Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
  • F16D57/00—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders
  • F16D57/002—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders comprising a medium with electrically or magnetically controlled internal friction, e.g. electrorheological fluid, magnetic powder
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
  • F16F9/32—Details
  • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
  • F16F9/535—Magnetorheological [MR] fluid dampers
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
  • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
  • G05G1/10—Details, e.g. of discs, knobs, wheels or handles
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
  • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
  • F16D2200/00—Materials; Production methods therefor
  • F16D2200/0034—Materials; Production methods therefor non-metallic
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
  • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
  • G06F3/03543—Mice or pucks
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts

Definitions

• the invention relates to a magnetorheological braking device with a stationary holder and with at least two braking components and / or damper components.
• the magnetorheological braking device according to the invention can be used in a wide variety of technical fields for braking relative movements to one another.
• the magnetorheological braking device according to the invention can also be used as a haptic operating device and, for example, when operating technical devices in vehicles (as a rotary actuator; rotary / push actuator; for infotainment, air conditioning, gear selector switch, navigation, seat adjustment, in the steering or in the steering wheel,
• Chassis adjustment, driving mode adjustment Among other things, Motor vehicles, aviation and aircraft, ships, boats, agricultural engineering (tractors, combine harvesters, harvesting machines, other field machines for agriculture), construction machinery and machines for material handling (forklifts %) or for medical or industrial systems are used.
• the invention can also be used in the operation or as an input device for washing machines, kitchen / household appliances and devices, radios,
• Magnetorheological fluids for example, have very fine ferromagnetic particles such as carbonyl iron powder distributed in an oil.
• magnetorheological fluids spherical particles with a production-related Diameters from 1 to 10 mpi are used, the particle size and shape not being uniform. If such a magnetorheological fluid is exposed to a magnetic field, the carbonyl iron particles of the magnetorheological fluid are linked along the magnetic field lines, so that the rheological properties of the magnetorheological fluid (MRF) are significantly influenced depending on the shape and strength of the magnetic field.
• MRF magnetorheological fluid
• a magnetorheological transmission device which has two components that can be coupled, the coupling intensity of which can be influenced.
• a channel with a magnetorheological medium is provided to influence the coupling intensity.
• the magnetorheological medium in the channel is influenced by a magnetic field.
• Rotary bodies are provided in the channel, on which acute-angled areas and areas containing the magnetorheological medium are provided.
• the channel or at least a part thereof can be acted upon by the magnetic field of a magnetic field generating device in order to selectively chain the particles and to wedge or release them with the rotating body.
• This magnetorheological transmission device can also be used on a rotary knob to operate technical devices.
• Such a magnetorheological transmission device works and allows the transmission of very high forces or moments with a relatively small structural shape at the same time.
• WO 2012/034697 A1 also discloses a rotary knob or control knob in which the actual knob is attached so that it can rotate about a shaft.
• the braking torque can be controlled via the magnetic field of an electrical coil. If a higher braking torque that can be generated is desired, cylindrical rollers can also be used instead of spherical rotating bodies, so that the magnetic field acts over a longer distance or larger area. It has been shown, in particular in the case of rotary or control knobs with a relatively small diameter, that an extension of the rolling elements does not necessarily lead to an increase in the maximum Generable braking torque leads. It has been found that this is due to the fact that the magnetic field is closed or has to go through the central shaft.
• the small diameter of the shaft limits the braking torque that can be generated, as the magnetic field required for braking in the (shaft) material is quickly saturated.
• the material through which the magnetic field flows does not allow any higher magnetic flux, which is why no stronger magnetic field can reach the rollers.
• the smallest cross section in the overall magnetic circuit through which the magnetic field flows defines the maximum possible magnetic flux and thus the maximum braking torque in the braking device.
• the use of longer rollers as rotating bodies can then even have a disadvantageous effect on the braking torque that can be generated, since the magnetic field is distributed over the longer roller surface. There is a lower field strength. Because the achievable braking effect does not depend linearly on the magnetic field, but increases disproportionately with stronger magnetic fields, the achievable braking effect decreases accordingly with weaker magnetic fields.
• magnetorheological braking device having the features of claim 1.
• Preferred developments of the invention are the subject matter of the subclaims. Further advantages and features of the magnetorheological braking device emerge from the general description and the description of the exemplary embodiments.
• a magnetorheological braking device has a stationary holder and at least two braking components.
• One of the two brake components is non-rotatably connected to the holder and the two brake components are relative to one another continuously rotatable.
• a first braking component extends in an axial direction.
• the second brake component comprises a casing part which can be rotated around the first brake component and is hollow.
• a circumferential gap which is at least partially and in particular completely filled with a magnetorheological medium is formed between the first and the second brake component.
• the magnetorheological medium wets the brake components.
• the first brake component comprises (at least) one electrical coil and a core made of a magnetically conductive material and extending in the axial direction.
• the core comprises a base body.
• Magnetic field concentrators formed on the core and / or magnetic field concentrators formed on the shell part protrude into the gap, so that a circumferential gap with a gap height that is variable (over the circumferential angle) results.
• the electrical coil is wound around at least one section of the core, so that a magnetic field of the electrical coil runs through the core and the magnetic field concentrators and through the (axially and / or radially extending) gap into a wall of the shell part.
• the magnetic field concentrators preferably extend over at least one angular segment over the outer circumference of the core.
• the first braking component defines an axial direction.
• the first brake component can, however, also be designed to be angled at least locally to the axial direction.
• the wording that the core of the first brake component extends in the axial direction is understood in the sense of the present invention to mean that the core also extends at least essentially in the axial direction.
• the core can have a course that has a slight angle to the axial direction.
• the core can also be oriented at an angle of 2.5 ° or 5 ° or 10 ° or 15 ° to the axial direction.
• the winding of the electrical coil also does not have to be aligned exactly in the axial direction around the core be.
• the electrical coil can also be wound around the core at an angle of 5 ° or 10 ° or 15 ° or the like to the axial direction. In all cases, however, it is preferred that an angle between the alignment of the core and the axial direction and an angle between the winding of the electrical coil and the axial direction is less than 20 ° and in particular less than 10 °.
• the magnetorheological braking device has many advantages.
• a considerable advantage of the magnetorheological braking device according to the invention is that the electrical coil is provided on the first braking component.
• a particular advantage arises from the fact that the magnetic field concentrators are firmly connected to the core or the shell part and, in particular, are connected to it in one piece. This enables a particularly simple structure. It has surprisingly been found that the magnetic field concentrators do not have to be designed as self-rotating or rotatable rolling elements, but that fixed magnetic field concentrators also reliably and reproducibly provide a strong increase in the braking torque that can be generated.
• the magnetic field concentrators can either be manufactured separately and firmly connected to the core or the shell part and z. B.
• the magnetic field or the magnetic field lines preferably run transversely through the first or inner one Braking component.
• An extension of the first braking component then increases the possible magnetic flux and thus the braking torque with the same diameter.
• the core diameter which is usually not constructively larger, then does not restrict the magnetic flux.
• the magnetic field concentrators form transmission components.
• the magnetic field concentrators or the transmission components are at least partially and in particular essentially completely or completely surrounded by a magnetorheological medium.
• a magnetorheological fluid is preferably used as the magnetorheological medium.
• a plurality of magnetic field concentrators are preferably arranged distributed over the circumference of the gap.
• the magnetic field concentrators are not around themselves but rotate with the braking component to which they are attached. This results in a relative movement in the gap during rotation.
• rolling element is to be understood as meaning a rotating element which is suitable for rolling in the gap on the first or second braking component.
• the magnetorheological braking device comprises a stationary holder and at least two brake components, one of the two brake components being non-rotatably connected to the holder and the two brake components being continuously rotatable relative to one another, with a first brake component extending in the axial direction and with the
• the second brake component comprises a shell part which extends around the first brake component and is hollow and at least in sections cylindrical on the inside, wherein between the first and the second Brake component a circumferential and at least partially filled with a magnetorheological medium gap is formed.
• the first brake component comprises at least one electrical coil and a core made of a magnetically conductive material extending in the axial direction, the core comprising a base body and outwardly protruding core contours as magnetic field concentrators, so that a circumferential gap (with over the circumferential angle) variable gap height results, and wherein the electrical coil is wound around at least a portion of the core, so that a magnetic field of the electrical coil through the core and through at least one outwardly protruding core contour formed thereon as a magnetic field concentrator and through which (axially or radially) to the outside subsequent gap runs into a wall of the shell part.
• the magnetic field concentrators extend over at least one angular segment over the outer circumference of the core.
• each angular segment is smaller than 150 °.
• no magnetic field concentrator is arranged outside the angular segment (or the angular segments).
• At least one angular range is provided concentrators without a magnetic field.
• An angular range without magnetic field concentrators is preferably provided between at least two angular segments.
• at least two opposite angular areas are provided without magnetic field concentrators.
• an angular range (without magnetic field concentrators) is greater than 10 ° or 15 ° or 30 ° or preferably greater than 45 ° or greater than 60 ° and can reach 75 ° and exceed it by far.
• an angular range has a size between 45 ° and 135 ° and preferably between 75 ° and 135 °.
• the electrical coil wound around the core in the axial direction is preferably outside the angular segment (or the WinkelSegmente) added to the core.
• the electrical coil then particularly adjoins the surface. This means in particular that the electrical coil is received in the angular region or in the angular regions on the core.
• the angular segments and the angular ranges complement each other at least substantially or completely to form 360 °.
• Angular segments and angular regions are preferably arranged alternately over the circumference.
• At least one magnetic field concentrator has a cross-sectional area that tapers towards the distal end.
• At least one magnetic field concentrator is preferably rounded at the distal end.
• the core has a plurality of arms and / or the jacket part has a plurality of arms
• Arms project radially outward and / or axially to the side from the core. Arms preferably protrude radially inwards and / or axially to the side from the casing part.
• At least one arm is surrounded by an electrical coil.
• a plurality of arms are each surrounded by an electrical coil.
• a radial length of a (radially protruding) arm is smaller than a length of the arm in the axial direction.
• At least one electrical coil is preferably wound around the axis and essentially generates a magnetic field in the axial direction (radial coil).
• At least one electrical coil is wound around the core in the axial direction and essentially generates a magnetic field in the radial direction (lying coil).
• the magnetic field concentrators form a star-shaped outer contour (in cross section).
• the casing part preferably has a cylindrical inner surface over at least one axial section.
• a maximum (outer) diameter of the electrical coil in a radial direction within a or the coil plane is preferably greater than a minimum (outer) diameter of the core in a radial direction transverse and in particular almost perpendicular or also perpendicular to the coil plane.
• the minimum diameter does not have to be perpendicular to the plane of the coil.
• the electrical coil extends axially around at least one arm.
• a radial gap height between an outer end of an arm and an inner surface of the casing part is smaller than a radial gap dimension between the outer surface of the first brake component next to the arm and the inner surface of the casing part.
• the surface of the base body can be formed.
• MRF magnetorheological fluid
• the second brake component is preferably accommodated axially displaceably or displaceably on the first brake component in order to enable volume compensation in the event of temperature changes.
• the second brake component is rotatably received on the first brake component via two bearing points of different outer diameters in order to effect a change in volume in a chamber formed between the first and the second brake component by means of an axial displacement.
• at least one shielding device is included for at least partial shielding of the sensor device from a magnetic field of the electrical coil or for shielding other magnetic fields.
• the shielding device preferably comprises at least one shielding body surrounding the ring magnet unit at least in sections, the shielding device comprising at least one separating unit arranged between the shielding body and the ring magnet unit and / or at least one magnetic decoupling device arranged between the shielding body and the jacket part.
• the separating unit and / or the decoupling device have a magnetic conductivity that is many times lower than that of the shielding body.
• the shielding device can consist of several parts and, for. B. comprise at least one or two axial ring washers and at least one ring sleeve.
• the shielding device and the magnetic ring unit are arranged at a distance from one another.
• a spacer can be arranged in between.
• a plastic part such as an injection-molded part can be arranged between them and hold the parts at a defined distance from one another.
• a closed (and externally sealed) chamber is preferably formed between the brake components.
• the second brake component is rotatably received at a first end of the closed chamber on the first brake component (at a first bearing point) and in particular is supported, the closed chamber being substantially or completely filled with the magnetorheological medium.
• the second brake component is axially displaceably received on the first brake component and in particular stored, so that a volume of the closed chamber changes by a relative axial displacement of the brake components in order to compensate for temperature-related volume changes.
• the electrical coil is wound around the core in the axial direction and essentially generates a magnetic field in the radial direction. Then there is the advantage that a stronger braking torque can be generated by extending a magnetic field concentrator in the axial direction. Simultaneously with the lengthening of the magnetic field concentrator, the electrical coil, which extends in the longitudinal direction of the first braking component, can also be lengthened (meaningfully). With an electrical coil that is made longer in the axial direction, a larger passage area (cross-sectional area through which the magnetic field flows) is made available for the magnetic field. Therefore, an increase in the length of the first braking component in the axial direction also increases the cross-section of the core. As a result, a stronger braking torque can be achieved by lengthening the first braking component in the axial direction.
• the magnetic field concentrators consist of a magnetically conductive material. It is also possible for some of the transmission components to consist of a magnetically non-conductive material. If magnetic field concentrators made of a magnetically conductive material are used and transmission components made of a magnetically non-conductive material are used at the same time, the magnetic field is concentrated in the area of the magnetically conductive magnetic field concentrators. This leads to the concentration of the magnetic field (increase of the magnetic field strength) and to a local amplification (magnetic field line concentration). For example, the increases magnetic field strength in the gap from values of less than 350 kA / m to values of up to 1,000 kA / m or more. The high (concentrated) field strength attracts more carbonyl iron particles from the magnetorheological fluid, and carbonyl iron accumulates (clusters). This in turn allows the generation of higher shear stresses and thus higher braking torques.
• Magnetic field concentrator are very small and designed as a continuous disc (closed contour). Out
• the star contour or similarly configured radially or axially protruding arms with interrupting spaces can be dispensed with.
• the specially selected (very) small width and special contour of the magnetic field concentrator also concentrates the magnetic field and, as described above, leads to high field strengths in the (ring) gap and thus to carbonyl particle concentration (cluster formation).
• the field strengths in the active gap are not as high as in the case of individual arms because of the larger transition area, they are sufficient for some applications, especially when there is high cost pressure.
• the first braking component can be made axially longer, which is not a disadvantage or a minor disadvantage in terms of installation space.
• the casing part is formed on a rotary knob or rotary wheel or includes one.
• the rotary part can preferably be formed in one piece with the rotary knob or rotary wheel.
• it is preferred that the rotary knob or the casing part is designed "pot" -shaped.
• the "cover" of the casing part can be connected in one piece to a rotary part designed as a sleeve part or fastened to it separately.
• the casing part preferably consists of a magnetically conductive material or comprises a magnetically conductive sleeve part and provides an outer ring for the magnetic field.
• the magnetic field for generating a braking torque runs through the first braking component and passes through the gap at the magnetic field concentrators, which are designed to be magnetically conductive.
• the magnetic field enters the shell part from the magnetic field concentrators. There the magnetic field lines run back before the magnetic field lines re-enter the first braking component. There is thus a closed magnetic circuit or closed magnetic field lines.
• the disclosure of this document is fully incorporated into this Registration recorded.
• the braking torque in the present invention is also generated by the wedge effect on the magnetic field concentrators, even if the magnetic field concentrators cannot rotate around themselves, but are attached to the first or second brake component.
• At least one radial wall thickness of the casing part or the sleeve part of the casing part is at least half as large as a gap width of the gap and / or a radial length of a magnetic field concentrator.
• a radial wall thickness (of the sleeve part) of the casing part is preferably greater than 3/4 of the gap width of the gap.
• the radial wall thickness (of the sleeve part) of the casing part can in particular also be greater than a radial length of a magnetic field concentrator.
• a sufficient wall thickness of the jacket part made of a magnetically conductive material or the sleeve part of the rotating part can ensure that the desired field strength of the magnetic field can be generated in the area of the rolling elements in order to be able to generate a high braking torque.
• a length of the first braking component in the axial direction is greater than a length of a magnetic field concentrator in the axial direction. If the magnetic field concentrator is made shorter in the axial direction than the first braking component, this leads to a three-dimensional concentration of the magnetic field in the edge region of the magnetic field concentrator. The magnetic field can practically only pass through the gap in the sections in which there is a magnetic field concentrator.
• a length of the gap in the axial direction is preferably at least twice as great as a length of a magnetic field concentrator in the axial direction. It is also possible and preferred that two or more
• the first brake component is preferably of essentially cylindrical design and comprises a cylindrical base body as the core and the electrical coil or the electrical coils. It is also possible that, for example, a ball for mounting a rotary knob is included, which can be arranged centrally at the distal end in order to provide a simple mounting between the first brake component and the second brake component.
• the electrical coil When using a “horizontal coil”, the electrical coil can be wound in axial grooves and transverse grooves of the cylindrical base body (the first braking component). When using a “radial coil”, the electrical coil can be wound in a circumferential groove.
• the respective grooves are preferably at least partially filled with potting compound. This prevents magnetorheological medium or magnetorheological fluid from entering the area of the coil wires. This could lead to a segregation of the fluid.
• the holder preferably has a cable bushing. Connection cables for the coil and / or sensor cables and the like can be passed through the holder or through the cable bushing of the holder. This enables easy assembly and inexpensive manufacture.
• the holder preferably has a receptacle for a rotationally fixed connection to the first brake component.
• the holder can hold the first brake component in a force-locking and / or form-locking manner.
• the braking torque between the first braking component and the second braking component is dissipated via the holder.
• the holder preferably has a cylindrical running surface for a bearing and supports the casing part rotatably on the holder.
• a seal for sealing the gap is preferably arranged on the cylindrical running surface, the seal in particular is arranged closer to the gap than the bearing. This reliably protects the bearing from the magnetorheological medium. Such a configuration enables a compact structure and reliable operation.
• the camp can e.g. B. be a plain or roller bearing.
• the cylindrical running surface is preferably hardened and / or has a higher surface quality than the radially outer surface of the receptacle. This can reduce manufacturing costs.
• the cylindrical running surface has an outer diameter which is at least 3 mm smaller than an outer diameter of the receptacle of the holder.
• the holder is preferably attached to a console or another component.
• a device component comprises at least one magnetorheological braking device, as described above.
• a device component can comprise at least one user interface, a control panel, a display, a touch-sensitive display with or without haptic feedback and / or at least one sensor.
• a haptic operating device that comprises at least one magnetorheological braking device is also possible.
• a user interface, a control panel, a display, a touch-sensitive display with or without haptic feedback and / or at least one sensor is preferably also included.
• such a configuration also enables information to be displayed or output at the same time during operation. This enables, for example, an operating button with a simultaneous output display.
• a pressure-sensitive sensor it is possible for a pressure-sensitive sensor to be attached to the holder or to attach a sensor to the holder such a sensor is assigned.
• a pressure-sensitive sensor can be attached in the holder.
• a piezo sensor it is also possible for a piezo sensor to be attached to the lower part, etc.
• the holder can also be designed in two parts and register an axial displacement of the two parts with respect to one another. Haptic feedback can be provided.
• a difference between a clear inside diameter (of the sleeve part) of the casing part and an outside diameter of the first brake component is greater than 3 mm and less than 90 mm. It is also preferred that an outer diameter of the (sleeve part) jacket part is between 5 mm or 10 mm and 120 mm. The height of the casing part is preferably between 5 mm and 120 mm. In all of the configurations, it is preferred that a control device is included, which is designed to produce a variable braking effect with the electrical coil.
• the present invention works particularly preferably according to the basic principle of wedge clamping, with a magnetic field concentrator grazing past the walls at a certain distance.
• the wedge effect is created by a magnetic field, so that a high braking torque can be generated.
• the diameter of the first braking component does not have to be selected larger, to pass through a corresponding magnetic field, because with an axial lengthening of the core, the area of the core (cross-sectional area) also increases. If necessary, the axial length can also be reduced considerably if only a relatively low braking torque is required. The installation space can be adapted accordingly. Another advantage is that the electrical connection cable for the electrical coil can easily be led out even for large series. A tightness of the agnetorheological braking device and scaling can be made possible by simple means.
• Magnetic field concentrators are always exposed to a corresponding magnetic flux density.
• the magnetic field strength of the "wedge" on the magnetic field concentrators can be selected to be higher than in the prior art. Long magnetic field concentrators or several axially offset magnetic field concentrators can be used to which a sufficiently strong magnetic field can be fed.
• the magnetic field generated by the electrical coil goes radially through the core, then through the magnetic field concentrators and closes over the (sleeve part or) the jacket part or the outer cylinder.
• the magnetic field lines close once in one and, for example, the lower or left and once in the other and, for example, the upper or right half of the shell part.
• the magnetic flux thus runs essentially two-dimensionally, regardless of how long or high the
• Magnetic field concentrators are formed. Any scaling in length can thereby be achieved, since the magnetic field transmission area grows with it.
• electrical coils radial coils
• the cross-sectional area in the core remains the same and can form a needle eye for the magnetic field as long as the diameter is not changed.
• a larger diameter of the first brake component also changes the space requirement, the installation dimensions and the weight of the magnetorheological braking device. It is advantageous that the fixed magnetic field concentrators now used do not change the speed of the rolling elements, which can be disadvantageous.
• the braking effect of one magnetic field concentrator that extends long in the axial direction can be better than that of two short ones that have the same overall length. This is due, among other things, to the fact that the liquid has to be displaced longer, since the edge is further away (hydrodynamic pressure).
• the magnetorheological braking device has a diameter (of the sleeve part) of the jacket part of between approximately 5 and 80 mm (+/- 20%), in preferred embodiments approximately 10 to 40 mm.
• the invention provides an advantageous magneto-rheological braking device ("MRF brake").
• MRF brake magneto-rheological braking device
• the outer diameter of the MRF brake is usually specified, especially in haptic applications. There are ergonomic guidelines here so that the outside diameter is also larger (button or thumbwheel or mouse wheel outside diameter; area for the fingers).
• the larger the outside diameter more locking torque is required, because the torque distance therefore increased (the finger force, i.e. the (tangential) force between the actuating finger (s) and the braking element or the outer surface of the braking element must or should remain the same, since on the one hand only a certain force can be applied by the user and the necessary forces on the fingers (fingertips) for the well-being during actuation (operating quality ) are important).
• the electrical coil (electrical coil) can extend axially in preferred configurations.
• the magnetic field generated by the coil then goes radially through the core, then through the Magnetic field concentrators and closes over the outer cylinder (each by the opposite halves). This always remains the same, no matter how high (or long) the rolling element or MRF brake is.
• the invention achieves the goal of obtaining an MRF brake that is as simple as possible, but nevertheless easily scalable, with a high braking torque and a compact outer diameter.
• a flat material made of copper or another suitable material can also be used.
• the core, the magnetic field concentrators and the outer cylinder can be made of a simple steel (e.g. S235), without great demands on the surface quality and hardness, which preferably has good magnetic properties.
• the core together with the electrical coil and potting compound are preferably centered and fixed in a "holder" (force-fit or form-fit connection) and the counter torque is transferred to a console or base plate or mounting plate or a housing.
• the holder preferably has a bore through which the A sealing element (e.g. O-ring) preferably seals the cable against the holder or the interior so that no liquid can escape from the interior via the cable a temperature sensor cable or other sensor cable can be fed through this opening.
• a sealing element e.g. O-ring
• the holder can also be made of a different material such as the core, roller body or outer cylinder.
• the reduction in diameter of the holder on the running surface has the advantage that the friction radius for the sealing element is smaller, which reduces the overall friction.
• a bearing element can be used which has the same bearing outer diameter as the inner diameter of the shell part. This reduces the manufacturing costs of the shell part, there is no production-related paragraph (turning) required.
• the preferred roll body height is between 3 and 6 mm, but can also be 1 or 2 mm. In this area it is difficult to obtain good bearings or sealing elements if the inside diameter of the holder does not create additional overall height.
• a decorative or other element can be attached over the outer cylinder or the shell part, e.g. B. a rubberized button.
• a sphere or a spherical, spherical or spherical component (can also be a hemisphere) between the outer cylinder and the casting compound.
• This guides the two parts relative to each other.
• the ball is preferably fixed in the potting compound and the inner axial end face of the outer cylinder rotates relative to it. This creates a simple, low-friction and inexpensive storage (bearing point).
• a cone shape or the like is also possible.
• any other type of mounting can be selected (e.g. sliding or roller mounting).
• At least one component through which the magnetic field flows preferably consists at least partially or completely of the material FeSi3P.
• the maximum torque that can be generated depends on the selected inlet angle for the arms or the respective distal ones Ends of the magnetic field concentrators.
• the angle and the surface length generated by the outer design of the radial end of the arms and the mating surface influence the maximum torque that can be generated and the reaction time when a magnetic field or the field strength is built up in the active gap.
• Flatter (smaller) inlet angles and / or longer surfaces increase the torque that can be achieved. Larger (steeper) inlet angles and / or shorter surfaces shorten the response time.
• FIG. 2 shows a cross section of a further device component with a magnetorheological braking device
• FIGS. 3a-3b show schematic cross sections of the magnetorheological braking device according to FIG. 2;
• Figure 4 shows another cross section of a magnetorheological braking device
• FIG. 5 shows further schematic cross sections of a magnetorheological braking device in section
• FIGS. 7a-7e show a further device component
• Figures 8a-8c possible torque curves over the angle of rotation of a magnetorheological braking device of a device component according to the invention.
• Figures la to lf show several device components 200 according to the invention in which the magnetorheological braking device 1 can be used.
• the device components 200 are each designed as a haptic operating device 100.
• FIG. 1 a shows a haptic control button 101.
• the control button is attached via the console 50.
• the control button 101 is operated via the jacket part 13 or sleeve part 13e.
• the user interface 43 can also be used to transmit information.
• the device component 200 is shown as a thumb roller 102 with a haptic operating device 100.
• the thumb roller 102 can preferably be used in steering wheels, for example. However, the thumb roller is not limited to this application.
• the thumb roller 102 can generally also be usable with any other finger, depending on the installation situation.
• the device component 200 is designed as a computer mouse 103.
• the haptic operating device 100 is accommodated in the mouse wheel 106.
• the magnetorheological braking device 1 can be used to control a haptic feedback.
• Figure le shows a joystick 104 as a haptic operating device 100, in which an agnetorheological braking device 1 is housed.
• the magnetorheological braking device 100 according to the invention can also preferably be used in a gamepad 105 in order to give the player haptic feedback as a function of the game situation, see FIG.
• the magnetorheological braking device 1 has a casing part 13 or rotating part 13 or sleeve part 13e, which is rotatably received.
• the torque required to rotate the casing part 13 or rotating part 13 is adjustable.
• a user interface 43 can be arranged on the upper side of the magnetorheological braking device 1.
• Such a user interface 43 can be designed, for example, as a display device or also as a touch-sensitive input option (touchpad, movement and gesture control, image recognition ).
• a haptic operating device 100 can be used, for example, to operate machines, medical devices or for use in and for the motor vehicle. Use on other devices or other devices is also possible.
• FIG. 2 shows a device component 200 according to the invention in section with a magnetorheological braking device 1 according to the invention.
• the transverse grooves 32 in which the electrical coil 26 of the magnetic field generating device 113 is wound at the axial ends of the core 21 can be seen.
• the electrical coil 26 is wound around the axis 12 in the axial direction and essentially generates a magnetic field in the radial direction.
• sealing compound 28 is provided at each end at both ends.
• a separate seal 38 is provided over, for example, the drawn O-ring or the like.
• a length or height 13c of the magnetic field concentrator 80, 81 and the jacket part 13 or the sleeve part 13e or the second Braking component 3 in the axial direction 20 is preferably between 1 mm and 100 mm or between 5 mm and 90 mm.
• a coating 49 can be applied to the outside of the second brake component 3, so that the external appearance of the rotary knob 23 is essentially determined by the surface of the coating 49.
• the material of the sleeve part 13e or of the jacket part 13 as a whole is magnetically conductive and serves to close the magnetic circuit.
• a wall thickness 13d between the outer diameter 13b and the inner diameter 13a of the sleeve part 13e is preferably at least half as large as a radial extension of the magnetic field concentrators 80.
• FIGS. 3a and 3b show various schematic cross sections of the magnetorheological braking device 1, which can be used in the device components 200 according to FIG. 2 and also in other exemplary embodiments.
• the inner brake component 2 is designed to be stationary and is surrounded by the continuously rotatable brake component 3.
• the second brake component 3 has a casing part 13 which can rotate around the first brake component 2 and is hollow and cylindrical on the inside.
• the gap 5 running around between the first and second brake components 2, 3 can be seen.
• the gap 5 is here at least partially and in particular completely filled with a magnetorheological medium 6.
• the magnetic field concentrators 80 protrude radially outward from the base body of the core 21.
• the course of the magnetic field 8 is shown by way of example in FIG. 3a.
• the maximum outer diameter 26a of the coil 26 is larger than the minimum core diameter 21b.
• the radial extension of the gap 5 varies over the circumference.
• FIG. 4 shows two schematic cross sections of other embodiments in which the magnetic field concentrators 80 are formed by individual, outwardly protruding radial arms 83, the radial arms 83 being formed in one piece with the core 21 and made of a material with good magnetic conductivity.
• each individual arm 83 is wrapped around by an electrical coil 26 of the magnetic field generating device 113.
• the electrical coils 26 are preferably controlled jointly.
• the distal and here radially outer ends 82 of the arms 83 can be wedge-shaped, rounded or also angular. With radially inwardly projecting arms 83 as
• Magnetic field concentrators 81 can accordingly have the radially inner end as a distal end 82 wedge-shaped, rounded or also angular. The shape influences the maximum torque that can be generated and the reaction time.
• the device component 200 is designed as a haptic operating device 100 and, in detail, as an operating button 101.
• the second brake component 3 is received at the first end 111 of the closed chamber 110 at the bearing point 112.
• the second brake component 3 is received at the second bearing point 118 at the second end 115 of the closed chamber 110 on the first brake component 2.
• the diameter 117 at the second bearing point 118 is here It is made significantly smaller than the diameter 116 at the first bearing point 112.
• a change in volume is also made possible here in the event of an axial displacement. Volume changes caused by temperature and changes in volume caused by leaks can be compensated. For this purpose, there is a relative axial displacement of the first brake component 2 to the second brake component 3.
• a compensation channel 120 can be provided which connects the two areas near the bearing points 112, 118 with one another.
• the first axle part or the holder 4 of the brake component 2 can, as shown in FIGS. 7b and 7c, preferably be designed in two parts. This primarily simplifies the assembly of the electrical lines and, in particular, of the sensor line 73 within the first brake component 2.
• the cables can be laid through the open cable bushing 35.
• the sensor device 70 is shown again in detail.
• the first brake component 2 and the second brake component 3, designed here as a rotating part, are only indicated (dashed lines).
• the sensor device 70 is supported by the decoupling device 78 on the rotatable second brake component 3 in a magnetically decoupled manner.
• Shielding device 75 here consists of three shielding bodies 76, which reduce the scattering of the magnetic field 8 of the electrical coil 26.
• separating unit 77 for magnetic separation.
• the magnetic ring unit 71 is used to measure the orientation or the angle of rotation magnetorheological braking device 1 used.
• the magnetic field sensor 72 is arranged within the first brake component 2. Small relative axial displacements can also be used to detect a depression of an operating button 101, for example, see FIG. 7e.
• FIG. 8 shows the course of the amplitude 69 of the signal 68 detected by the magnetic field sensor 72 as a function of the axial displacement of the brake components 2, 3 (horizontal axis).
• An axial displacement of the magnetic field sensor 72 with respect to the magnetic ring unit 71 changes the amplitude 69 of the detected signal 68.
• B. a mouse wheel 106 or other components can be detected.
• the angle of rotation can also be detected with the same sensor or magnetic field sensor 72, the direction of the magnetic field 8 being determined in order to detect the angle of rotation.
• the intensity determines the axial position.
• a change in the signal 68 can therefore be used to infer that the pushbutton 74 has been actuated. This is advantageous because a single (multi-dimensional) Hall sensor can be used to determine the angular position and to determine an axial position.
• FIG. 8a shows a variant in which a rotary knob is used as a haptic operating aid.
• the rotation resistance is shown over the rotation angle.
• a left end stop 228 and a right end stop 229 can be generated. If you continue to turn the rotary knob 23 there is a high Magnetic field 8 or stop torque 238 is generated, as a result of which the rotary knob 23 opposes a high resistance to a rotary movement.
• the user receives the haptic feedback from an end stop 228, 229.
• the rotary movement can be rasterized or generated. For example, this can be used to navigate through a graphical menu and select menu items.
• a first grid point 226 is provided directly next to the left end stop 228, a first grid point 226 is provided. B. corresponds to a first menu item. If the next menu item is to be selected, the rotary knob 100 must be turned clockwise.
• the dynamically generated higher magnetic field 8 or detent torque 239 or its frictional torque must be overcome before the next grid point 226 is reached.
• a constant magnetic field 8 is generated for a certain angular range at the grid points 226 and at the areas in between, which is considerably lower at the grid points than in the areas in between and again significantly less than at the stops 228, 229.
• An angular distance 237 between individual grid points can be changed dynamically and is adapted to the number of available grid points 226 or menu items.
• FIG. 8b shows a variant in which the magnetic field does not rise suddenly towards the end stops 228, 229, but rather takes a steep course. Furthermore, ramp-like gradients of the magnetic field are provided at the grid points 226 on both sides of the rotation, whereby the resistance to rotation increases in the corresponding directions of rotation.
• the same operating device 100 only three grid points 226 are made available, the angular spacing 237 of which is greater than in the example according to FIG. 8a.
• FIG. 8c shows a variant in which there is less resistance to rotation between individual grid points 226 and only an increased magnetic field 239 is generated directly adjacent to the raster points 226 in order to enable the individual raster points 226 to snap into place and, at the same time, to provide only a low rotational resistance between individual raster points 226.
• the basic moment 240 acts in between.
• the operating modes of FIGS. 8a, 8b and 8c or a mixture of the operating modes may be selected using voice commands.
• the user selects a function (volume, station selection %) by voice input (with local or remote voice recognition, e.g. via Alexa, Amazon Echo, Siri, Google voice input ).
• the preferably low-alloy steel can retain a residual magnetic field.
• the steel is preferably demagnetized regularly or if necessary (e.g. by a special alternating field).
• the material FeSi3P (silicon steel or silicon steel) or a similar material is preferably used for the components through which the magnetic field 8 flows.
• voice or sound control can be carried out. With the voice control, the braking device 1 can be controlled adaptively.
• the current is preferably continuously reduced over time.
• the current can also be varied as a function of the speed (angular speed of rotation of the rotary unit).

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Theoretical Computer Science (AREA)
• General Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Automation & Control Theory (AREA)
• Electromagnetism (AREA)
• Braking Arrangements (AREA)

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• 2019
  • 2019-12-23 DE DE102019135760.8A patent/DE102019135760A1/de active Pending
• 2020
  • 2020-03-09 DE DE102020106335.0A patent/DE102020106335B3/de active Active
  • 2020-03-09 DE DE102020106328.8A patent/DE102020106328B3/de active Active
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  • 2020-12-18 EP EP20839297.7A patent/EP4078331A1/de active Pending
  • 2020-12-18 CN CN202080092688.4A patent/CN114938664B/zh active Active
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• 2021
  • 2021-03-08 CN CN202110250687.4A patent/CN113374810B/zh active Active
  • 2021-03-08 WO PCT/EP2021/055785 patent/WO2021180652A1/de unknown
  • 2021-03-08 CN CN202310207153.2A patent/CN115992855A/zh active Pending
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  • 2021-03-08 US US17/909,893 patent/US20230102886A1/en active Pending
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