EP4334177A1

EP4334177A1 - Magnetorheological braking device, more particularly operating apparatus

Info

Publication number: EP4334177A1
Application number: EP22727874.4A
Authority: EP
Inventors: Stefan Battlogg
Original assignee: Inventus Engineering GmbH
Current assignee: Inventus Engineering GmbH
Priority date: 2021-05-06
Filing date: 2022-05-05
Publication date: 2024-03-13
Also published as: WO2022234037A1; DE102021111965A1

Abstract

The invention relates to a magnetorheological braking device (1) for braking rotational movements, comprising an axle unit (2) and a rotational body (3) which is rotatable about the axle unit (2), wherein the rotatability of the rotational body (3) can be braked in a controlled way by means of a magnetorheological braking apparatus (4) having a coil unit (24). A holding space (13) provided with a magnetorheological medium (34) is formed between the axle unit (2) and the rotational body (3), the magnetorheological medium (34) comprising magnetorheological particles and gas as a filling medium. By means of a sealing apparatus (7) having a sealing unit (37), the holding space (13) with the magnetorheological medium (34) is sealed contactlessly between the parts which move relative to each other.

Description

Magnetorheological braking device, in particular

operating device

The present invention relates to a magnetorheological braking device for varying a torque of rotary movements or for braking or decelerating rotary movements. In particular, the invention relates to a magnetorheological operating device for setting operating states at least by means of rotary movements. The braking device has at least one axle unit and at least one rotary body which can be rotated about the axle unit. The rotatability of the rotating body can be set or braked in a targeted manner by means of at least one magnetorheological braking device.

Braking devices of this type enable a particularly targeted deceleration up to and including a blocking of rotational movements.

Sometimes the braking devices are designed as operating devices. Such controls are increasingly found in a variety of devices and z. B. in motor vehicles (e.g. control element in the center console, in the steering wheel, on the seat...), in medical technology (e.g. for adjusting medical devices) or in smart devices (e.g. smartphone, smartwatch, computer peripherals, computer mouse, game controller, joystick) , OFF-Highway vehicles (e.g. controls in agricultural machinery), boats/ships, airplanes, for example to select menus or to be able to carry out precise controls. By means of the magnetorheological braking device z. B. different moments, stops and detents for the rotary movement can be set. In this way, a special feel can be achieved when setting operating states (haptic feedback), which supports the user and allows very specific settings and thus the Operating complexity reduced.

In order to be able to control the magnetorheological braking device in a targeted manner, a sensor device is generally provided for detecting and monitoring the rotational position. However, accommodating them structurally in the braking device entails considerable difficulties, especially if the available installation space is very small.

Further problems result from the usually very small dimensions of the braking device. So stand z. For example, for a braking device designed as a thumb roller, the diameter is often only 12 mm, e.g. with a wheel (roller) that can be rotated with a finger (e.g. thumb) in a steering wheel or a steering wheel spoke of e.g. a motor vehicle (e.g. to adjust the volume of the infotainment). The installation space for the sensor device is therefore very limited. Overall, this results in a need for optimization in terms of assembly, costs and installation space.

In the German patent application with the file number 102019129548.3, which was unpublished before the priority of this application, and the parallel international patent application PCT/EP2020/080613, which was also unpublished before the priority of this application, a magnetorheological operating device for varying a torque of rotary movements is disclosed, with an axle unit being surrounded by a rotary body is and a torque for the rotatability of the rotary body is set by means of a magnetorheological braking device. A rotational position of the rotating body is detected with a sensor device. The sensor device has a magnetic ring unit and a magnetic field sensor arranged inside the axle unit.

A disadvantage of the known magnetorheological

Braking devices and in particular with the magnetorheological operating devices is that the achievable basic moment is relative is high. If a magnetorheological operating device is to be used in or on a computer mouse, for example, then a high basic torque can impair operation. A high basic torque can lead to earlier fatigue of the actuating finger. If you want to specifically brake or delay the rotation of the mouse wheel and want to return a haptic feedback signal in the form of ticks or a ripple or grid when rotating, then the braking force must be controlled in a targeted manner and the tick torque must be higher than the basic torque without generating a braking torque . The user not only has to overcome the basic torque, but also the increased braking torque or ticking torque at the grid points or in between. The user not only notices the difference in torque or the tangential force difference on the outer diameter of the mouse wheel between the basic torque and maximum torque when ticking, but also in which torque range it is. If you start from a very low basic torque, you need less torque to get good haptic feedback. If the mouse wheel is very difficult to move even when idle and you have to make an effort, you need a much higher braking torque to get a clear haptic feedback.

It is therefore the object of the present invention to provide a further improved braking device which enables a lower basic torque and a sufficient ratio of maximum to minimum braking torque (stroke). In particular, a magnetorheological braking device that has a particularly low basic torque is also to be made available for small haptic operating devices.

This object is achieved by a braking device having the features of claim 1. Preferred developments of the invention are the subject matter of the dependent claims. Further advantages and features of the present invention result from the general Description and description of the exemplary embodiments.

The braking device according to the invention is of magnetorheological design and is used to vary a torque of rotary movements and/or to set operating states at least by means of rotary movements. The magnetorheological braking device is designed in particular as a magnetorheological operating device or is used as such. The braking device comprises at least one axle unit. The braking device includes at least one rotating body. The rotary body is rotatable relative to the axle unit or around the axle unit. A rotatability of the rotary body (relative to the axle unit) can be set or braked in a targeted manner by means of at least one magnetorheological braking device. The braking device has at least one coil unit. A receiving space is formed between the axle unit and the rotating body, which is equipped with a magnetorheological medium and is sealed (to the outside) by a sealing device. The magnetorheological medium comprises magnetorheological particles and gas as filling medium or essentially consists of them. The filling medium consists in particular essentially of a gas or gas mixture and in particular of air. Particularly preferably, no liquid and no oil is included. Oil is not an essential component and preferably not significantly and more preferably also not included in trace amounts. In any case, oil is not the carrier fluid for the magnetorheological particles. The receiving space with the magnetorheological medium is sealed in particular by a sealing device with a sealing unit without contact between the parts moving towards one another. The parts that move relative to each other are in particular the rotary body and the axle unit, but other parts that are connected to the rotary body and the axle unit can also provide the actual gap. In any case, there is a relative movement between the axle unit and the rotating part. The braking device according to the invention has many advantages. A significant advantage is that the basic torque can be significantly reduced. The magnetorheological particles generate less friction and thus reduce the basic torque. The sealing device also has less friction, as a result of which the basic torque can be reduced very significantly. A high braking torque can be generated by the magnetorheological particles. The ratio of the maximum torque that can be generated to the basic torque can be increased.

The non-contact sealing device ensures a reliable seal. The escape of particles must be prevented. It also works with a non-contact seal.

The receiving space preferably contains more than 40 percent by volume of magnetorheological particles. In the context of this application, the proportion of 40% or 45% or more of magnetorheological particles in the receiving space is understood to mean the proportion by volume. 100% corresponds to the maximum fillable volume. In this respect, the proportion is typically a percentage by volume and also a percentage by mass, at least if the magnetorheological particles each have the same density. However, a proportion of 50% does not mean that 50% of the volume of the receiving space is filled, since the entire receiving space cannot be completely filled with the magnetorheological particles due to the structure of the magnetorheological particles. Local cavities remain between the individual (dry) magnetorheological particles, which are essentially or completely filled with gas and in particular air.

It has been found that with the use of (dry) magnetorheological particles, the maximum braking torque can also be increased compared to the prior art. Preferably, the receiving space is more than 50%, 60%, 70% or 80% (percent by volume) filled with magnetorheological particles. Magnetorheological fluids provided with a liquid carrier medium such as oil regularly contain less than 40% or 45% magnetorheological particles. The high and even higher proportion possible here helps to increase the maximum braking torque.

The receiving space is preferably filled to less than 97 percent by volume or less than 95 percent by volume with magnetorheological particles. It has been found that too high a proportion can sometimes, occasionally or regularly lead to a blocking of the braking device. Therefore, a certain distance to the maximum possible filling quantity makes sense. The exact limit depends on the design conditions and the spatial conditions inside the recording room.

A degree of filling (proportion) of the magnetorheological particles is particularly preferably between 70% and 95% of the maximum amount of magnetorheological particles that can be filled.

It is particularly preferred that the magnetorheological particles (each) consist predominantly of carbonyl iron powder. The magnetorheological particles can have coatings to protect against abrasion and/or corrosion and/or additional components in order to make the magnetorheological particles more durable, more abrasion-resistant and/or more slippery during operation. The magnetorheological medium and / or the magnetorheological particles can, for. B. include an addition of graphite.

In all configurations, it is particularly preferred that the sealing device comprises or forms at least one non-contact labyrinth seal with at least one (non-contact) sealing gap. The sealing device can form or have two or more non-contact sealing gaps. A high sealing effect can be achieved with a very low basic torque. Due to the fact that only magnetorheological particles and no liquid are contained, the sealing device can be designed without contact.

The sealing device preferably has at least one gap or sealing gap of less than 0.3 mm or a sealing gap of less than 0.2 mm to the sealing surface. In particular, at least one clear width (width) of the gap is less than 0.15 mm and preferably less than 0.1 mm and particularly preferably less than 0.075 mm.

The sealing gap is preferably so small that the magnetorheological particles are retained, but liquid such as water or oil could pass through. In the context of the present invention, the information on the size of the sealing gap relates in particular to its clear width. The clear width of the sealing gap defines, in particular, from which particle size a particle can or can no longer pass through the sealing gap.

The sealing gap is preferably at least twice or at least three times and in particular at least five times as large as the largest typical particle diameter (of the particles of the magnetorheological medium received in the receiving space). The mean particle diameter is understood to mean, in particular, the arithmetic mean of the minimum and maximum particle diameters. Most commercially available powders that contain magnetorheological particles have magnetically polarizable particles that have a size distribution between about 1 μm and 10 μm. The average particle diameter can be 5.5 μm, for example. In the case of variable size distributions, the largest typical particle diameter is a particle diameter that only less than 1% of the particles (of the magnetorheological medium recorded in the recording space). In the example mentioned, the largest typical particle diameter is slightly less than 10 μm, so that 10 μm can be assumed to be the largest typical particle diameter.

The sealing device particularly preferably comprises at least three disk-shaped sealing elements which are in particular radially aligned and each form a gap (axial gap) between them. More disk-shaped sealing elements can also be provided.

An axial width of at least one of the (two) gaps is preferably narrower than an (axial) wall thickness of at least one of the disk-shaped sealing elements. All gaps or axial gaps are particularly preferably narrower than the wall thicknesses of all disk-shaped sealing elements.

The disk-shaped sealing elements do not have to be completely disk-shaped, but they each have at least one disk-shaped sealing section. In particular, at the radially inner or radially outer end, where the disk-shaped sealing elements are attached, the shape can deviate from a disk.

Preferably, at least two disc-shaped sealing elements are coupled to the rotating body radially on the outside and particularly preferably at the radially outer end and are preferably connected or fastened thereto in a torque-proof manner.

In particular, at least one disk-shaped sealing element is coupled radially on the inside to the axle unit and, in particular, is connected thereto in a rotationally fixed manner or is connected thereto in a rotationally fixed manner.

The coupled with the axle unit disc-shaped sealing element is advantageously axially between the radially outside with the Arranged rotating body coupled disc-shaped sealing elements.

The disk-shaped sealing element coupled radially on the inside to the axle unit is preferably accommodated with a clamping section between two fastening elements. In particular, at least one fastening element (and preferably both fastening elements each) comprises a radially protruding sealing flange which forms a gap between one of the disc-shaped sealing elements and the sealing flange.

In all configurations, it is preferred that the sealing device includes at least five deflections of more than 60° or 75° or 90°. A labyrinth seal can also have at least six deflections of around 90°.

A (total) path length through the sealing gap is preferably at least four times greater than an axial width of the arrangement of the disk-shaped sealing elements. The total path length of the sealing gap preferably includes the individual radial path lengths between the sealing flanges and the axially outer disk-shaped sealing elements and the radial path lengths axially between the individual disk-shaped sealing elements.

The radial path lengths between the individual disc-shaped sealing elements are decisively influenced by the radial overlapping length of the disc-shaped sealing elements, which is preferably greater than 50% and in particular greater than 2/3 and particularly preferably greater than 3/4 of the radial extension of the disc-shaped sealing elements.

At least one disk-shaped sealing element preferably consists at least partially of Teflon or a plastic that has been modified to slide. In particular, at least one axially central disk-shaped sealing element consists at least partially of Teflon or a sliding-modified plastic. It is also possible for the sealing device to have (at least) one elastic sealing lip. Then there is a negative overlap, ie a gap remains in the normal state. The sealing lip can be designed in such a way that in the event of a local accumulation of magnetorheological particles, the gap can be closed and the sealing lip comes into contact. When the accumulation decreases, the sealing lip then springs back and releases the (small) gap again. The free gap can be smaller than 20 μm or 10 μm or 5 μm. The free gap can also be 0 if the material of the sealing lip at the point of contact wears out relatively quickly and then practically no longer touches, or if the friction is so low that it only slightly (by less than 25% or 10%) affects the basic torque influenced. This can be tested by determining the basic torque with and without the sealing lip touching.

A sealing gap or a sealing lip can run radially and/or axially or also transversely, ie radially and axially.

In all configurations, it is preferred that the sealing device (in the basic state) does not include a contacting sealing lip. However, depending on the operating situation, there may occasionally be (light) contact during operation. Preferably the overlap is negative.

In all configurations, it is possible for a seal, and in particular a graphite seal, to be included axially outside the sensor device. Such a graphite seal can be designed in contact and is not used to seal the magnetorheological particles, but only seals any graphite or other lubricants that may be present and which can be added to the mixture of gas or air and magnetorheological particles.

The rotating body is preferably rotatably mounted to the outside (to a console or a housing). That allows for that when pressure is applied to the rotating body (during operation), a gap dimension between the rotating body and the axle unit does not change, in particular essentially. A bearing point or mounting of the rotary body on the axle unit is preferably not present.

A core which interacts with the electrical coil unit of the braking device is preferably included. In particular, at least one sensor device is provided at least for detecting a rotary position of the rotary body.

In particular, the sensor device comprises at least one sensor, e.g. B. a magnetic field sensor. In particular, the sensor is adjacent to the receiving space at the (only)

Connection point arranged from the receiving space to the outside.

The sensor device particularly preferably comprises at least one magnetic ring unit and at least one magnetic field sensor for detecting a magnetic field of the magnetic ring unit.

The magnetic field sensor is in particular connected to the axle unit in a rotationally fixed manner and is in particular arranged radially and/or axially adjacent to the magnetic ring unit. The magnetic field sensor is preferably arranged at least partially within the axle unit. The axle unit radially surrounds the magnetic field sensor at least in sections (and in particular completely).

The axle unit can in particular comprise at least two separate axle parts which are connected to one another in the axial direction, namely a first axle part and at least one second axle part. The first axle part can consist at least partially of metal and has a lower magnetic conductivity than a core that interacts with an electric coil of the braking device. In particular, the first axle part consists to a considerable extent or predominantly or almost completely or completely of at least one metal or metallic Material.

An axle unit consisting of two (or more) axle parts connected to one another in the axial direction is very advantageous. This makes it possible to manufacture the first axle part from a different material than the second axle part. In particular, the core and the electrical coil unit are accommodated on the second axle part. Therefore, the second axle part is often a geometrically complex component, which is easiest and cheapest in quantities, e.g. B. an injection molding process is produced.

The first axle part can consist of a more stable or stronger material and the second axle part can be produced in an injection molding process and consist partially or predominantly of plastic.

It is also possible for the axle unit to be in one piece and to consist partially, predominantly or entirely of plastic or metal and to have a lower magnetic conductivity than a core that interacts with an electric coil of the braking device. A ratio of the magnetic conductivity of the core to a magnetic conductivity of the axle unit (or the first axle part) is preferably greater than 10 or greater than 100 or greater than 1000 and can preferably reach and exceed values of 10,000 or 100,000. The magnetic conductivity is the "relative magnetic permeability", which is also simply called "magnetic permeability".

In all configurations it is preferred that the first axle part comprises a deep-drawn part or is formed from it. This enables cost-effective production.

The axle unit (or the first axle part) particularly preferably consists of a significant proportion, predominantly, almost wholly or entirely of a paramagnetic material. Production from diamagnetic materials is also possible and preferred.

The first axle part particularly preferably consists to a considerable extent or predominantly or completely of at least one material or austenitic steel with a magnetic permeability of less than 10 or 20. The magnetic permeability after a deep-drawing process for production and shaping is particularly preferably less than 10 or 20 and in particular smaller 5

In a specific embodiment, the first axle part is a deep-drawn part and is a low-carbon, austenitic and rustproof stainless steel with the designation 1.4303 or X4CrNil8-12. In this case, the second axle part (also called the stator) is made of PPS GF 40 (a thermoplastic with 40% glass fiber reinforcement). Other materials are also possible.

It is also possible and preferred that the axle unit consists entirely of fiber-reinforced plastic such as PPS GF 40.

In all configurations it is preferred that the core and/or the coil unit is/are accommodated on the axle unit (or the second axle part).

In advantageous developments, the magnetorheological braking device comprises at least one shielding device for at least partially shielding the sensor device at least from, for example, external magnetic fields and/or a magnetic field of a coil unit of the braking device. In this case, the shielding device comprises in particular at least one shielding body which at least partially surrounds the magnetic ring unit. In particular, the shielding device comprises at least one separating unit arranged between the shielding body and the magnetic ring unit. The separation unit has a lower magnetic conductivity than the shielding body, a ratio being in particular less than 1/10 or 1/100. In particular, at least one holding device is included, which at least partially connects or couples the shielding device to the rotating body, in particular in a rotationally fixed manner.

Such a shielding device and also the holding device offer a considerable advantage. As a result, the sensor device can be shielded from disruptive influences particularly effectively and at the same time in an uncomplicated and space-saving manner. This enables a significantly improved detection of the rotational position.

In particular, the shielding device comprises at least one magnetic decoupling device arranged between the shielding body and the rotary body. In this case, the separating unit and/or the decoupling device preferably have a magnetic conductivity (relative magnetic permeability) that is (much or a multiple) lower than that of the shielding body and/or the core. A ratio of the two is preferably less than 1/10 or 1/100.

In particular, the holding device provides the decoupling device. The decoupling device can be provided entirely by the holding device. Then the holding device corresponds in particular to the decoupling device. Then the terms holding device and decoupling device can in particular be used synonymously and can therefore be exchanged. The holding device can include the decoupling device or be designed as such. The decoupling device and the holding device can also be designed separately, at least in part. The decoupling device and the holding device can be separate components.

It is possible and advantageous that the holding device is formed at least in two parts. In particular, the holding device then comprises at least one first holding component, which is designed to be magnetically conductive. In particular, the holding device then comprises at least one second holding component, which is designed to be magnetically non-conductive. The second holding component preferably has a magnetic conductivity (magnetic permeability) that is (much or a multiple) lower than that of the shielding body. In particular, the second holding component includes the decoupling device or is designed as such. The holding device can be designed to be at least partially magnetically conductive. The holding device can be designed to be at least partially magnetically non-conductive.

In other, simple configurations, it is preferable for the holding device to consist essentially or entirely of a (good) magnetically conductive material, and for the shielding body to be formed directly on the holding device. In a preferred simple configuration, the shielding body is formed by a section of the holding device. The shielding body is then formed in one piece with the holding device. If the shielding body formed on the holding device surrounds the sensor device and in particular the magnetic ring unit radially outwards (almost completely) and axially outwards (almost completely) covers it, apart from the passage of the axis unit, there is a very high level of shielding from external magnetic fields and a significant improvement of the measurement result.

In particular, it is provided that the holding device at least partially connects the shielding body and/or the separating unit and/or the magnetic ring unit (and/or the decoupling device) to the rotary body in a rotationally fixed manner.

In the context of the present invention, braking or deceleration means in particular the application of a (rotary) understood moment. A (rotary) movement can be delayed and in particular also blocked by the moment. Due to the torque, rotation can preferably also be braked and in particular blocked from a standstill. In particular, the terms braking and decelerating are used synonymously within the scope of the present invention and can therefore be interchanged.

It is possible and advantageous for the rotary body and/or the shielding body and/or the decoupling device to be connected at least partially in one piece to the holding device. The rotary body and/or the shielding body and/or the decoupling device can also be designed separately from the holding device. In particular, the separating unit is designed separately from the holding device and consists of a different material.

It is also possible and advantageous for the rotary body and/or the shielding body and/or the separating unit and/or the decoupling device to be at least partially mounted on the holding device. Then the separate components can be mounted in particular on the holding device and/or on one another.

The holding device can have at least one fastening device, which is designed for fastening at least one additional part, in particular an additional part of a finger roller. The additional part is in particular the additional part described in more detail below.

In a further development, the holding device comprises at least one (in particular magnetically conductive) path extending between the rotating body and the shielding body. The distance corresponds to at least a third and preferably at least a quarter and preferably at least half of a maximum (in particular outer) diameter of a electrical coil of the coil unit (in particular in a radial direction within the coil plane). As a result, the decoupling device can be dispensed with in certain applications without the magnetic field sensor being adversely affected. Depending on the geometry of the holding device z. B. a field strength of an operationally present in the rotary body magnetic field can be reduced by half or more along the path to the shielding body. The distance runs in particular over a sleeve-like part of the holding device that includes a central radial recess.

In particular, the shielding device is suitable and designed to shield a magnetic field of the braking device, in particular the coil unit, in such a way that it does not scatter into the sensor device and adversely affect the detection of the magnetic field of the magnetic ring unit.

In particular, the shielding body is not arranged between the magnetic field sensor and the magnetic ring unit. In particular, the shielding body is arranged between the magnetic field sensor and the magnetic ring unit in such a way that the shielding body does not (undesirably) shield the magnetic field sensor from the magnetic field of the magnetic ring unit to be detected.

In an advantageous embodiment, the shielding body surrounds the magnetic ring unit at least in sections on a radial and/or axial outside. It is also preferred and advantageous that the shielding body surrounds the magnetic ring unit at least in sections on at least one axial inner side, which faces away from the coil unit of the braking device.

In particular, the shielding body is designed as a shielding ring. In particular, the shielding ring has an L-shaped cross section. The shielding ring can also be U-shaped have cross section. The shielding body can also be designed as a cylindrical ring (section). Other suitable geometries are also possible, which at least partially extend around the magnetic ring unit. The shielding ring can be designed in one piece. A multi-part design is also possible. In particular, the magnetic ring unit is partially arranged radially inside the shielding ring.

This offers a compact arrangement and effective shielding.

In a preferred and advantageous embodiment, the separating unit comprises at least one gap running between the shielding body and the magnetic ring unit. In particular, the separating unit also includes at least one filling medium arranged in the gap. In particular, the filling medium is a casting compound for subsequent filling of the gap. In particular, at least one plastic is provided as the filling medium. In particular, the filling medium is suitable and designed to firmly connect the shielding body to the magnetic ring unit. It is also preferred and advantageous that air is provided as the filling medium.

In all configurations it is preferred that the magnetic ring unit is connected to the rotating body in a rotationally fixed manner.

If air is provided as the filling medium, at least one connecting element and, for example, a front disk or the like can be provided for the non-rotatable connection of the magnetic ring unit to the rotary body. The connecting element preferably has the magnetic properties described for the separating unit with regard to its magnetic permeability.

In particular, the filling medium is suitable and designed to mechanically and preferably non-rotatably connect the magnetic ring unit to the shielding body. This enables a particularly compact design, since attachment and shielding are achieved at the same time. In particular, the filling medium and the magnetic ring unit is rotatably mounted relative to the axle unit.

In particular, the magnetic ring unit is non-rotatably connected to the holding device and optionally to the decoupling device by means of the separating unit and/or the shielding body. Preferably, the holding device is at least indirectly non-rotatably connected to the rotary body. The rotational movement of the rotating body can thus be transmitted to the magnetic ring unit in a space-saving and reliable manner by means of the shielding device. The rotary body can be radially surrounded by at least one additional part. The holding device or the decoupling device can be connected to the rotary body in a rotationally fixed manner via the additional part. The holding device can also be directly non-rotatably connected to the rotary body. In particular, the magnetic ring unit and the separating unit and the shielding body (and the decoupling device) are rotatably mounted relative to the axle unit. In particular, the holding device is rotatably mounted relative to the axle unit.

The or at least one sealing device is preferably attached to the holding device. In particular, the sealing device does not rest either on the rotating body or on the axle unit. In particular, the sealing device is suitable and designed to counteract the emergence of a magnetorheological medium, which is arranged in a receiving space, of the braking device. Such component integration allows the braking device to be made even more compact. In particular, magnetorheological particles are held back.

It is possible and preferred for the rotating body to protrude beyond the last axial braking body by no more than half the axial width of a braking body of the braking device. In particular, the rotating body protrudes beyond that axial end which faces the magnetic ring unit. In particular, the rotary body does not protrude beyond the last axial brake body beyond this axial end. The rotary body can also be set back from the last axial brake body. Such configurations can advantageously also be provided at both axial ends or at the end opposite the magnetic ring unit. Such a shortening of the rotating body is particularly advantageous in order to further reduce the scattering effect of the magnetic field of the braking device in the sensor device.

In a particularly advantageous embodiment, the rotary body is radially surrounded by at least one additional part. In this case, the rotary body is set back axially at least at that axial end of the axle unit in relation to the additional part on which the magnetic ring unit is arranged. In particular, the additional part protrudes beyond the rotary body at this axial end. The rotary body is preferably set back at both axial ends in relation to the additional part. In particular, the axial length of the rotating body is less than the axial length of the additional part. This also further improves the magnetic decoupling considerably.

In all configurations it is particularly preferred and advantageous that the shielding body has a relative magnetic permeability of at least 1000 and preferably at least 10,000 and particularly preferably at least 100,000 or at least 500,000. The shielding body preferably has at least the relative magnetic permeability of the rotating body. The magnetic properties of the shielding body described here are preferably also provided for the rotary body.

In particular, the shielding body comprises at least one ferromagnetic material or consists of such a material. Preferably, such materials are also provided for the rotary body.

In a particularly advantageous embodiment, the shielding body comprises at least one (in particular soft-magnetic) Nickel-iron alloy with nickel-iron alloy with 60% to 90% nickel and proportions of copper, molybdenum, cobalt and/or chromium or consists of such. A proportion of 69% to 82% and preferably 72% to 80% nickel can also be provided. Such a configuration is preferably also provided for the rotary body. The shielding body and/or the rotating body particularly preferably comprises at least one meta-metal or consists of such a metal.

It is advantageous and preferred that the

The decoupling device and/or the separating unit (in particular its filling medium) and/or at least the additional part have a relative magnetic permeability of at most 1000 and preferably at most 100 and particularly preferably at most ten or at most two. It is also preferred and advantageous that the aforementioned components have a relative magnetic permeability of at most one thousandth of the relative magnetic permeability of the shielding body and/or a relative magnetic permeability of between 1 and 2. In particular, the aforementioned components include or consist of a paramagnetic material. It is also possible and preferred that the aforementioned components include or consist of a diamagnetic material.

The magnetic properties of the separating unit described above are preferably also provided for the axle unit. In this way, no disruptive stray field is generated by the axle unit in the magnetic field sensor. For example, the axle unit is made of a plastic, in particular fiber-reinforced.

The coil unit of the braking device can be arranged radially in relation to the axle unit. It is also possible for the coil unit to be arranged axially in relation to the axle unit. In such an axial arrangement, the coil unit extends with its main plane in particular along a longitudinal axis of the axle unit.

The arrangement of the magnetic field sensor offers a considerable advantage. This enables space-saving accommodation with a particularly short tolerance chain for the components (low total tolerance or few components between the sensor attachment and the magnet attachment) and at the same time particularly reliable sensory detection. The connection of the magnetic field sensor to the axle unit offers a particularly tolerance-optimized integration.

The rotary body is preferably designed as a finger roller and particularly preferably as a thumb roller. The rotary body is preferably designed as a cylindrical component which is set in rotation by means of at least one finger. The rotary body can also be part of a computer mouse. In particular, the braking device is intended to be operated with just one finger. In particular, the braking device is suitable and designed to be operated in a lying position. In particular, the axis of rotation of the rotary body assumes a more horizontal than vertical position. However, it is also possible for the braking device to be operable in a standing position (vertical orientation). In this case, the braking device is in particular usually encompassed by two or more fingers. The rotary body can also be designed as a rotary knob or the like and in particular contain at least one push function and/or pull function (push and/or pull). This push/pull function can be used, for example, to select or confirm selected menus.

In particular, the rotating body or the finger roller has a diameter of less than 50 mm and preferably less than 20 mm and particularly preferably less than 15 mm. For example, the rotating body has a maximum diameter of 12 mm. However, larger or smaller diameters for the rotary body are also possible and advantageous for certain applications. In all of the configurations, it is possible and preferred for the rotary body to be equipped with at least one additional part. The additional part preferably surrounds the rotary body radially and preferably in the manner of a sleeve. The additional part can also close the rotary body on at least one end face. In particular, the additional part is designed as an additional sleeve, which is at least partially and preferably completely closed on at least one axial end face. This relates in particular to that axial end face of the additional sleeve which is arranged on the end of the axle unit which is remote from the magnetic ring unit. It can be provided that the rotary body is designed as a hollow-cylindrical sleeve part that is open at the end faces.

In particular, the additional part is designed as an additional sleeve pushed over the rotary body. In this case, the additional part can have local increases in the outer diameter. For example, the additional sleeve has a circumferential elevation. In particular, the additional part is used to increase the diameter of the rotary body. The additional part can also be designed as a ring or the like or at least include one. To improve the feel, the additional part can be provided with at least one contour and in particular can be corrugated and/or rubberized or the like.

The magnetic ring unit is preferably arranged on an axial end face of the rotary body. This offers a particularly advantageous accommodation of the magnetic ring unit. The magnetic ring unit can be attached directly to the axial end face. However, it is also possible for the magnetic ring unit to be attached to the axial end face of the rotary body via at least one connecting element. It is also possible for the magnetic ring unit to be arranged on the axial end face of the rotary body and to be attached to a different position of the braking device via corresponding connecting elements. It is preferred and advantageous that the magnetic ring unit surrounds the magnetic field sensor at least in sections in the manner of a ring. In particular, the magnetic ring unit is arranged radially around the magnetic field sensor. In particular, the magnetic field sensor is arranged centered on the magnetic ring unit in the axial direction. This means that the magnetic field sensor is arranged in the same axial longitudinal position as the magnetic ring unit. However, the magnetic field sensor can also be arranged offset in the axial direction with respect to the magnetic ring unit. In the context of the present invention, such position information and in particular the information “radial” and “axial” relates in particular to an axis of rotation of the rotary body.

It is also preferred and advantageous that the magnetic ring unit and the magnetic field sensor are arranged in a coaxial manner with respect to one another. This offers a particularly space-saving accommodation even with particularly small dimensions and, for example, with a thumb roller. In particular, the magnetic field sensor is surrounded by the magnetic ring unit. The magnetic field sensor is in particular centered axially and/or radially with respect to the magnet ring unit. In particular, the magnetic field sensor has a specific radial offset to the axis of rotation of the magnetic ring unit. However, the magnetic field sensor can also be offset from the magnetic ring unit, at least in the axial direction.

It can be provided that the magnetic field sensor is arranged offset to the axis of rotation of the magnetic ring unit. This can also be provided if a central arrangement for the magnetic field sensor is provided overall, for example if the magnetic field sensor is arranged within the axle unit and is surrounded in a ring shape by the magnetic ring unit. An improved measurement of the angle of rotation is possible through a targeted offset of the magnetic field sensor in relation to the axis of rotation of the magnetic ring unit. For example, even with only two poles Each rotary position is precisely defined by the magnetic ring unit, so that each angle can be measured as accurately as possible. An absolute encoder can thus be implemented with particularly little effort.

The magnetic field sensor is arranged inside the axle unit.

This offers a particularly compact and at the same time tolerance-optimized accommodation of the magnetic field sensor. For this purpose, the axle unit has in particular at least one receptacle or bore in which the magnetic field sensor is arranged. In the context of the present invention, a receptacle or bore is also understood to mean, in particular, all other suitable passage openings, regardless of whether they are produced by means of a drilling process or not. The receptacle or bore runs in particular in the longitudinal direction of the axle unit. The receptacle or bore is, in particular, designed to be continuous or can also be designed as a blind hole.

In particular, the magnetic field sensor is arranged in the center of the axle unit. In particular, at least one active sensor section of the magnetic field sensor is arranged within the axle unit. The entire magnetic field sensor is preferably arranged inside the axle unit. Within the scope of the present invention, the position information for the magnetic field sensor relates in particular to at least the active sensor section.

The magnetic field sensor is preferably arranged in the bore of the axle unit, through which at least one electrical connection of the braking device also runs. The electrical connection includes in particular at least one supply line and/or control line for the coil unit. This offers an advantageous utilization of the installation space and at the same time enables a particularly uncomplicated transmission of the sensor signals. In particular, the electrical connection emerges from the front of the axle unit. The magnetic field sensor is arranged in particular on at least one printed circuit board. The printed circuit board is, for example, a print or at least includes one. At least the braking device, in particular the coil unit, is preferably also electrically connected to the printed circuit board. At least one connection line for contacting the braking device is preferably also connected to the printed circuit board. It is preferred and advantageous that the printed circuit board is arranged inside the axle unit. It is also preferred that the connection line extends out of the axle unit.

In particular, the circuit board is arranged in the previously described hole. In particular, the connection line runs through the bore. In particular, the connecting line emerges from the axle unit on a front side. This offers a particularly uncomplicated and quick installation and at the same time a compact accommodation of the corresponding components.

In particular, the connection line comprises at least one plug unit. For example, a connector unit with six or eight pins is provided. In this way, the braking device can be connected particularly quickly and at the same time reliably to the component to be operated and, for example, to vehicle electronics. The control unit can also be fixed in the installation position (e.g. holder of the control unit) by plugging in the plug.

The magnetic field sensor is preferably cast in the axle unit and/or overmoulded with at least one material. In particular, the bore is at least partially filled with the material for this purpose. The printed circuit board in the axle unit is particularly preferably encapsulated with at least one material. A plastic or another suitable material is preferably provided. In this way, the magnetic field sensor or the printed circuit board can be reliably protected from external influences and at the same time be attached in a simple manner. In an advantageous embodiment, the magnetic field sensor is arranged on an axial end of the axle unit on the face side and particularly preferably centered on the face side. This accommodation offers advantages both in terms of the sensor quality and the installation effort and space requirements. In particular, the magnetic field sensor is arranged on that end face of the axle unit which is arranged inside the rotary body.

In this case, the magnetic ring unit is preferably arranged outside of the rotary body. However, the magnetic ring unit can also be arranged inside the rotary body. In such a configuration, the magnetic field sensor can be arranged offset relative to the magnetic ring unit in relation to the axial direction. However, the magnetic field sensor can also be in the same axial longitudinal position as the magnetic ring unit.

In particular, the magnetic field sensor is attached directly to the axle unit. For example, the magnetic field sensor can be connected to the axle unit by means of overmolding or the like. However, it is also possible for the magnetic field sensor to be attached to the axle unit by means of at least one connection structure. The magnetic field sensor can also be embedded at least partially in the end face of the axle unit. It can also be provided that the magnetic field sensor is arranged radially on an axial end of the axle unit.

In particular, the magnetic ring unit surrounds the axle unit at least in sections in the manner of a ring. In particular, the magnetic ring unit is arranged radially around the axle unit. In particular, the magnetic ring unit is arranged in relation to the longitudinal direction of the axle unit. In particular, the magnet ring unit and the axis unit are arranged in a coaxial manner with each other. The axle unit is preferably in the center of the arrangement.

External storage of the rotary body is particularly preferred. It is also possible that the rotating body by means of at least one Bearing device is rotatably mounted on the axle unit.

The braking device preferably comprises at least one wedge bearing device. At least one wedge bearing device can also be assigned to the braking device. the

Wedge bearing device comprises in particular at least one and preferably a plurality of brake bodies. The brake bodies are designed in particular as rolling bodies. Cylindrical and/or spherical brake bodies can be provided. The wedge bearing device is designed in particular as a roller bearing or at least includes one.

It is also possible for the brake bodies to be formed on the outer circumference of the core or to be connected thereto in a rotationally fixed manner. The braking bodies can form a type of external toothing or braking elements protruding outwards, which form constrictions for the magnetorheological particles, where clusters of particles linked together form when a magnetic field is applied. Such braking elements can also be referred to as magnetic field concentrators.

The braking device is particularly suitable and designed for specifically dampening and/or delaying and/or blocking the rotatability of the rotary body by means of the wedge bearing device and the coil unit and the magnetorheological medium. The braking device is particularly suitable and designed to use the wedge bearing device and the coil unit and the magnetorheological medium to also specifically reduce a moment for the rotatability of the rotary body again after a delay or blockage.

The wedge bearing device with the braking bodies or braking elements is preferably arranged axially between the magnetic ring unit and the coil unit. This results in a particularly advantageous spacing of the magnetic ring unit from the magnetic field of the coil unit. The damping takes place in particular via the so-called wedge effect, which has already been disclosed in earlier patent applications by the applicant (e.g. in DE 102018100 390.0 or in DE 102020 106 328.8). For this purpose, braking bodies or braking elements are located on the rotating body adjacent to the coil unit and to the core. The brake bodies are then surrounded by magnetorheological particles. The magnetic field of the coil unit passes through the housing of the rotating body through the roller body/brake elements and closes through the core. In the process, wedges form on the magnetorheological particles, which slow down the movement of the rotary body. The braking bodies can be balls, cylindrical rollers or other parts, or they can be connected to the core in a fixed and non-rotatable manner.

It is possible for the magnetic field sensor and in particular also the magnetic ring unit to be arranged on that end face of the rotary body on which there is also an end face of the axle unit from which at least one signal line of the magnetic field sensor emerges, so that the signal line does not run through a magnetic field of the braking device. This has the advantage that the signals from the magnetic field sensor are not disturbed by the magnetic field of the coil device. In particular, the connecting line of the braking device is also arranged on this end face.

In all configurations it is particularly preferred that the magnetic ring unit and/or the magnetic field sensor are arranged within a peripheral line delimited by the rotary body. In particular, the magnetic ring unit and/or the magnetic field sensor do not protrude beyond the circumference of the rotary body. In particular, the magnetic ring unit and the magnetic field sensor are arranged radially inside of the peripheral line of the rotary body. In particular, the peripheral line is delimited by the rotating body itself and not by an additional part arranged on the rotating body. As a material for the rotating body z. B. a nickel-iron alloy with z. B. 69-82% nickel provided. Other metals that shield the magnetic field (so-called m-metals) are also possible. In particular, the wall has a relative magnetic permeability of at least 300 or at least 1000 and preferably at least 10,000 and particularly preferably at least 100,000 or at least 500,000.

It is also possible and preferred that a wall at least partially closes an open end face of the rotary body. Then it is preferred that the axle unit extends through the wall. The wall then has in particular at least one through-opening for the axle unit.

It is also possible and advantageous for the wall to be designed as a support structure for the sealing device. In particular, at least one sealing section for the axle unit and the rotary body is fastened to the wall. In such embodiments, the wall is attached in particular to the axle unit.

In an advantageous development, it is preferably provided that the sensor device is suitable and designed to also detect at least one axial position of the rotating body in relation to the axle unit in addition to the rotational position of the rotating body.

In particular, the magnetic field sensor is then designed as a three-dimensional magnetic field sensor. In particular, the axial position is detected by means of the magnetic ring unit. In particular, the axial position is detected by means of an axial position of the magnetic ring unit relative to the magnetic field sensor. Such a configuration is particularly advantageous for a braking device in which the operating states are also set by means of pressure movements. In particular, the braking device is suitable and designed to control states by means of at least one to set the printing motion. The pressure movement takes place in particular in the direction of the axis of rotation for the rotary movement of the rotary body.

In order to detect the axial position of the rotary body in relation to the axle unit, it is preferably provided that the magnetic ring unit surrounds the magnetic field sensor in a ring-like manner at least in sections. The magnetic field sensor is preferably arranged with an axial offset to the axial center of the magnetic ring unit. This enables a particularly precise and high-resolution detection of the axial position. At the same time, the axial direction of movement can also be reliably detected. In particular, the magnetic field sensor is arranged radially centered in relation to the magnetic ring unit.

The sensor device is preferably suitable and designed to determine the axial position of the rotary body in relation to the axle unit from the intensity of the magnetic field of the magnetic ring unit detected by the magnetic field sensor. In particular, the sensor device is suitable and designed to determine an axial direction of movement of the rotating body in relation to the axle unit from a sign of a change in the intensity of the magnetic field of the magnetic ring unit. However, it is also possible for the magnetic field sensor to be arranged in the axial center of the magnetic ring unit.

In particular, the axle unit is designed to be stationary. In particular, the axle unit is accommodated on a bracket which provides a support structure for components accommodated thereon and in particular for the rotary body mounted thereon and/or for the braking device and/or for the sensor device. In particular, a longitudinal axis of the axle unit provides the axis of rotation of the rotating body. In particular, the axle unit and the rotary body are arranged in a coaxial manner with each other.

The rotary body is designed in particular in the manner of a sleeve. Of the Rotating body consists in particular of a magnetically conductive material and preferably of a metallic and particularly preferably of a ferromagnetic material. In particular, the rotating body comprises at least one rotating sleeve or is designed as such. The rotary sleeve can also be referred to as a sleeve part. The rotary body is designed in particular as a rotary knob. In particular, the rotary body is of cylindrical design. The rotary body has in particular two end faces and a cylindrical wall extending between them. In this case, the rotary body preferably has at least one closed end face. It is also possible that both end faces are at least partially closed.

In particular, the axle unit extends into the rotating body and preferably into its receiving space. In particular, the rotary body is designed and arranged on the axle unit in such a way that the axle unit extends out of the rotary body at an open end face. In this case, in particular, the other end face of the rotary body is closed.

The braking device and preferably at least the coil unit are arranged in particular in a rotationally fixed manner on the axle unit.

In particular, the braking device can be controlled as a function of at least one signal detected by the sensor device. A control device for controlling the braking device as a function of the sensor device is preferably provided. In particular, the control device is suitable and designed to generate a targeted magnetic field with the coil unit as a function of the signal from the sensor device. The braking device is in particular also a damping device.

In particular, the wedge bearing device, preferably its brake body, is (directly) surrounded by the medium. The wedge bearing device surrounds the axle unit, in particular radially. The sensor device is designed in particular as an absolute value encoder. The sensor device can also be designed as an incremental encoder or as another suitable design. The sensor device is in particular operatively connected to the control device and/or the braking device.

The magnetic ring unit is in particular designed to be closed in the form of a ring. The magnetic ring unit can also be open in the form of a ring. In particular, the magnetic ring unit comprises at least one permanent magnet or is designed as such. In particular, the magnetic ring unit provides at least one magnetic north pole and at least one magnetic south pole. In particular, at least one shielding device for shielding its magnetic field from the magnetic field of the coil unit is assigned to the magnetic ring unit. The shielding device comprises in particular the wall described above or is provided by it.

The magnetic field sensor is particularly suitable and designed to detect the orientation of the magnetic field of the magnetic ring unit. In particular, the magnetic field sensor is designed as a Hall sensor or includes at least one. Other suitable sensor types for detecting the magnetic field of the magnetic ring unit are also possible.

A braking device suitable for use with the invention is also described in patent application DE 102018100390 A1. The entire disclosure of DE 102018100390 A1 is hereby part of the disclosure content of the present application.

The applicant reserves the right to claim a computer mouse with at least one braking device, as described above. In this case, the braking devices are provided in particular by a mouse wheel on the computer mouse or a similar input device. In particular, a stationary holder is included. In particular, the axle unit is non-rotatably connected to the holder and extends in the axial direction. In particular, the rotary body comprises a rotary part which can be rotated about the axle unit and is hollow (and cylindrical on the inside). In particular, a circumferential gap is formed between the axle unit and the rotary body. In particular, the gap is at least partially filled with a magnetorheological medium and here with magnetorheological particles and air or the like.

Specifically, a core made of a magnetically conductive material extending in the axial direction and an electric coil (coil unit) are accommodated on the axle unit. In particular, the coil is wound around the core in the axial direction and in particular spans a coil plane, so that a magnetic field of the electric coil extends transversely (to the axial direction) through the axle unit. In particular, a maximum (outer) diameter of the electric coil in a radial direction inside the coil plane is larger than a minimum (outer) diameter of the core in a radial direction transverse (perpendicular) to the coil plane.

Overall, the invention provides an advantageous braking device that includes a magnetorheological braking device. The braking device can be produced very inexpensively and can also be implemented under high cost pressure.

The axle unit accommodates the magnetic field sensor in the interior. The internal magnetic field sensor is arranged in particular on a printed circuit board and, together with the printed circuit board (PCB), requires a certain installation space, ie a minimal inner diameter. With the previous version, this can only be reduced minimally without deteriorating the sensor quality and driving up the component prices. The forces and moments to be transmitted therefore define the component cross-section. When used as a computer mouse wheel, the rotor can be rotated 360 degrees up to 1 million times. Each revolution can have 24 ticks, for example, which means that there are several million load changes (basic torque + tick torque / basic torque), i.e. a high alternating load. Everything together should cost as little as possible.

Further advantages and features of the present invention result from the description of the exemplary embodiments, which are explained in the fol lowing with reference to the accompanying figures.

In the figures show:

Fig. la-le schematic three-dimensional views of braking devices;

Figure 2a is a purely schematic representation of a

Braking device in a sectional side view;

FIG. 2b shows schematic detailed representations of the braking device according to FIG. 2a;

Fig. 2c-2d detailed views of the braking device of Fig. 2;

3-9 different views of further embodiments of a braking device according to the invention;

10 is a schematic representation; and

11a-h different views of further embodiments of a braking device according to the invention.

Figures la to le show devices that are equipped with the invention. The braking devices 1 are each designed as a haptic operating device 100 here.

FIG. 1a shows a haptic control knob 101. The control knob is attached via a console 50. FIG. The control button 101 is about the sleeve part operated. The user interface can also be used to transmit information.

The braking device 1 is shown as a thumb roller 102 with a haptic operating device 100 in FIG. The thumb roller 102 can preferably be used in steering wheels, for example. However, the thumb roller is not limited to this use case. Depending on the installation situation, the thumb roller 102 can generally also be used with any other finger.

The braking device 1 according to the invention is designed as a mouse wheel 106 of a computer mouse 103 in FIG. 1c and FIG. The magnetorheological braking device 1 can be used to control haptic feedback.

Figure le shows a joystick 104 with a braking device 1 as a haptic control device 100. Figure lf shows a gamepad 105 with the braking device 1 to give the player haptic feedback depending on the game situation.

FIG. 2a shows a braking device 1, which is embodied here as an operating device 100 and has a rotating body 3, embodied as a finger roller 23 or thumb roller, for setting operating states. The operation is done here so at least by turning the rotary body 3. On the rotary body z. B. be formed a mouse wheel of a computer mouse. Then the braking device 1 is part of a computer mouse.

The rotating body 3 is rotatably mounted on an axle unit 2 by means of a bearing device not shown in detail here. The rotary body 3 can also be rotatably mounted on an axle unit 2 by means of a wedge bearing device 6 designed here as a roller bearing. However, the wedge bearing device 6 is preferably not or only partially provided for the mounting of the rotary body 3 on the axle unit, but is used for the braking device 4 presented below Rolling bodies here as braking bodies 44. The braking bodies 44 are designed here as cylindrical rollers 6a.

The axis unit 2 can be mounted on an object to be operated and, for example, in an interior of a motor vehicle or on a medical device or smart device. For this purpose, the axle unit 2 can have assembly means that are not shown in detail here.

It can be provided here or in the following configurations that the rotating body 3 can also be displaced in the longitudinal direction or along the axis of rotation on the axle unit 2 . Operation then takes place both by turning and by pressing and/or pulling or moving the rotary knob 3.

The rotary body 3 is designed here in the manner of a sleeve and comprises a cylindrical wall and an end wall which is connected to it here in one piece. The axle unit 2 emerges at an open end face of the rotary body 3 .

The finger roller 23 can be equipped with an additional part 33 indicated here by dashed lines. This results in an increase in diameter so that it is easier to rotate, for example in the case of a wheel on a computer mouse or game controller that can be rotated with one finger or a rotary wheel on a computer keyboard thumb roller.

The rotary movement of the rotary knob 3 is damped here by a magnetorheological braking device 4 arranged in a receiving space 13 inside the rotary knob 3 . The braking device 4 uses a coil unit 24 to generate a magnetic field which acts on a magnetorheological medium 34 located in the receiving space 13 . The magnetorheological medium 34 consists here of magnetorheological particles and a gas mixture such as air. A magnetic field leads to a local and strong crosslinking of the magnetically polarizable particles. The braking device 4 thus enables a targeted deceleration and even a complete blocking of the rotational movement. A haptic feedback can thus be provided with the braking device 4 during the rotational movement of the rotary body 3, for example by means of a correspondingly perceptible detent or by means of dynamically adjustable stops.

In order to supply and control the coil unit 24, the braking device 4 here includes an electrical connection 14, which is designed, for example, in the form of a printed circuit board or printed circuit board or as a cable line. The connection line 11 extends here through a bore 12 running in the longitudinal direction of the axle unit 2.

The receiving space 13 is sealed off from the outside here with a sealing device 7 in order to prevent magnetorheological particles of the medium 34 from escaping. The sealing device 7 closes the open end face of the rotating body 3 . A (second) sealing part 37 has a small free sealing gap to the axle unit 3 . The sealing parts 27 , 37 are fastened here to a support structure designed as a wall 8 . The sealing unit 37 can also bear directly on the inside of the rotary body 3 on the outside.

The sealing device 7 comprises the sealing unit 37, which comprises two sealing lips which, spaced apart axially from one another, project radially inwards and do not touch the axle unit 2. There are two radially thin sealing gaps with a larger cavity in between. Overall, the two sealing lips form a type of labyrinth seal. In any case, the two very thin sealing gaps largely or largely prevent magnetorheological particles from escaping. The gap width 37e (cf. the enlargement of the gap area at the bottom right in FIG. 2a) can be very small and practically 0, and can in particular be smaller than a typical or average or minimum diameter of the particles contained. In any case, the seal is not tight for water or similar liquids. The sealing device doesn't have to be, either, since it doesn't contain any liquid. To seal off any graphite or the like that might escape, a minimally fitting dust seal can be provided axially outside of the sensor device 5 . The sensor device 5 and its magnetic ring unit possibly still reliably collect magnetorheological particles emerging from the receiving space 13 due to the magnetic field.

The seal 17 is designed here as an O-ring and surrounds the axle unit 3 radially. The seal 17 rests against the axle unit 2 and the rotating body 3 . The O-ring also helps to secure. The part of the receiving space 13 filled with the particles is also sealed.

A sensor device 5 is provided here in order to monitor the rotational position of the rotating body 3 and to be able to use it to control the braking device 4 . The sensor device 5 comprises a magnetic ring unit 15 and a magnetic field sensor 25.

The magnetic ring unit 15 is diametrically polarized here (and in the other exemplary embodiments) and has a north pole and a south pole. The magnetic field sensor 25 embodied here as a Hall sensor measures the magnetic field emanating from the magnetic ring unit 15 and thus enables the angle of rotation to be reliably determined.

In addition, the magnetic field sensor 25 is preferably three-dimensional here, so that in addition to the rotation, an axial displacement of the rotary body 3 relative to the axle unit 2 can also be measured. This allows both rotation and a push button function (push/pull) to be measured simultaneously with the same sensor 25. About the orientation of the magnetic field the angle can be detected and the axial position can be determined via the strength of the magnetic field (cf. FIG. 2d). However, the braking device 1 can also only be equipped with a rotating function.

The sensor device 5 is particularly advantageously integrated into the braking device 1 . For this purpose, the sensor 25 is inserted into the receptacle 12 or bore 12 of the axle unit 2 here. The magnetic ring unit 15 surrounds the sensor 25 radially and is fastened to the rotary body 3 in a rotationally fixed manner. This has the advantage that not length tolerances, but only diameter tolerances that have to be precisely manufactured come into play. The radial bearing clearance between the rotating body 3 and the stationary axle unit 2 is correspondingly small and can also be easily controlled in series production.

A further advantage is that axial movements or displacements between the rotary body 3 and the axle unit 2 do not adversely affect the sensor signal, since the measurement is in the radial direction and the radial distance is essentially decisive for the quality of the measurement signal.

Here and in other configurations, the sensor 25 in the receptacle 12 can be overmoulded with a plastic, for example.

In order to further improve the accommodation of the sensor 25, it is arranged here on a printed circuit board 35 or print.

The coil unit 24 or its connection 14 is also contacted here on the printed circuit board 35 .

Furthermore, the connecting line 11 is also connected to the printed circuit board 35, via which the entire braking device 1 is connected to the system to be operated. For example, a 6-pin or 8-pin plug can be attached to the printed circuit board 35, via which both the sensor 25 and the coil unit 24 connected to the appropriate controller. The signal line 45 for transmitting the sensor signal is also arranged in the connecting line 11 here.

In this way, the braking device 1 can be installed particularly easily and quickly. In order to make the entire system particularly robust with regard to errors and faults, the printed circuit board 35 can be cast in the bore 12 together with the sensor 25 in the axle unit 2.

The axle unit 2 here consists of a one-piece axle unit 2, but can also consist of two axle parts 20, 21 which are connected to one another in the axial direction. FIG. 2b shows schematic views of possible configurations. The first axle part 20 extends outward from the rotating body 3 . The second axle part 21 serves as a stator and accommodates the core 26 and the electric coil unit 24 . The brake bodies 44 or rollers 6a are held on the second axle part 21 adjacent to the core 26 .

The wall 8 can magnetically decouple the sensor device from the coil unit 24 and the rotary body 3 .

Figure 2b shows a two-part variant. The first axle member 20 includes an elongate tubular axial portion 20a and an axially inner end when assembled

Fastening section 20b, which here comprises a radial section 20c and a (short) sleeve-shaped holding section 20d. Here the holding section 20d encompasses the end of the second axle part 21 and is latched and/or clamped and/or glued and/or screwed there.

It is also possible for the first axle part 20 to have retaining tabs 20d for attachment to the second axle part 21 . Then the fastening section 20b is not rotationally symmetrical (right part of FIG. 2b). A push-pull function can be integrated in the exemplary embodiment according to FIG. 2a. A displacement of the first brake component 2 in the orientation of Figure 2a to the left leads to the axial distance of the magnetic field sensor 25 from the magnetic ring unit 15 is increased or changed.

An axial displacement changes the received signal 468 as shown in FIG. 2d. FIG. 2d shows the course of the amplitude 469 of the signal 468 detected by the magnetic field sensor 25 as a function of the axial displacement of the braking components 2, 3 (horizontal axis). An axial displacement of the magnetic field sensor 25 relative to the magnetic ring unit 15 changes the amplitude 469 of the detected signal 468. An axial displacement or a pressing down of the additional part 33 or a lateral displacement of the additional part 33 can be detected in this way. The angle of rotation can also be detected with the same sensor, the direction of the magnetic field being determined in order to detect the angle of rotation. The intensity determines the axial position. From a change in signal 468, an axial actuation of braking device 1 can therefore be inferred. This is advantageous since a single (multidimensional) Hall sensor can be used to determine the angular position and to determine an axial position.

In Figure 2c, the sensor device 5 is shown again schematically in detail. The axle unit 2 and the rotary body 3 are only indicated (dashed lines). The sensor device 5 is based on the decoupling device 39 on the rotatable second brake component 3 z. B. magnetically decoupled from.

A shielding device 9 is provided for shielding magnetic fields. The shielding device 9 consists here of a three-part shielding body 19. In addition, there is also a separating unit 29 for magnetic separation. The magnetic ring unit 15 is used to measure the orientation or the angle of rotation of the magnetorheological Braking device 1 used. The magnetic field sensor 25 is arranged within the first axle part 20 . Small relative axial displacements can also be used to detect a depression of a control button, for example.

In the embodiment shown in FIG. 2a, the wall 8 is designed to be magnetically non-conductive. This can prevent the magnetic field of the magnet ring unit 15 and the magnetic field of the coil unit 24 from adversely affecting each other. The wall 8 decouples the rotary body 3 from the sensor device 5. The wall 8 serves here as a connection for the sealing device 7.

It is possible that a holding device 49 is provided. The holding device 49 then encloses in particular the sensor device 5 radially outwards and axially outwards and holds the magnetic ring unit 15. The holding device 49 can be made of a metal that shields magnetic fields and, for example, of a metal with a relative magnetic permeability of at least 100,000. For example, the holding device 49 is then made of a nickel-iron alloy. The holding device 49 can also be used for shielding.

The additional part 33 from FIG. 2a can also have a radially circumferential elevation with a considerably larger diameter. As a result, the braking device 1 is then also particularly suitable as a mouse wheel for a computer mouse or the like.

The rotating body 3 is in all configurations made of a magnetically particularly conductive material. The holding device 49 and the rotary body 3 are here made of m-metal, for example. The components described here as being magnetically non-conductive consist, for example, of plastic and have a relative magnetic permeability of preferably less than 10.

The problematic fields that the angle of rotation measurement in the Generally, the fields in the radial direction can be disruptive. These fields are shielded here preferably with a holding device 49 acting as a jacket or with a separate shielding body 19 (FIG. 2c) made of a suitable material, e.g. B. magnetically conductive steel. In addition, the magnetic field of the magnetic ring unit 15 can be further strengthened.

As a result, the magnetic ring unit 15 can be dimensioned smaller (thinner) and thus material, construction volume and production costs can be saved.

It is also possible for the holding device 49 to consist of a magnetically non-conductive material. In any case, it is then preferable for the shielding device 9 to have a one-piece or also multi-piece shielding body 19, which surrounds the magnetic ring unit 15 at least radially outwards and axially outwards and, if necessary, axially inwards, preferably without a gap, as shown in Figure 2c or Figure 2a 2a, the holding device 49 can make the shielding body 19 available.

The shielding device 9 has at least one separating unit 29 which is designed to be magnetically non-conductive or only very slightly conductive. A ratio of the magnetic permeability of the shielding body 19 to the magnetic permeability of the separating unit 29 is preferably greater than 1000, but in any case greater than 10 or better greater than 100.

The construction is also improved in that the wall thickness of the shielding body 19 is varied and a distance is provided between the magnet ring unit 15 and the shielding body 19 . The distance between the ring 15 and the shielding body 19 allows the shielding and reinforcement to be optimally adjusted. The material of the shielding body 19 is selected here so that it does not get into magnetic saturation, so that external magnetic fields are adequately shielded (material in saturation lets magnetic fields through like air, i.e. with the magnetic field constant mq). With an advantageous design of the distance between ring 15 and shielding body 19, the magnetic field does not close too much over shielding body 19 and the field in the center at sensor 25 is sufficiently homogeneous and is increased compared to a ring 15 of the same size or larger without shielding body 19.

A preferred dimensioning of the shielding device 9 for a mouse wheel of a computer mouse has the following dimensions, for example. The shielding body 19 is 0.5 mm thick, the distance between the shielding body and the magnet ring unit 15 is also 0.5 mm, the width of the magnet ring unit 15 is 2 mm, and the diameter of the magnet ring unit 15 is 8 mm. In this case, the possible interference field from the coil unit 24 is 140 mT, which results in a possible error in the angle measurement of less than 0.1° (cf. earth's magnetic field: approx. 48 mT in Europe).

A further exemplary embodiment of the magnetorheological braking device 1 or the magnetorheological operating device 100 is explained with reference to FIGS.

FIG. 3 shows a first cross section through braking device 1. Braking device 1 includes a stator, which is formed here by axle unit 2, and a rotor, which includes rotary body 3. The axle unit 2 is formed by two axle parts 20, 21 connected to one another in the axial direction, but can also be in one piece. The axle part 20 can also be referred to as a shaft and is used here to attach the operating device 100 to a console, for example. The core 26 and the electric coil unit 24 are accommodated on the part 21 . The electrical coil unit 24 is wound here in the axial direction around the second axle part 21 . The core 26 can be seen in the center. The magnetic field generated by the electrical coil unit 24 runs centrally through the core and is aligned there approximately perpendicular to the plane of the drawing.

At the first end of the second axle part 21 is the first Axle part 20 connected thereto. The axle part can also be manufactured in one piece. At the opposite, second end of the axle part 21 a type of axle stub is provided here, with which the rotary body 3 is rotatably accommodated or guided on the second axle part 21 . The rotating body 3 is supported here via the bearing point 412 on the outside of the rotating body 3.

Inside the rotating body 3, a receiving space 13 is formed between the second axle part 21 and the inner wall of the rotating body 3, in which a magnetorheological medium 34 with magnetorheological particles and a gas mixture is present. The rheological properties of the magnetorheological particles 34 are influenced via the magnetic field of the electric coil unit 24 . A wedge bearing device 6 is also provided in the receiving space 13, which comprises brake bodies 44 designed as rollers 6a, as can be seen in FIG.

The first axle part 20 consists here of a plastic or a metallic material (deep-drawn part). The first axle part 20 has an elongate axial section 20a which is hollow on the inside. The magnetic field sensor 25 of the sensor device 5 is accommodated in the interior of the axial section 20a. The magnetic field sensor 25 or the magnetic field sensors 25 are arranged here on a printed circuit board 35 which is accommodated and fastened inside the axial section 20a. The printed circuit board 35 has a number of contacts and connection lines 11 with which the electrical coil unit 24 is supplied with power and via which the sensor signals of the magnetic field sensors 25 are read out.

A fastening section 20b with a radial section 20c and a holding section 20d extending axially away therefrom adjoins the inner end of the axial section 20a radially outwards. The axial section 20a is provided on a first axial side of the radial section 20c designed as an annular flange. On the opposite axial side, the holding section 20d extends radially outwards, which is also rotationally symmetrical here and is designed in the form of a sleeve. The holding section 20d surrounds a correspondingly shaped section of the second axle part 21.

The first axle part 20 and the second axle part 21 are connected to one another. In particular, the two axle parts are caulked together. It is also possible that the two axle parts 20 and 21 are screwed and/or clamped and/or glued together.

Preferably, an O-ring 17 is provided radially on the outside of the second axle part 21 between the axle part 21 and the holding portion 20d of the first axle part 20 for sealing when necessary.

The rotary body 3 extends here preferably over a significant part of the axial length of the second axle part 21 and in particular over the entire length of the second axle part 21. Here in the exemplary embodiment, the rotary body 3 projects beyond the second axle part 21 at both axial ends of the second axle part 21 .

At the end facing the first axle part 20, the rotary body 3 is connected here to a holding device 49, which extends in a kind of bell shape over the first axle part 20 and around it. The holding device 49 accommodates a sealing device 7 for sealing the receiving space 13 from the outside. Furthermore, the holding device 49 carries a shielding device 9 and a magnetic ring unit 15 of the sensor device 5 accommodated thereon.

A radially inwardly projecting leg of the holding device 49 provided at the axially outer end shields the magnetic ring unit 15 axially from external magnetic influences. A radial, sleeve-shaped leg of the holding device 49 that immediately follows it shields the magnetic ring unit 15 radially outwards. As a result, the magnetic field of the magnet ring unit 15 is influenced only very little from the outside. The holding device 49 consists here of a material with a high magnetic permeability (preferably greater than 1000 or greater than 100,000) and can consist of a similar or the same material as the rotary body 3.

Although no axial wall is formed between the magnetic ring unit 15 and the electrical coil unit 24 in the specific exemplary embodiment according to FIG. This is due, among other things, to the fact that there is a considerable axial distance between the magnetic ring unit 15 and the electric coil unit 24 . In addition, the first axle part 20 consists here of a plastic or a metallic material with low magnetic permeability and can consist of a paramagnetic material, for example. Due to the low magnetic permeability of the axle part 20, magnetic resistances for closing magnetic field lines in the holding device 49 are very high, so that only an extremely small interference field is present. As a result, a highly precise angle detection can take place. However, an axial wall can also be formed between the magnetic ring unit 15 and the electrical coil unit 24 .

A further advantage of the braking device 1 is that the sealing device 7 with a sealing lip of the sealing unit 37 does not rest on the running surface 37a of the first axle part 20 . There is no physical contact. A small or very small clearance remains.

A (second) sealing lip 37b is formed on the outer circumference of the axle unit 2 (second axle part 21), which here forms a small radial gap between the sealing lip 37b and the radial outer wall of the outer surface of 20d. The (dry) magnetorheological particles are held back in the receiving space 13 by this seal. Any particles escaping as a result are reliably held back by the (first) sealing lip 37a, which also has a thin gap to the axle unit 2 has. Should magnetorheological particles pass through the gap or gaps to the outside, they are held and collected by the magnetic field of the magnetic ring unit 15 . There is no complete exit to the outside world.

For an even stronger seal, the ring 37c shown (only) in FIG. 3 can also be applied to the axle part 2, which overall leads to a labyrinthine seal.

The holding device 49 accommodates the shielding device 9 here. For this purpose, a separating unit 29 which is L-shaped in cross section and has only a low magnetic permeability is accommodated in the holding device 49 . A ratio of the magnetic permeability of the shielding body 19 at the end of the holding device 49 and the separating unit 29 is preferably greater than 10 and in particular greater than 100 or greater than 1000. Inside the separating unit 29 the magnetic ring unit 15 is accommodated.

FIG. 4 shows a cross section through the braking device 1 according to FIG. 3, the cross section according to FIG. 4 being aligned perpendicular to the cross section according to FIG. It can be seen here that the electrical coil unit 24 is wound around an axis that is aligned here within the plane of the drawing and transversely to the longitudinal extent of the axle device 2 . The core 26 can be seen centrally within the electrical coil unit 24 . The electric coil unit 24 is held by a coil holder 24a.

A roller 6a is shown as a braking body 44 above and below the core 26 . The rollers 6a serve as a kind of magnetic field concentrators and contribute to the wedge effect of the wedge bearing device 6.

At the end on the right here are the connection lines or

Contacts 11 can be seen on the printed circuit board 35, which is accommodated in the receptacle 12 within the first axle part 20. FIG. 5a shows a perspective representation of an embodiment of the axle unit 2 with the first axle part 20 and the second axle part 21, wherein the roller holder 6b and the rollers 6a accommodated thereon can be seen as brake bodies 44 on the second axle part 21.

Rotatable rollers 6a are preferably used in FIG. 5a. It is also possible for the parts 6a to be designed in the manner of rollers only radially on the outside and not to be rotatably accommodated. The components 6a (braking elements) then practically directly form part of the core 26 or are even formed in one piece with it. Then the parts 6a can form a non-circular outer contour z. B. can be shaped like a star and extend in preferred embodiments only over certain angular ranges of the circumference, as can also be the case with the rollers. Between the non-round outer contour and the inner wall in the rotary body, a shearing body is then formed with a variable gap height over the circumference. Such a shear gap on a "star contour" is also well suited for targeted braking. One advantage is the reduction in the number of moving parts.

FIG. 5b shows a variant in which the core 26 extends outwards and in which no rollers 6a or star contour are formed or incorporated on the core. The core may form a (partially) cylindrical outer surface. A shearing gap 6c (with a constant or variable) gap height is then formed between the outer surface and the inner surface of the rotary body 3 on at least one circumferential segment. Magnetorheological particles, which cause deceleration, are accommodated in the shearing gap.

In all cases it is possible that the magnetorheological particles in a carrier fluid such. B. an oil or other liquid are added. However, it is also possible for the magnetorheological particles to be contained in a gas without a carrier liquid and linked together by a targeted magnetic field. With a shearing gap with a variable gap height on the circumference (e.g. a star contour), a higher braking torque can be generated than in a cylindrical shearing gap. An even higher braking torque can be built up via rotatable rolling elements such as the braking elements 44 or rollers 6a.

An advantage of magnetorheological particles without a carrier liquid is that a lower basic torque can be achieved since the seal requires less (or no) contact pressure and therefore runs more easily. Another advantage is that there is less dependence on the operating temperature. The viscosity of an oil at temperatures of -40°C and at 120°C is significantly different. Such dependencies disappear without the use of oil. In addition, the absolute proportion of magnetorheological particles in the gap can be increased since the volume proportion of the carrier liquid is eliminated.

FIG. 6 shows a cross section, in which it can be seen that the holding section 20d is pushed onto a corresponding section of the second axle part 21. An O-ring 17 for sealing can be seen between the holding section 20d and the second axle part 21 .

If an embodiment according to FIG. 5b is present, the component 6a is practically part of the core 26 in the cross section according to FIG. A configuration with such a component 6a can be advantageous if both products with rollers (as braking bodies 44) and products with a shearing gap 6c are to be manufactured in the same way. A flexible decision can then be made during assembly.

Figure 7 shows a perspective view of the second axle part 21 with the O-ring 17 that can be seen on it, the roller holder 6b and the three rollers 6 here.

FIG. 8 shows a sectional illustration of the first axle part 20. Inside the axial section 20a of the first axle part 20, the receptacle 12 can be seen.

Finally, FIG. 9 shows a perspective front view of the first axle part, wherein it can be seen that the axial section 20a has a non-round outer surface here. Noses 20f and/or grooves 20g can be provided on the outer surface, which overall lead to a non-round outer surface and ensure better dissipation of the torque recorded and a torsion-proof mounting of the braking device 1 on a console 50, for example.

Figure 10 shows a schematic representation of the magnetorheological particles 34a in the receiving space 13 between the rotary body 3 and the core on the axle unit 2. A rotatable roller 6a and a non-rotatable and roller-like part connected to the core and connected to the core are shown as an example (not to scale). Magnetic field concentrators 6d in the shear gap 6c. The receiving space 13 is essentially or almost completely filled with magnetorheological particles 34a. Naturally, a certain amount of space must remain free. However, it has been found that it makes sense not to fill the receiving space 13 completely. Otherwise, partial blocking may also occur.

Figures 1le to 11h show different configurations of sealing devices 37 between the radially inner axle unit 2 and the radially outer rotary body 3 in a schematic view.

A complex labyrinth gap is included in FIG. 11a, which extends between two sealing parts 37 and is deflected several times. The sealing gap begins here radially on the outside. In all embodiments, the magnetic ring 15 forms an axially closing magnetic seal 47. A complex labyrinth gap between two sealing parts 37 is also formed in FIG. 11b. Here the sealing gap begins radially on the inside on the radially enlarged section 20d of the axle unit 2. In order to escape, particles would also have to follow the gap, which has been deflected several times, which is reliably prevented.

11c shows a simpler labyrinth gap, which is formed between the axle unit 2 and only one sealing part, but is also deflected several times.

11d shows an embodiment with a thin disk-like sealing part, which extends radially from the inside to the outside and forms a thin sealing gap on a more complex sealing part 37 radially on the outside. A type of sealing lip 37a and the end 37b of the disk-like sealing part ensure multiple deflection of the sealing gap.

FIG. 11e shows a relatively simple configuration in which a support ring 38 with an L-shaped cross section is fastened to the rotary body 3 radially on the outside. The support ring 38 holds a thin disc as a sealing part 37, which forms a sealing gap radially at the inner end 37b. The support ring 38 forms, together with the sealing part 37, a multiply deflected gap.

Finally, FIG. 11f shows a variant in which a support ring 38 holds a thin disk as a sealing part 37 axially from the outside.

FIGS. 11g and 11h show two only slightly different variants of a sealing device 7 of a magnetorheological operating device 100 in an enlarged section.

The magnetorheological operating device 100 is used to set operating states and has an axle unit 2 and a rotating body 3 that can rotate around it. The rotatability of the rotary body 3 can be braked in a targeted manner by means of the magnetorheological braking device 4 with an electric coil unit 24 . The receiving space 13 contains magnetorheological particles and gas as a filling medium. The recording room 13 is sealed via at least one sealing device 7 with at least one sealing unit 37 without contact between the parts moving toward one another. The sealing device here comprises at least one non-contact labyrinth seal with a plurality of sealing gaps 43d, 41a, 41b.

Only a small part of the rotating body 3 can be seen in FIGS. 11g and 11h. The rotary body 3 is rotatably accommodated around the rotary axis 2a of the axle unit 2 . The rotary body 3 is connected in a torque-proof manner to the holding device 49, which forms a shielding device 9 in order to shield the influence of external magnetic fields on the magnetic field sensor 25, which is not visible here.

Here the sealing device 7 comprises three disk-shaped sealing elements 40, 41 and 42, which are each aligned radially and each form a gap 41a, 41b between them. An axial width 41c of the two gaps 41a, 41b is narrower than a wall thickness 40d of all disc-shaped sealing elements 40,

41 and 42.

Each sealing gap can be narrower than 0.3 mm or 0.2 mm or narrower than 0.1 mm to the (adjacent) sealing surface. At least one clear width (or width) of the sealing gap can be less than 0.15 mm and preferably less than 0.1 mm and particularly preferably less than 0.075 mm.

The sealing gap is preferably at least twice or three times and in particular five times as large as the largest typical particle diameter. The largest typical particle diameter can be, for example, 8 μm or 10 μm or 12 μm.

An (elastic) sealing lip 37c is formed on the middle disk-shaped sealing element 41 . The disc-shaped sealing elements 40 and 42 have sealing lips 37a and 37b. The sealing gaps 41a, 41b are liquid-permeable, but hold back magnetorheological particles contained in the receiving space 13. The disk-shaped sealing elements 40 and 42 are coupled to the rotary body 3 radially on the outside. In FIG. 11g, the sealing elements converge somewhat radially on the outside and rest against one another at the outer end. There they can be glued together or held by friction or are connected to the static seal 32 between the rotary body 3 and the holding device 49 .

The disk-shaped sealing element 41 is coupled radially on the inside to the axle unit 2 and is fastened to it here. For this purpose, two fastening elements 43a, 43b are provided in the form of clamping elements which are clamped to the axle unit.

The middle disc-shaped sealing element 41 is clamped with a clamping section 41e between the two fastening elements 43a, 43b and is thereby held.

Here, the disk-shaped sealing element 41 coupled to the axle unit 2 is arranged axially between the disk-shaped sealing elements 40 and 42 coupled to the rotary body 3 radially on the outside. A reverse arrangement is also possible.

The fastening elements 43a and 43b each comprise a radially outwardly protruding sealing flange 43c, which forms a gap 43d in each case between one of the disk-shaped sealing elements 40 and 42 and the sealing flange 43c. The sealing flanges 43c protrude radially outwards from sleeve-shaped clamping sections.

Overall, the labyrinth seal of the sealing device 7 here has six or more 90° deflections, it also being possible for the deflections to have deflection angles that are larger or smaller by, for example, 15°. This results overall in a large gap length. The entire gap length is represented by the multiple deflected arrow in FIG. 11h at the top right and results from the sum of double the individual lengths 36a and the sum of the lengths 41a and 41b plus the axial portion 40f. This length is several times larger than the axial width 40f. In Figure 11h is between here z. B. purely disc-shaped sealing elements 40, 42, an annular spacer 40 was added, which ensures a defined distance.

The disk-shaped sealing element 41 preferably consists at least partially or entirely of a plastic and in particular Teflon or a sliding-modified plastic. The fastening elements 43a, 43b (clamping elements) are advantageously made of metal and are in particular pressed onto the axle unit. Overall, the position of the disc-shaped sealing element 41 (disc) is fixed by this arrangement with respect to the axle unit. A collar of the respective fastening element 43a, 43b is arranged at a distance from the disk-shaped sealing elements, forming a groove between the collar and the disk-shaped sealing element 41 . The other disk-shaped sealing elements 40 and 42 are arranged on the rotary body 3 in a rotationally fixed manner. The sealing elements 40 and 42 can touch in the area of the rotary body 3 (FIG. 11g) and each engage in the circumferential grooves formed in the radial direction. That is, viewed in the axial direction, the collars of the fastening elements 43a, 43b and the disk-shaped sealing elements 40 and 42 and the central disk-shaped sealing element 41 overlap at least in sections.

In the area of the rotating body 3 , the static seal 32 is arranged as a housing seal adjacent to the disk-shaped sealing element 40 . The static seal 32 prevents powder from escaping from the receiving space and prevents moisture from entering from the outside into the receiving space 13.

It is advantageous to provide a disk-shaped sealing element 41 or a plurality of disk-shaped sealing elements 40-42 made of, for example, Teflon or a synthetic material modified to slide. The coefficient of friction when the disc-shaped sealing elements touch each other from time to time is low, i.e. the basic torque of the actuator is hardly affected.

In normal operation, however, there is no contact with the sealing elements. The sealing elements only touch in exceptional cases, e.g. B. with mechanical (over)load of the actuator.

Overall, the invention provides an advantageous magnetorheological braking device and an advantageous magnetorheological operating device 100 .

Because a "dry" magnetorheological medium 34 is used and no oil or hydraulic fluid is included, the basic moment can be reduced. In particular, the sealing device can be modified in such a way that the basic moment is significantly reduced. If necessary, a contacting sealing lip can be dispensed with .

Reference list:

1 braking device 35 printed circuit board

2 axis unit 36a,b path length

2a axis 37 sealing part

3 rotating body 37a-c sealing lip

4 braking device 37d space

5 sensor device 37e gap width

6 wedge bearing device () 38 support ring

6a roller 39 decoupling device

6b roller holder 40 sealing element

6c shear gap 40a spacer

6d magnetic field concentrator 40d wall thickness

7 sealing device 40f axial width

8 wall 41 sealing element

9 shielding device 41a,b gap, axial gap

11 lead 41c axial width

12 receptacle, bore 41e clamping section

13 receiving space 42 sealing element

14 connection 43a,b fastening element,

15 magnetic ring unit clamping element

17 gasket 43c sealing flange 43d gap,

19 shielding body sealing gap

20 first axle part 44 brake body

20a axial section 45 signal line

20b attachment portion 47 magnetic seal

20c radial section 47a end gap

20d holding section 49 holding device

20e retaining tab 50 console

20f nose 57 graphite seal

20g groove 59 fastener

21 second axle part 100 operating device

22 storage facility 101 control head

23 finger roller 102 thumb roller

24 coil unit 103 computer mouse

25 magnetic field sensor 104 joystick

26 core 105 gamepad

27 sealing part 106 mouse wheel

29 separation unit 190 shielding ring

30a,b outer diameter 412 bearing point

32 static seal 416 diameter

33 Additional part 418 bearing point

34 media

34a particles

Claims

Expectations :

1. Magnetorheological braking device (1) for braking rotary movements, in particular magnetorheological operating device (100) for setting operating states at least by means of rotary movements, having at least one axle unit (2) and having at least one axle unit around the axle unit

(2) rotatable rotating body (3), wherein the rotatability of the rotating body (3) can be braked in a targeted manner by means of at least one magnetorheological braking device (4) having at least one coil unit (24), wherein a between the axle unit (2) and the rotating body (3) trained receiving space (13) is equipped with a magnetorheological medium (34), the magnetorheological medium (34) comprising magnetorheological particles and gas as a filling medium, characterized in that the receiving space (13) with the magnetorheological medium (34) via a sealing device (7 ) is sealed with a sealing unit (37) without contact between the moving parts.

2. Magnetorheological braking device (1) according to the preceding claim, wherein the receiving space (13) contains more than 40 percent by volume of magnetorheological particles.

3. Magnetorheological braking device (1) according to any one of the preceding claims, wherein the receiving space (13) is filled with more than 50, 60 or 80 percent by volume with magnetorheological particles.

4. Magnetorheological braking device (1) according to any one of the preceding claims, wherein the receiving space (13) is filled with less than 95 percent by volume with magnetorheological particles.

5. Magnetorheological braking device (1) according to one of the preceding claims, wherein the magnetorheological particles consist predominantly of carbonyl iron powder and can have a coating against corrosion.

6. Magnetorheological braking device (1) according to any one of the preceding claims, wherein the magnetorheological medium (34) comprises a graphite addition.

7. Magnetorheological braking device (1) according to any one of the preceding claims, wherein the sealing device (7) comprises a non-contact labyrinth seal with at least one sealing gap.

8. Magnetorheological braking device (1) according to one of the preceding claims, wherein the sealing device (7) has at least one sealing gap smaller than 0.3 mm or a sealing gap of less than 0.2 mm or a sealing gap of less than 0.1 mm to the sealing surface having.

9. Magnetorheological braking device (1) according to the preceding claim, wherein the sealing device (7) comprises at least one sealing lip which, when installed, has a sealing gap which is liquid-permeable and holds back the magnetorheological particles.

10. Magnetorheological braking device (1) according to one of the preceding claims, wherein the sealing device (7) comprises at least three disc-shaped sealing elements (40-42) which are radially aligned and each form a gap (41a, 41b) between them.

11. Magnetorheological braking device (1) according to the preceding claim, wherein an axial width (41c) of at least one of the two gaps (41a, 41b) is narrower than a wall thickness (40d) of the disk-shaped sealing elements (40-42).

12. Magnetorheological braking device (1) according to one of the two preceding claims, wherein at least two disc-shaped sealing elements (40, 42) are coupled radially on the outside to the rotating body (3).

13. Magnetorheological braking device (1) according to one of the three preceding claims, wherein at least one disc-shaped sealing element (41) is coupled radially on the inside to the axle unit (2).

14. Magnetorheological braking device (1) according to the two preceding claims, wherein the axle unit (2) coupled disk-shaped sealing element (41) is arranged axially between the disk-shaped sealing elements (40, 42) coupled radially on the outside to the rotating body (3).

15. Magnetorheological braking device (1) according to one of the two preceding claims, wherein the radially inwardly coupled to the axle unit (2) disk-shaped sealing element (41) is accommodated with a clamping section (41e) between two fastening elements (43a, 43b).

16. Magnetorheological braking device (1) according to the preceding claim, wherein at least one fastening element (43a, 43b) comprises a radially projecting sealing flange (43c) which has a gap (43c) between one of the disk-shaped sealing elements (40, 42) and the sealing flange (43c). 43d) trains.

17. Magnetorheological braking device (1) according to any one of the seven preceding claims, wherein the

Sealing device (7) comprises at least five deflections of more than 75 °.

18. Magnetorheological braking device (1) according to one of the eight preceding claims, wherein a path length (36a, 36b) through the sealing gap is at least four times as large as an axial width (40f) of the arrangement of disk-shaped sealing elements.

19. Magnetorheological braking device (1) according to one of the nine preceding claims, wherein at least one disc-shaped sealing element (41) consists at least partially of Teflon or a sliding-modified plastic.

20. Magnetorheological braking device (1) according to one of the preceding claims, comprising a core (26) cooperating with the electrical coil unit (24) of the braking device (4).

21. Magnetorheological braking device (1) according to one of the preceding claims, comprising at least one sensor device (5) at least for detecting a rotational position of the rotary body (3).

22. Magnetorheological braking device (1) according to the preceding claim, wherein the sensor device comprises a sensor adjacent to the receiving space at the (single) point of connection to the outside.

23. Magnetorheological braking device (1) according to claim 6 and one of the two preceding claims, wherein a graphite seal is included axially outside of the sensor device.

24. Magnetorheological braking device (1) according to one of the preceding claims, wherein the rotating body (3) is mounted so that it can rotate outwards, so that when pressure is applied to the rotating body, in particular a gap dimension between the rotating body (3) and axle unit (2) essentially does not change .

25. Magnetorheological braking device (1) according to one of the preceding claims, wherein the axle unit (2) comprises at least two separate axle parts (20, 21) connected to one another in the axial direction, namely a first axle part (20) and at least one second axle part (21 ), wherein at least the first axle part (20) consists to a significant extent of a paramagnetic or diamagnetic material and the core (26) and/or the coil unit (24) is accommodated on the second axle part (21).

26. Magnetorheological braking device (1) according to one of the preceding claims, wherein the sensor device (5) comprises at least one magnetic ring unit (15) and at least one magnetic field sensor (25) for detecting a magnetic field of the magnetic ring unit (15), wherein at least one shielding device (9) for at least partial magnetic shielding of the sensor device (5) against magnetic fields such. B. external magnetic fields and/or a magnetic field of the coil unit (24) of the braking device (4), wherein the shielding device (9) has at least one shielding body (19) that at least partially surrounds the magnetic ring unit (15) and at least one between the shielding body (19 ) and the magnetic ring unit (15) arranged separating unit (29) with a lower relative magnetic permeability than the shielding body (19) and wherein at least one holding device (49) is provided, which connects the shielding device (9) to the rotary body (3) in a torque-proof manner or coupled thereto, the magnetic ring unit (15) being coupled to the shielding body (19) in a torque-proof manner via the separating unit (29).

27. Magnetorheological braking device (1) according to the preceding claim, wherein the rotary body (3) and / or the shielding body (19) are integrally connected or formed with the holding device (49).

28. Magnetorheological braking device (1) according to one of the two preceding claims, wherein the rotating body (3) and/or the shielding body (19) and/or the separating unit (29) are at least partially mounted on the holding device (49).

29. Magnetorheological braking device (1) according to any one of the three preceding claims, wherein the holding device (49) is at least one between the rotary body (3) and the

Shielding body (19) has extending distance, which corresponds to at least a quarter and preferably at least half of a maximum diameter of an electrical coil of the coil unit (24).

30. Magnetorheological braking device (1) according to any one of the four preceding claims, wherein the shielding body (19) is not arranged between the magnetic field sensor (25) and the magnetic ring unit (15), so that the shielding body

Magnetic field sensor (25) does not shield from the magnetic field to be detected by the magnetic ring unit (15).

31. Magnetorheological braking device (1) according to one of the five preceding claims, wherein the shielding body (19) surrounds the magnetic ring unit (15) at least on a radial and/or axial outside at least in sections.

32. Magnetorheological braking device (1) according to one of the six preceding claims, wherein the shielding body (19) is designed as an annular shielding section (190) with an L-shaped or U-shaped cross section.

33. Magnetorheological braking device (1) according to one of the seven preceding claims, wherein the separating unit (29) has at least one gap (290) running between the shielding body (19) and the magnetic ring unit (15) and at least one filling medium (291) arranged in the gap comprises, wherein the filling medium (291) connects the magnetic ring unit (15) to the shielding body (19) in a torque-proof manner.

34. Magnetorheological braking device (1) according to one of the preceding claims, wherein the shielding body (19) and/or the core has a relative magnetic permeability of at least 1000 and preferably at least 10,000 and/or at least the relative magnetic permeability of the rotary body (3). .

35. Magnetorheological braking device (1) according to one of the preceding claims, wherein the shielding body (19) comprises or consists of a nickel-iron alloy with 60% to 90% nickel and proportions of copper, molybdenum, cobalt and/or chromium .

36. Magnetorheological braking device (1) according to one of the preceding claims, wherein the separating unit (29) have a relative magnetic permeability of at most 1000 and preferably at most 100 and/or at most one thousandth of the relative magnetic permeability of the

Have shielding body (19).

37. The magnetorheological braking device (1) according to any one of the preceding claims, characterized in that the sensor device (5) is suitable and designed to also determine at least one axial position of the rotating body (3) in relation to the rotational position of the rotating body (3) in addition to the rotational position Axle unit (2) to detect.

38. Magnetorheological braking device (1) according to one of the preceding claims, wherein the magnetic ring unit (15) surrounds the magnetic field sensor (25) at least in sections in a ring-like manner and wherein the magnetic field sensor (25) is arranged with an axial offset to the axial center of the magnetic ring unit (15), where the Sensor device (5) is suitable and designed to determine the axial position of the rotary body (3) in relation to the axle unit (2) from the magnetic field sensor (25) detected intensity of the magnetic field of the magnetic ring unit (15) and an axial direction of movement of the rotary body ( 3) to be determined in relation to the axis unit (2) from a sign of a change in the intensity of the magnetic field of the magnetic ring unit (15).