DE102012017806A1

DE102012017806A1 - Braking device e.g. magnetorheological medium brake actuator has working magnetic circuit that is formed with working gap, and magnetorheological medium that is traversed by shock caused by permanent magnet magnetic circuit

Info

Publication number: DE102012017806A1
Application number: DE201210017806
Authority: DE
Inventors: wird später genannt werden Erfinder
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-09-10
Filing date: 2012-09-10
Publication date: 2014-03-13

Abstract

The device has a working magnetic circuit that is provided with the two flux conductors (1a,1b), a brake plate (2), electromagnet (6) and a brake disc carrier (9). A working gap (17) is formed in the working magnetic circuit. A magnetorheological medium (7) is traversed by a shock caused by a permanent magnet magnetic circuit (5). The surface of the flux conductor which is adjacent to the magnetorheological medium can be increased by suitable measures in order to increase the braking torque. The brake plate is made of a magnetically conductive material.

Description

Die vorliegende Erfindung betrifft eine Vorrichtung zum Bremsen mittels eines magnetorheologischen Mediums (MRM). Bekannt sind solche Bremsaktoren, jedoch weisen diese meist nicht die Möglichkeit auf auch ohne Bestromung einer Spule das Bremsmoment aufrecht zu erhalten. Dies ist jedoch in der Industrie wichtig, wo bspw. ein Roboterarm seine Position auch im stromlosen Zustand (z. B. nach einem NOT-AUS) beibehalten sollte.The present invention relates to a device for braking by means of a magnetorheological medium (MRM). Such brake actuators are known, but these usually do not have the possibility to maintain the braking torque even without energizing a coil. However, this is important in industry, where, for example, a robot arm should maintain its position even when de-energized (eg after an EMERGENCY STOP).

Darüber hinaus sind auch MRM-Bremsaktoren bekannt, welche einen Permanentmagneten aufweisen, bspw. DE 10 2007 019 584 A1 . Dieser dort als Drehmomentübertragungsvorrichtung bezeichneter Bremsaktor benötigt jedoch zwei getrennte magnetische Kreise. Dies erfordert eine hohe Anzahl an magnetisch leitfähigen Bauteilen. Darüber hinaus ist das Massenträgheitsmoment dieser Anordnung relativ hoch da der gesamte Magnetkreis einschließlich Permanentmagnet oder Elektromagnet beschleunigt werden muss. Sollte der Magnetkreis mit Elektromagneten bewegt werden so sind sogar Schleifringe o. ä. erforderlich. Einen weiteren Nachteil stellt die Abdichtung des MRM gegenüber der Umwelt in dieser Anordnung dar.In addition, MRM brake actuators are known which have a permanent magnet, for example. DE 10 2007 019 584 A1 , However, this designated as a torque transmitting device brake actuator requires two separate magnetic circuits. This requires a large number of magnetically conductive components. In addition, the moment of inertia of this arrangement is relatively high because the entire magnetic circuit including permanent magnet or solenoid must be accelerated. If the magnetic circuit should be moved with electromagnets slip rings o. Ä. Are required. Another disadvantage is the sealing of the MRM to the environment in this arrangement.

Die vorliegende Erfindung umgeht diese Nachteile indem nur ein Arbeitsmagnetkreis verwendet wird und ein Ausweichkreis zur Verfügung gestellt wird. Der Ausweichkreis dient dazu eine Entmagnetisierung des Magnetes zu verhindern. Dadurch kann der Permanentmagnet im reversiblen Arbeitsbereich betrieben werden. Der Ausweichkreis dient darüber hinaus als magnetische Abschirmung um nicht von anderen Geräten (bspw. große Elektromotoren) beeinflusst zu werden, bzw. um nicht andere kleinere Geräte/Kabel oder Messanordnungen zu beeinflussen. Weiterhin wird versucht das Trägheitsmoment so gering wie möglich zu halten, indem die Bremslamellen mit Bremslamellenträger an der Welle befestigt sind. Der Elektromagnet, die Magnetkreisflussstücke und der Permanentmagnet sind fest angeordnet und werden nicht bewegt. Dadurch verringert sich die Masse, und es brauchen keine Schleifringe o. ä. verwendet werden.The present invention overcomes these disadvantages by using only one working magnetic circuit and providing a dodge circuit. The avoidance circle serves to prevent demagnetization of the magnet. As a result, the permanent magnet can be operated in the reversible working range. The dodge circuit also serves as a magnetic shield so as not to be affected by other devices (eg large electric motors), or to affect other smaller devices / cables or measurement arrangements. Furthermore, it is attempted to keep the moment of inertia as low as possible by fixing the brake disks with brake disk carrier to the shaft. The electromagnet, the magnetic circuit flux pieces and the permanent magnet are fixed and are not moved. This reduces the mass, and no slip rings o. Ä. To be used.

1 zeigt die wesentlichen Elemente des Bremsaktors mit durchgehender Welle. 1 shows the essential elements of the brake actuator with a continuous shaft.

2 zeigt den Bremsaktor mit ausgeschaltem Elektromagnet. 2 shows the brake actuator with the solenoid switched off.

3 zeigt den Bremsaktor mit sich kompensierenden Magnetfeldern im Arbeitsmagnetkreis. 3 shows the brake actuator with compensating magnetic fields in the working magnetic circuit.

4 zeigt den Bremsaktor mit sich verstärkenden Magnetfeldern im Arbeitsmagnetkreis. 4 shows the brake actuator with amplifying magnetic fields in the working magnetic circuit.

5 zeigt eine Ausführung mit einseitiger Wellenausführung. 5 shows an embodiment with unilateral shaft design.

1 zeigt eine mögliche Ausführung der Erfindung. Hauptbestandteil ist der Arbeitsmagnetkreis (AMK) bestehend aus den Flussleitstücken 1a und 1b, den Bremslamellen 2, der Standlamelle 3 sowie dem MRM 7. Der Ausweichkreis (AWK) besteht aus dem Ausweichsflussleitstück 4. Der Permanentmagnet 5 ist im AMK angeordnet und durchflutet den AMK sowie den AWK. Der Elektromagnet 6 wirkt ebenfalls im AMK. An der Welle 8 ist der Bremslamellenträger 9 mit den beiden Bremslamellen 2 befestigt. Der Bremslamellenträger 9 besteht aus einem nichtmagnetischen Werkstoff (Aluminium, Messing o. ä.) während die Bremslamellen 2 aus einem magnetisch leitenden Werkstoff (Stahl o. ä.) hergestellt sind. Die Bremslamellen 2 sind fest mit dem Bremslamellenträger 9 verbunden. Um den magnetischen Fluss im AMK besser zu führen ist ebenfalls eine magnetisch leitfähige Standlamelle 3 im AMK angeordnet. Diese Standlamelle 3 ist fest mit dem nichtmagnetischen Standlamellenträger 10 verbunden. Der Standlamellenträger 10 kann darüber hinaus auch einen Freiraum aufweisen um Kabel oder Sensoren (Hallsensor zur Messung des Magnetfeldes im AMK) aufzunehmen. Die Freiräume zwischen den Flussleitstücken 1a und 1b, den Lamellen 2 und 3 werden mit der magnetorheologischen Flüssigkeit (MRF) 7 ausgefüllt. Die magnetisch leitfähigen Flussleitstücke 1a und 1b sowie das Ausweichflussstück 4 werden durch die Montageplatten 11 und 12 zusammengehalten. In diesen Montageplatten 11 und 12 sind ebenfalls die Lager 15a und 15b untergebracht, sowie die Dichtungen 14a/14b und die magnetischen Dichtungen 13a/13b. Die magnetischen Dichtungen 13a/13b verhindern ein Auslaufen der MRM aus dem Aktor heraus. Da im MRM nach einiger Zeit sich die Magnetkugeln von der Trägerflüssigkeit trennen, muss ein Auslaufen der Trägerflüssigkeit durch zusätzliche Dichtungen (bspw. O-Ringe) verhindert werden. 1 shows a possible embodiment of the invention. The main component is the working magnetic circuit (AMK) consisting of the flux conducting pieces 1a and 1b , the brake discs 2 , the lamella 3 as well as the MRM 7 , The bypass circuit (AWK) consists of the bypass valve 4 , The permanent magnet 5 is located in the AMK and floods the AMK and the AWK. The electromagnet 6 also works in the AMK. At the wave 8th is the brake disc carrier 9 with the two brake discs 2 attached. The brake disc carrier 9 consists of a non-magnetic material (aluminum, brass o. Ä.) While the brake discs 2 made of a magnetically conductive material (steel o. Ä.) Are made. The brake discs 2 are fixed to the brake disc carrier 9 connected. To better guide the magnetic flux in the AMK is also a magnetically conductive stator blade 3 arranged in the AMK. This stand lamella 3 is fixed to the non-magnetic stand plate carrier 10 connected. The stand plate carrier 10 In addition, it can also have a free space to accommodate cables or sensors (Hall sensor for measuring the magnetic field in the AMK). The open spaces between the Flussleitstücken 1a and 1b , the slats 2 and 3 be with the magnetorheological fluid (MRF) 7 filled. The magnetically conductive flux guides 1a and 1b as well as the alternate flow piece 4 be through the mounting plates 11 and 12 held together. In these mounting plates 11 and 12 are also the bearings 15a and 15b housed, as well as the seals 14a / 14b and the magnetic seals 13a / 13b , The magnetic seals 13a / 13b prevent leakage of the MRM out of the actuator. Since the magnetic balls separate from the carrier liquid in the MRM after some time, leakage of the carrier liquid must be prevented by additional seals (eg O-rings).

2 zeigt den Bremsaktor mit ausgeschaltetem Elektromagneten. Der Permanentmagnet 5 durchflutet den Arbeitsmagnetkreis (AMK) und den Ausweichkreis (AWK). Dabei ist der Abstand des Ausweichflussstückes 4 von den Flussleitstücken 1a/1b so zu wählen dass ein Großteil der magnetischen Energie des Permanentmagneten 5 durch den AMK geht. Durch diese Durchflutung wird auch das MRF durchflutet und verhärtet sich. Wird nun versucht, die Welle zu drehen, entsteht eine Reibkraft zwischen den Bremslamellen 2 und den Flussleitstücken 1a/1b sowie der Standlamelle 3. Diese Reibkraft wirkt entgegen der Rotationskraft der Welle 8, der Bremsaktor ist somit im gebremsten Zustand. 2 shows the brake actuator with the electromagnet switched off. The permanent magnet 5 floods the working magnetic circuit (AMK) and the bypass circuit (AWK). Here is the distance of the alternate flow piece 4 from the Flussleitstücken 1a / 1b to choose that much of the magnetic energy of the permanent magnet 5 goes through the AMK. This flooding also floods the MRF and hardens. If an attempt is now made to turn the shaft, a frictional force arises between the brake disks 2 and the Flussleitstücken 1a / 1b as well as the stand plate 3 , This friction force counteracts the rotational force of the shaft 8th , the brake actuator is thus in the braked state.

3 zeigt den Bremsaktor mit eingeschaltetem Elektromagneten und kompensierenden Magnetfeldern. Der Elektromagnet 6 wird derart bestromt, dass das erzeugte Magnetfeld entgegen dem vom Permanentmagneten 5 erzeugten Magnetfeld wirkt. Das Magnetfeld des Permanentmagneten wird weiter in den Ausweichkreis verdrängt, und die Magnetfelder im Arbeitsspalt 17 (Spalt zwischen den Flussleitstücken 1a/1b, der Standlamelle 3 und den Bremslamellen 2) heben sich auf. Aufgrund des nicht durchfluteten Zustandes in der MRF wird diese flüssig und es kann keine, bzw. nur sehr geringe, Reibkraft zwischen den Bremslamellen 2 und den Flussleitstücken 1a/1b erzeugt werden. Die Welle 8 ist somit frei beweglich, der Bremsaktor ist im ungebremsten Zustand. 3 shows the brake actuator with the electromagnet and compensating magnetic fields. The electromagnet 6 is energized so that the magnetic field generated opposite to that of the permanent magnet 5 generated magnetic field acts. The magnetic field of the permanent magnet is displaced further into the escape circuit, and the magnetic fields in the working gap 17 (Gap between the flux guides 1a / 1b , the lamella 3 and the brake discs 2 ) pick up. Due to the non-flooded state in the MRF it becomes fluid and there can be no, or very little, frictional force between the brake discs 2 and the Flussleitstücken 1a / 1b be generated. The wave 8th is thus freely movable, the brake actuator is in the unbraked state.

4 zeigt den Bremsaktor mit eingeschaltetem Elektromagneten und verstärkenden Magnetfeldern. Der Elektromagnet 6 wird derart bestromt, dass das erzeugte Magnetfeld in dieselbe Richtung wie das des Permanentmagneten 5 wirkt. Dadurch wird die MRF stärker durchflutet und verhärtet sich noch weiter. Das Bremsmoment steigt über dem bei ausgeschalteter Spule und nur den Permanentmagnet 5 wirkend. 4 shows the brake actuator with electromagnet and amplifying magnetic fields. The electromagnet 6 is energized so that the magnetic field generated in the same direction as that of the permanent magnet 5 acts. This floods the MRF more and hardens even further. The braking torque increases above that when the coil is switched off and only the permanent magnet 5 acting.

5 zeigt einen Bremsaktor mit einseitiger Wellenausführung. Hier ist die Montageplatte 12 als Deckel ausgeführt. Dadurch sind nur die oberen Dichtelemente 13a und 14a notwendig, so wie mindestens ein Lager 15a. Liste der Elemente Nummer Bezeichnung 1a Flussleitstück 1b Flussleitstück 2 Bremslamelle 3 Standlamelle 4 Ausweichflussleitstück 5 Permanentmagnet 6 Elektromagnet 7 MRM 8 Welle 9 Bremslamellenträger 10 Standlamellenträger 11 Obere Montageplatte 12 Untere Montageplatte 13a Magnetische Dichtung 13b Magnetische Dichtung 14a Dichtung 14b Dichtung 15a Lager 15b Lager 16 Luftraum 17 Arbeitsspalt 5 shows a brake actuator with unilateral shaft design. Here is the mounting plate 12 designed as a lid. As a result, only the upper sealing elements 13a and 14a necessary, as at least one bearing 15a , List of elements number description 1a flux conductor 1b flux conductor 2 brake plate 3 stand lamella 4 Ausweichflussleitstück 5 permanent magnet 6 electromagnet 7 MRM 8th wave 9 Brake disc carrier 10 Stand plate carrier 11 Upper mounting plate 12 Lower mounting plate 13a Magnetic seal 13b Magnetic seal 14a poetry 14b poetry 15a camp 15b camp 16 airspace 17 working gap

Vorteileadvantages

Die Hauptvorteile dieser Vorrichtung liegen in dem geringeren Trägheitsmoment und der einfacheren Herstellung gegenüber bereits bekannten Bremsaktoren. Ebenfalls vorteilhaft ist die einfachere Montage der Dichtelemente.The main advantages of this device are the lower moment of inertia and the simpler production compared to already known brake actuators. Also advantageous is the easier installation of the sealing elements.

ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

DE 102007019584 A1 [0002]

Claims

Device for braking by means of a magnetorheological medium, characterized in that the brake actuator consists of two Flussleitstücken 1a and 1b , a permanent magnet 5 , an electromagnet 6 , a brake disc carrier 9 , a brake disc 2 , a working gap 17 and a magnetorheological medium 7 consists.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at least one flux guide 1a is present and this can consist of any conceivable magnetically conductive material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the flux guide 1a take all imaginable geometric shapes and holes or channels may be present to improve the cooling.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the surface of the flux guide 1a which is adjacent to the MRM can be increased by appropriate measures to increase the braking torque (eg roughening the surface).

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at least one flux guide 1b is present and this can consist of any conceivable magnetically conductive material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the flux guide 1b take all imaginable geometric shapes and holes or channels may be present to improve the cooling.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the surface of the flux guide 1b , which adjoins the MRM can be increased by appropriate measures to increase the braking torque (eg roughening the surface)

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the flux guides 1a and 1b form a space in which the electromagnet 6 and the working gap 17 are located.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that in the Flussleitstücken 1a and 1b Also, other elements such as seals may be accommodated to delineate the working gap with the MRM.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at each point between the flux pieces 1a and 1b the permanent magnet 5 may be appropriate in any conceivable way, but preferably in the vicinity of the alternate river piece 4 is attached.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at least one permanent magnet 5 is present, and this in the working group between the Flussleitstücken 1a and 1b located.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the magnetization direction of the permanent magnet 5 is magnetized in the flow direction of the working magnetic circuit.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the permanent magnet 5 can assume all imaginable geometrical forms.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the permanent magnet 5 can also consist of many individual permanent magnets to reduce costs.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at least one electromagnet 6 is available.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the electromagnet 6 can generate a magnetic flux which acts opposite to the permanent magnet circuit to decrease the braking effect.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the electromagnet 6 can generate a magnetic flux, which with the flow direction of the permanent magnet 5 acts to increase the braking effect.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at least one brake plate 2 is present and this consists of a magnetically conductive material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake disc / -n 2 can assume all imaginable geometrical forms.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake disc / -n 2 by appropriate measures can / may have a larger surface area (eg roughening the surface) to increase the braking torque.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake disc / -n 2 in the working space 17 protrude.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that at least one brake disc carrier 9 is present and this consists of a non-magnetic material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake disc carrier 9 to a wave 8th is fastened, or even the shaft 8th is.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake disc carrier 9 the brake disc / -n 2 in every imaginable way.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that also a plurality of brake disc carrier 9 can be present in a brake actuator.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that when using more than one brake disc 2 one or more stand blades 3 in the working space 17 can be accommodated.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the stator blade / -n 3 is made of a magnetically conductive material and / or can take any imaginable geometric shape / can.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the stator blade / -n 3 by appropriate measures has an increased surface area in order to increase the braking torque (eg by roughening the surface)

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the stator blade / -n 3 on a stand plate carrier 10 can be connected in every imaginable way.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the stand plate carrier 10 made of a non-magnetic material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the stand plate carrier 10 can be omitted if the stand slat / -n 3 be secured in the coil (eg by pouring).

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the stand plate carrier 10 may also have channels in which lines (eg the electromagnet 6 ) or sensors can be accommodated.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that an alternate flow piece 4 can be present to better guide the flow of the avoidance circle.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that when using a Ausweichflussstückes 4 this preferably consists of a magnetically conductive material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the flux guides 1a and 1b together with the alternate flow piece 4 an airspace 16 can train and that this airspace 16 can be ventilated by means of holes / channels, so that a better heat dissipation of the brake actuator can take place.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the magnetorheological medium 7 every imaginable magnetorheological medium that is based on the magnetorheological effect can be.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake actuator is an upper mounting plate 11 and that it is preferably made of a non-magnetic material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the upper mounting plate 11 can assume any conceivable geometric shape and that in this plate further elements, such as bearings or sealing elements can be accommodated.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the brake actuator is a lower mounting plate 12 and that it is preferably made of a non-magnetic material.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the lower mounting plate 12 can assume any conceivable geometric shape and that in this plate further elements, such as bearings or sealing elements can be accommodated.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the upper mounting plate 11 and the lower mounting plate 12 the two flux conductors 1a and 1b , the alternate gap 4 as well as the magnets 5 and 6 can record, or they can be attached to the mounting plates in any way imaginable, or that this can hold together the abovementioned elements by a clamping connection.

Device for braking by means of a magnetorheological medium according to claim 1, characterized in that the arrangement of flux guides 1a / 1b , Permanent magnets 5 , Electromagnet 6 , Brake disc / -n 2 , Brake disc carrier 9 and possibly Ausweichflussleitstücken 4 , Stand blades 3 and stand plate carriers 10 can also occur multiple times within a brake actuator, for example, to achieve a cascading of brake elements so that the braking force of a brake actuator can be increased and multiple working / Ausweichkreise can be performed by a Flussleitstück / Ausweichflussleitstück.