members used and the executing actuators. A major drawback of these systems is the absence of feedback, which is a serious disadvantage e.g. when operating the X-by-wire foot brake of a vehicle (e.g. motor vehicle, truck, agricultural vehicle, utility vehicle, crane, building vehicle). For example braking by feel is thus no longer possible. Overbraking may result in instable driving situations, overloads, or uncomfortable braking manoeuvres. The rotary damper 1 presently described can simulate the braking counterpressure or the corresponding momentum which is otherwise generated mechanically, thus simulating a normal braking or operational feel in the pedal.

[0171] This is particularly advantageous in hybrid vehicles. Hybrid vehicles may be provided with pedals and operating members connected by X-by-wire or else mechanically. In these vehicles the brake energy recuperation causes changing actuating forces and/or actuating momenta respectively actuator travels. For example when a hybrid vehicle travels downhill, reducing the speed preferably involves the attempt to transmit the smallest amount of energy possible to the wheel brakes (heat) and the largest amount possible to the batteries (electric energy is fed into the accumulator, a storage capacitor (super capacitor), or a flywheel storage).

[0172] It may thus happen that the batteries are empty as the ride downhill begins and the vehicle can virtually be braked by brake energy recuperation only. This only requires a very slight pressure applied on the brake pedal, and the rider receives a very low counterforce although the vehicle markedly retards by way of the brake energy recuperation, e.g. of the electric motor (generator) actuated in parallel. The more energy is stored in the electric energy storage device, the less braking is possible involving brake energy recuperation. This results in the fact that the braking point and the braking force in the pedal vary continuously which is very unpleasant and confusing or even downright dangerous for the operator. The rotary damper according to the invention can generate the differential torque/force corresponding to the energy distribution and can thus simulate in the pedal a normal feel that always remains constant.

[0173] In the case of an operating lever such as an accelerator pedal the subsequent conditions can at least partially be taken into account and converted into an individual tactile feedback by means of the rotary damper according to the invention.

[0174] For example when a vehicle in front is recognized, a higher counterforce in the operating lever may be set in the case of a too close distance or if the vehicle in front decelerates). Or else an in particular early danger warning relating to the vehicle in front is possible. For example accelerating may then be prohibited. This is in particular realized by an increased counterforce up to a locked pedal.

[0175] The accelerator pedal is for example connected with the overall vehicle system and e.g. a cloud (in particular relating to the navigation system, engine management system, optimal shifting time, start-stop system, electric driving in hybrid vehicles, adaptive operation, or the like). A counterforce/momentum depending thereon in the operating member is preferably set.

[0176] Or else, near field and/or surroundings sensors may be provided and referred to. Then an adaptive counterforce is in particular set.

[0177] This applies accordingly to the brake pedal or other operating members.

[0178] Furthermore the rotary damper enables a feedback and damped resetting and/or actuating of the pedal which enables advantageous operation. A combination with a return spring is likewise possible.

[0179] The actuating travel and thus the pivoting angle is limited by the mounting space.

[0180] In the case of the operating pedal 100, the operating pedal may (also) damp vibrations originating from the outside such as with use on vibrating construction machinery etc. These or other acting vibrations might cause a certain actuation of the operating pedal. The rotary damper respectively the assigned or integrated control device can differentiate whether these vibrations originate from the vehicle or from actuating movements by the operator.

[0181] FIG. 8 shows a prosthesis with a damper device 10 comprising a rotary damper 1. The components 2 and 3 are connected with prosthesis parts and damp the relative motions.

[0182] On the whole the damper device 10 of FIG. 8 supplies a knee joint suitable for effective damping.

[0183] The FIGS. 9 and 10 show simplistic embodiments of a controlling system of the damper device 10.

[0184] In the scope of the present invention the term controlling is understood to include regulation so that the controlling system is preferably also suitable and configured for regulation.

[0185] In this instance only three switched rotary dampers 1 acting as actuators are shown. However, four or five or else 10 or a plurality of controlled actuators may be provided. Or else it is possible to provide only one actuator or two actuators.

[0186] The shown dampers 1 are operatively coupled with a computer 201. The computer 201 receives for each damper 1 at least one actuator signal 204 describing at least one characteristic quantity for at least one state of the damper 1. An actuator signal for example comprises a characteristic quantity captured by the rotary encoder 17. The actuator signal may also comprise a characteristic quantity captured by at least one momentum sensor and/or at least one current sensor. Other suitable sensor types are likewise possible. Particularly preferably the computer 201 takes into account a plurality of actuator signals 204 originating from different sensors.

[0187] The computer 201 preferably also takes into account at least one piece of system information 203 that describes at least one system quantity. The system information 203 comprises for example acceleration values of the drum 101 and/or of the drum housing 109 and/or further system quantities.

[0188] By way of the provided actuator signals 204 the computer 201 determines for the dampers 1 at least one characteristic quantity each for an optimal moment of resistance. The characteristic quantities for the determined moments of resistance of the dampers of an actuator are each provided for a current/torque regulation 202 assigned to a damper 1.

[0189] The current/torque regulation 202 outputs for each damper 1 at least one control voltage 205 in dependence on the provided moments of resistance. Or else, actuating signals are possible showing quantities suitable for controlling the damper 1 other than and/or additionally to the voltage. The pertaining damper 1 is adjusted by way of the control voltage 205.

[0190] The control shown in the FIG. 9 is configured as a central control 200. The central control 200 comprises the computer 201 and the current/torque regulation 202 assigned to the pertaining dampers 1.

[0191] A configuration not shown may provide for a decentralized configuration of the current/torque regulation 202 assigned to the pertaining dampers 1. The computer 201 maintains its central status. To this end the current/torque regulation 202 is disposed in particular separately and spatially separate from the computer 201.

[0192] FIG. 10 shows a control configured as a decentralized control 206. At least one dedicated computer 201 and at least one dedicated current/torque regulation 202 is assigned to each of the dampers 1. It is possible for the computer 201 and the current/torque regulation 202 assigned to a damper 1 to be configured for autonomous action. Or else a configuration is possible in which the decentralized control 206 also takes into account system information 203.

[0193] FIG. 11 shows an apparatus configured as a training apparatus 300 or fitness apparatus comprising a damper device 10 according to the invention. The training apparatus 300 is configured as a stationary bicycle. It comprises a muscular energy-actuated operating member 301 which is configured as a pedal crank device having one pedal and one bottom bracket or pedal bearing. The rotary damper 1 can damp the movement of the operating member 301.

[0194] The damping characteristics of the rotary damper 1 may be adjusted multiple times even during one rotation. In particular the torque required for rotating the operating member 301 is adjusted. A control device 302 is provided for adjusting the damper 1.

LIST OF REFERENCE NUMERALS

[0195] 1 rotary damper [0196] 2 component [0197] 3 component [0198] 3a cover [0199] 4 pivot shaft [0200] 4a engaging dog [0201] 5 magnetorheological medium [0202] 6 damping gap [0203] 7 magnetic field generating device [0204] 8 electric coil [0205] 9 axle, axis [0206] 10 damper device [0207] 11 sealing device [0208] 12 inside component [0209] 13 outside component [0210] 14 connecting line [0211] 15 reservoir [0212] 16 axial length [0213] 17 rotary encoder [0214] 18 winding [0215] 19 end of 21, 22 [0216] 20 spring device [0217] 21 arm [0218] 22 arm [0219] 23 arm [0220] 24 pole [0221] 25 pole [0222] 26 radial height of 6 [0223] 27 diameter of 6 [0224] 28 chamber [0225] 29 separator [0226] 30 housing [0227] 31 end of 4 [0228] 32 end of 4 [0229] 33 permanent magnet [0230] 34 cover [0231] 35 hollow space, filler [0232] 36 field line [0233] 37 bearing [0234] 38 spacer sleeve [0235] 60 operating pedal [0236] 100 apparatus [0237] 112 prosthesis [0238] 200 central control [0239] 201 computer [0240] 202 current/torque regulation [0241] 203 system information [0242] 204 actuator signal [0243] 205 control voltage [0244] 206 decentralized control [0245] 300 training apparatus [0246] 301 operating member [0247] 302 control device