JP2016173162A - Rotation braking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To greatly reduce torque transmitted between members when a magnetic field is not imparted to a magnetic viscous fluid, in a rotation braking device that changes the torque transmitted between the members by changing intensity of a magnetic field imparted to the magnetic viscous fluid.SOLUTION: A rotation braking device includes: a pair of yoke end parts 23a, 23b opposite to each other; a coil 3 disposed so as to form a magnetic field between the pair of yoke end parts 23a, 23b; and a rotor 6 disposed between the pair of yoke end parts 23a, 23b, and provided so as to be relatively rotatable around an axial line N to the pair of yoke end parts. The rotor 6 has, between the pair of yoke end parts 23a, 23b, nonmagnetic plates 63A, 63B disposed on both surfaces, and a filling area 64 of magnetic viscous fluid 65 disposed between the end surface nonmagnetic plates.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a rotary braking device that changes torque transmitted between members by changing the strength of a magnetic field applied to a magnetorheological fluid.

  Patent Document 1 discloses a rotary braking device that changes the torque transmitted between two members via a magnetorheological fluid by changing the strength of a magnetic field applied to the magnetorheological fluid. For example, the rotary braking device described in FIG. 1 of the same document includes a disk on the torque transmission side, a member having a surface facing the disk and on the torque transmission side, the disk, And an electromagnet that applies a magnetic field to the magnetorheological fluid interposed in the gap with the member. According to this apparatus, the torque transmitted between the disk and the member can be changed by changing the strength of the magnetic field applied to the magnetorheological fluid.

JP 2014-181778 A

  By the way, in the rotary braking device using this type of magnetorheological fluid, since the magnetorheological fluid is interposed between the members to which torque is transmitted, even if no magnetic field is applied to the magnetorheological fluid, There is a problem that a constant torque is transmitted between members due to the lowest viscosity of the magnetorheological fluid, that is, the viscosity when the cluster is not formed.

  The present invention has been devised in view of such problems. In a rotary braking device that changes the torque transmitted between members by changing the strength of a magnetic field applied to the magnetorheological fluid, An object of the present invention is to provide a rotary braking device that can greatly reduce the torque transmitted between members when a magnetic field is not applied.

  The rotary braking device according to the present invention includes a pair of yoke end portions facing each other, a coil disposed so as to form a magnetic field between the pair of yoke end portions, and the pair of yoke end portions. And a rotor provided so as to be relatively rotatable about the axis with respect to the pair of yoke end portions. The rotor includes a pair of yokes each including a nonmagnetic layer (hereinafter referred to as an “end face nonmagnetic layer”) disposed on both sides and a magnetorheological fluid filling region disposed between the end face nonmagnetic layers. Between the ends (first invention).

  The rotary braking device having such a configuration is a device that can transmit torque (brake) between the rotor and the yoke end by applying a magnetic field to the magnetorheological fluid in the filling region. When no magnetic field is applied to the viscous fluid, the transmission torque (braking force) between the rotor and the yoke end can be greatly reduced.

  In the rotary braking device having the above configuration, the rotor further includes one or more nonmagnetic layers (hereinafter referred to as “intermediate nonmagnetic layer”) disposed between the end surface nonmagnetic layers, and the magnetic viscosity. The fluid filling region may be disposed between each of the end surface nonmagnetic layer and the intermediate nonmagnetic layer (second invention).

  According to the rotary braking device having such a configuration, since the friction surface between the magnetorheological fluid forming the cluster and the nonmagnetic layer can be increased, torque transmitted between the rotor and the yoke end (braking force) ) Can be increased.

  According to another aspect of the present invention, a rotary braking device includes a pair of yoke end portions facing each other, a coil disposed so as to form a magnetic field between the pair of yoke end portions, and the pair of yokes. And a rotor disposed between the end portions and provided so as to be relatively rotatable about the axis with respect to the pair of yoke end portions. The rotor includes an inner member provided on the axis line side, and an outer member provided at an interval on the distal side of the inner member, and further from both side surfaces of the inner member to both sides of the outer member. A non-magnetic plate (hereinafter referred to as “end-face non-magnetic plate”) installed across the surface and a magnetorheological fluid filling region disposed between the end-surface non-magnetic plates are disposed between the pair of yoke ends. (Third invention)

  The rotary braking device having such a configuration is a device that can transmit torque (brake) between the rotor and the yoke end by applying a magnetic field to the magnetorheological fluid in the filling region. When no magnetic field is applied to the viscous fluid, the transmission torque (braking force) between the rotor and the yoke end can be greatly reduced.

  The rotary brake device according to the present invention is the rotary brake device according to the third invention, wherein an interposed plate made of a non-magnetic material or a magnetic material is interposed between the inner member and the outer member. In addition, a filling region of the magnetorheological fluid may be formed between each of the two end face nonmagnetic plates and the interposed plate (fourth invention).

  According to the rotary braking device having such a configuration, since the friction surface between the magnetorheological fluid forming the cluster and the nonmagnetic plate can be increased, torque transmitted between the rotor and the yoke end (braking force) ) Can be increased.

  The rotary brake device according to the present invention is the rotary brake device according to the fourth invention, wherein the end surface nonmagnetic plate is detachably attached to the inner member and the outer member, and the interposed plate May be inserted between the inner member and the outer member in a detachable manner and sandwiched between legs protruding from the non-magnetic plates on both sides (fifth invention).

  According to the rotary braking device having such a configuration, the interposed plate can be easily replaced.

  The rotary braking device according to the present invention is the rotary braking device according to the third or fourth invention, wherein a plurality of the rotors are provided so as to overlap in the axial direction, and the end surface nonmagnetic plate is disposed between adjacent rotors. May be one intermediate non-magnetic plate (sixth invention).

  According to the rotary braking device having such a configuration, the transmission torque (braking force) between the rotor and the yoke end can be increased without increasing the diameter of the rotor.

  The rotational braking device according to the present invention is the rotational braking device according to the fifth aspect, wherein a plurality of the rotors are provided so as to overlap in the axial direction, and the end surface nonmagnetic plates are disposed on both surfaces between adjacent rotors. The rotary braking device may be a single intermediate non-magnetic plate having the legs, and the plurality of rotors may be provided so as to be separated from each other in the axial direction (seventh invention). .

  According to the rotary braking device having such a configuration, the transmission torque (braking force) between the rotor and the yoke end can be increased without increasing the diameter of the rotor, and the interposed plate can be easily provided. Can be replaced.

  According to the present invention, by applying a magnetic field to the magnetorheological fluid, it is a device that can transmit torque between the rotor and the yoke end, but when no magnetic field is applied to the magnetorheological fluid, The transmission torque between the rotor and the yoke end can be greatly reduced.

It is sectional drawing which cut | disconnected and represented the rotary braking device which concerns on the 1st Embodiment of this invention by the plane containing an axis line. However, since the upper side and the lower side of the axis are expressed symmetrically, the lower side of the axis is not shown. It is sectional drawing which cut | disconnected and represented the rotary braking device which concerns on the modification of the 1st Embodiment of this invention by the plane containing an axis line. However, since the upper side and the lower side of the axis are expressed symmetrically, the lower side of the axis is not shown. It is sectional drawing which cut | disconnected and represented the rotary braking device which concerns on the 2nd Embodiment of this invention by the plane containing an axis line. However, since the upper side and the lower side of the axis are expressed symmetrically, the lower side of the axis is not shown. It is sectional drawing which cut | disconnected and represented the rotary braking device which concerns on the modification of the 2nd Embodiment of this invention by the plane containing an axis line. However, since the upper side and the lower side of the axis are expressed symmetrically, the lower side of the axis is not shown. It is sectional drawing which cut | disconnected and represented the rotary braking device which concerns on the 3rd Embodiment of this invention by the plane containing an axis line. However, since the upper side and the lower side of the axis are expressed symmetrically, the lower side of the axis is not shown. It is a fragmentary sectional view which shows the assembly procedure of the rotor of the rotary braking device which concerns on the modification of the 3rd Embodiment of this invention. It is sectional drawing which cut | disconnected and represented the rotary braking device which concerns on the modification of the 3rd Embodiment of this invention by the plane containing an axis line. However, since the upper side and the lower side of the axis are expressed symmetrically, the lower side of the axis is not shown.

[First Embodiment]
Hereinafter, a rotary braking device according to a first embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a rotary braking device 1 according to this embodiment includes a rotor housing 2, a coil 3, a shaft 4, a rotor 6, and the like.

  The rotor housing 2 is mainly composed of two side wall portions 22 and a yoke 23, and has a shape that covers the rotor 6. The two side wall portions 22 are arranged parallel to each other at a predetermined interval, and a shaft hole 21 is formed at the center thereof. The yoke 23 is formed to have a substantially annular cross-section and a substantially C-shaped outer appearance, and is provided continuously and integrally on the outer periphery of the two side wall portions 22 and 22. Both end portions 23a and 23b (hereinafter referred to as “yoke end portions 23a and 23b”) serving as magnetic poles of the yoke 23 are opposed to each other at a predetermined interval. The side wall 22 and the yoke 23 are made of a magnetic material such as iron.

  The coil 3 is wound around the yoke 23 in an annular shape around the axis N of the shaft 4. An arbitrary value of current can be supplied to the coil 3 from a current supply device (not shown). When a current is supplied to the coil 3, a magnetic field is formed between the yoke end portions 23a and 23b.

  The shaft 4 is fitted into a shaft hole 21 formed in the rotor housing 2 via a bearing 41. The shaft 4 illustrated in FIG. 1 is a different-diameter shaft having a large-diameter portion 42 formed at an intermediate portion and small-diameter portions 43 formed at both ends, and the bearing 41 is fitted into the large-diameter portion 42. Has been. The shaft 4 is preferably made of a nonmagnetic material such as stainless steel (SUS304).

  The rotor 6 is fixed to the outer peripheral portion of the shaft 4, and is disposed between the pair of yoke end portions 23a and 23b via a minute gap. The rotor 6 is provided so as to be relatively rotatable around the axis N with respect to the yoke ends 23a and 23b.

  The rotor 6 includes an annular plate-like inner member 61 provided on the axis N side, an annular plate-like outer member 62 provided at a predetermined interval on the distal side of the inner member 61, and an inner member 61. End surface non-magnetic plates (end surface non-magnetic layers) 63A and 63B that extend from both side surfaces to both side surfaces of the outer member 62, respectively. In particular, the rotor 6 includes end face nonmagnetic plates 63A and 63B and a magnetorheological fluid 65 filled in a region 64 between the end face nonmagnetic plates 63A and 63B between the pair of yoke end portions 23a and 23b. It is supposed to have. As the end surface nonmagnetic plates 63A and 63B, annular thin plates (for example, thin plates having a thickness of 0.2 mm) made of a nonmagnetic material such as stainless steel are used. The end face nonmagnetic plates 63A and 63B are bolted (not shown) to the inner member 61 and the outer member 62. Further, a sealing material 67 such as an O-ring is interposed between the end surface nonmagnetic plates 63A and 63B and the side surfaces of the inner member 61 and the outer member 62. Thereby, the magnetorheological fluid 65 sealed inside is prevented from leaking out of the rotor 6.

  The magnetorheological fluid 65 is a liquid obtained by dispersing magnetic particles in a dispersion medium, and in particular, the magnetic particles can be made of nano-sized metal particles (metal nanoparticles). The magnetic particles are made of a magnetizable metal material, and the metal material is not particularly limited, but a soft magnetic material is preferable. Examples of the soft magnetic material include alloys such as iron, cobalt, nickel, and permalloy. The dispersion medium is not particularly limited, and a hydrophobic silicone oil can be given as an example. The blending amount of the magnetic particles in the magnetorheological fluid may be, for example, 3 to 40 vol%. Various additives can also be added to the magnetorheological fluid in order to obtain various desired properties.

  In the rotary braking device 1 described above, when a current is supplied from a current supply device (not shown) to the coil 3, a magnetic field is formed in the direction indicated by the arrow P, and a magnetic field is also formed between the pair of yoke end portions 23a and 23b. Is formed. The magnetic field formed between the pair of yoke end portions 23a and 23b penetrates the end face nonmagnetic plates 63A and 63B and the magnetorheological fluid 65, and the magnetorheological fluid 65 has a viscosity (in accordance with the strength of the magnetic field ( Shear stress) develops. Further, the magnetic particles in the magnetorheological fluid 65 form clusters along the lines of magnetic force, and the clusters try to maintain a position along the lines of magnetic force.

For example, when the rotor 6 is rotating relative to the yoke ends 23a and 23b around the axis N, the magnetorheological fluid 65 and the rotor 6 (the portion excluding the magnetorheological fluid 65 of the rotor 6) are also used. In this state, when current is supplied from the current supply device to the coil 3, a magnetic field is formed between the pair of yoke end portions 23 a and 23 b, together with the rotor 6. The magnetic particles in the magnetorheological fluid 65 rotating relatively around the axis N form a cluster along the magnetic field line, and the cluster tries to maintain a position along the magnetic field line. And since the viscosity according to the strength of the magnetic field is expressed in the magnetorheological fluid 65, the magnetorheological fluid 65 including the cluster that tries to maintain the position along the magnetic field lines and the yoke ends 23a and 23b. A frictional force is generated between the end surface nonmagnetic plates 63A and 63B that are rotating relative to each other, and the rotor 6 (a portion of the rotor 6 excluding the magnetorheological fluid 65) decelerates and stops relative rotation with respect to the yoke ends 23a and 23b. . That is, by applying a magnetic field to the magnetorheological fluid 65 inside the rotor 6 to form a cluster, torque is transmitted between the rotor 6 and the yoke end portions 23a and 23b, and the relative rotation around the axis N is performed. The braking force will work.
On the other hand, when no current is supplied to the coil 3, no cluster is formed in the magnetorheological fluid 65, so that the torque transmitted between the rotor 6 and the yoke end portions 23a and 23b is very small. That is, only a slight torque is transmitted between the rotor 6 and the yoke end portions 23a and 23b via the rotational resistance of the bearing 41, and directly between the rotor 6 and the yoke end portions 23a and 23b. Torque is not transmitted.

  As described above, according to the rotary braking device 1 according to the embodiment of the present invention, a magnetic field is applied to the magnetorheological fluid 65 in the rotor 6 even if there is no inclusion between the rotor 6 and the yoke end portions 23a and 23b. By applying the torque, torque can be transmitted between the rotor 6 and the yoke end portions 23a and 23b. Moreover, when no magnetic field is applied to the magnetorheological fluid 65, the torque transmitted between the rotor 6 and the yoke ends 23a and 23b (rotor housing 2) can be greatly reduced.

  The rotary braking device 1 described above can be applied to various usage forms. As one of the usage forms, the rotor housing 2 (yoke 23) is fixed at a predetermined location, for example, It is conceivable to use the shaft 4 and the rotor 6 as the rotation side.

[Modification of First Embodiment]
FIG. 2 shows a rotary braking device 1A according to a modification of the first embodiment. This rotational braking device 1A is the rotational braking device 1 according to the first embodiment, wherein the rotor housing 2, the coil 3 and the shaft 4 are expanded in the direction of the axis N, and the number of rotors 6 is plural (in the example shown in FIG. 2). 8). Further, the end face nonmagnetic plates 63A and 63B arranged between the rotors 6 are replaced with one nonmagnetic plate (intermediate nonmagnetic layer) 63C (hereinafter referred to as “intermediate nonmagnetic plate 63C”). Yes. In the example shown in FIG. 2, one rotor 6A is completely fixed to the shaft 4, and the other rotor 6B is spline-fitted to the shaft 4 (the spline groove is not shown), and the rotor 6A. The opposite side surface is locked by a retaining ring 44.

  According to the rotational braking device 1A, the transmission torque (braking force) between the rotor 6 and the yoke 23 can be increased without increasing the diameter of the rotor 6.

[Second Embodiment]
Hereinafter, a rotary braking device according to a second embodiment of the present invention will be described with reference to FIG. The rotary braking device 101 according to the second embodiment includes a rotor 106 different from the rotor 6 of the rotary braking device 1 (see FIG. 1) according to the first embodiment. In other words, the rotor 106 according to the second embodiment is a medium made of a nonmagnetic material that is continuously and integrally provided between the inner member 61 and the outer member 62 in the rotor 6 according to the first embodiment. A mounting plate 161 is provided. The interposed plate 161 is thinner than the inner member 61 and the outer member 62, and is disposed so as to form a magnetorheological fluid filling region 64 between the end surface nonmagnetic plates 63A and 63B on both sides. .

  Portions other than the above-described configuration of the rotation braking device 101 according to the second embodiment are the same as those of the rotation braking device 1 according to the first embodiment. About the same structure, in FIG. 3, the same code | symbol as 1st Embodiment (FIG. 1) is attached | subjected, and the description is abbreviate | omitted.

  According to the rotary braking device 101 according to the second embodiment described above, compared to the rotary braking device 1 according to the first embodiment, the magnetorheological fluid 65 and the non-magnetic plates 63A, 63B, and 63C that form a cluster. Therefore, the torque (braking force) transmitted between the rotor 6 and the yoke 23 can be remarkably increased.

  Although the material of the interposed plate 161 is a non-magnetic material, the material of the interposed plate 161 may be a magnetic material according to the needs of the user. However, if the interposed plate 161 is made of a magnetic material, the power consumption of the coil 3 can be suppressed, but residual magnetism tends to occur in the interposed plate 161 in a state where no magnetic field is applied.

[Modification of Second Embodiment]
FIG. 4 shows a rotary braking device 101A according to a modification of the second embodiment. In the rotary braking device 101 according to the second embodiment, the rotary braking device 101A extends the rotor housing 2, the coil 3, and the shaft 4 in the direction of the axis N, and a plurality of rotors 106 (in the example shown in FIG. 4). 8). Further, the end face nonmagnetic plates 63A and 63B arranged between the rotors 106 are replaced with one nonmagnetic plate (intermediate nonmagnetic layer) 63C (hereinafter referred to as “intermediate nonmagnetic plate 63C”). Yes. In the example shown in FIG. 4, one rotor 106A is fixed to the shaft 4, and the other rotor 106B is spline-fitted to the shaft 4 (the spline groove is not shown), and is opposite to the rotor 106A. The side surface is locked by a retaining ring 44.

  According to the rotational braking device 101A, the transmission torque (braking force) between the rotor 106 and the yoke 23 can be increased without increasing the diameter of the rotor 106.

[Third Embodiment]
Hereinafter, a rotary braking device according to a third embodiment of the present invention will be described with reference to FIG. A rotary braking device 201 according to the third embodiment includes a rotor 206 that is different from the rotor 106 of the rotary braking device 101 (see FIG. 3) according to the second embodiment. That is, the rotor 206 according to the third embodiment is different from the rotor 106 according to the second embodiment in that the interposed plate 161 is a separate interposed plate 261 with respect to the inner member 61 and the outer member 62. The interposed plate 261 is detachably fitted between the inner member 61 and the outer member 62. Further, the end face nonmagnetic plates 263A, 263B according to the third embodiment are provided with a plurality of leg portions 264, 265 on one side in the end face nonmagnetic plates 63A, 63B (see FIG. 3) according to the second embodiment. It is assumed that they are provided integrally (see FIG. 5). These leg portions 264 and 265 are constituted by, for example, annular strips, and when the two end face nonmagnetic plates 263A and 263B are attached to both sides of the inner member 61 and the outer member 62, the interposed plate 261 is disposed on both sides. It is formed so as to be sandwiched between.

  Portions other than the above-described configuration of the rotation braking device 201 according to the third embodiment are the same as those of the rotation braking device 101 according to the second embodiment. About the same structure, in FIG. 5, the same code | symbol as 2nd Embodiment (FIG. 3) is attached | subjected, and the description is abbreviate | omitted.

  FIG. 6 shows an example of the assembly procedure of the rotor 206. First, as shown in FIG. 6A, the inner member 61 and the outer member 62 are disposed inside and outside, and a sealing material 67 is fitted in the sealing grooves on both surfaces of both the members 61 and 62 in advance. The end face nonmagnetic plate 263A is attached to one side of both members 61 and 62. At the time of attachment, the leg portions 264, 265 are put between the members 61, 62, and after the attachment, the end surface nonmagnetic plate 263A is bolted to the members 61, 62 (not shown).

  Next, as shown in FIG. 6B, an appropriate amount of the magnetorheological fluid 65 is injected between the inner member 61 and the outer member 62 from above, and the intervening plate 261 is interposed between the members 61 and 62 from above. Fit.

  Next, as shown in FIG. 6 (c), an appropriate amount of the magnetorheological fluid 65 is injected from above the interposed plate 261 between the inner member 61 and the outer member 62, and the other end face nonmagnetic is further applied from above. The plate 263B is attached to one side of both the members 61 and 62 so as to be in the state shown in FIG. When the end face nonmagnetic plate 263B is attached, the legs 264, 265 are inserted between the members 61, 62, and after the attachment, the end face nonmagnetic plate 263B is bolted to the members 61, 62 (not shown). )

  When replacing the interposed plate 261 of the assembled rotor 206 with an interposed plate 261 made of another material (magnetic or non-magnetic), a procedure reverse to the above-described procedure is performed and the procedure shown in FIG. The state shown in FIG. 6 is changed to the state shown in FIG. And after replacing the interposed plate 261 with the interposed plate 261 which consists of another material, the assembly procedure from the state shown in FIG.6 (b) to the state shown in FIG.6 (d) is implemented again.

  According to the rotary braking device 201 according to the third embodiment described above, the interposed plate 261 can be easily replaced, so that the material of the interposed plate 261 is made of a magnetic material or a non-magnetic material depending on the circumstances of the user. Can be easily changed to the body. If the interposed plate 261 is made of a magnetic material, the power consumption of the coil 3 can be suppressed, and if the interposed plate 261 is made of a non-magnetic material, there can be obtained an advantage that no residual magnetism occurs in the interposed plate 261. .

[Modification of Third Embodiment]
FIG. 7 shows a rotary braking device 201A according to a modification of the third embodiment. In the rotary braking device 201 according to the third embodiment, the rotary braking device 201A extends the rotor housing 2, the coil 3, and the shaft 4 in the direction of the axis N, and a plurality of rotors 206 (in the example shown in FIG. 7). 8). Further, the end face nonmagnetic plates 263A and 263B arranged between the rotors 206 are replaced with one nonmagnetic plate (intermediate nonmagnetic layer) 263C (hereinafter referred to as “intermediate nonmagnetic plate 263C”). Yes. The intermediate nonmagnetic plate 263C has the above-described legs 264, 265 on both sides. In the example shown in FIG. 7, one rotor 206A is fixed to the shaft 4, and the other rotor 206B is spline-fitted to the shaft 4 (the spline groove is not shown), and is opposite to the rotor 206A. The side surface is locked by a retaining ring 44. For this reason, the plurality of rotors 206 can be separated from each other in the direction of the axis N, and the above-described interposed plate 261 can be replaced.

  According to the rotational braking device 201A, the transmission torque (braking force) between the rotor 206 and the yoke 23 can be increased without increasing the diameter of the rotor 206.

  The present invention is applicable to, for example, a rotary braking device that changes the torque transmitted between members by changing the strength of a magnetic field applied to a magnetorheological fluid.

DESCRIPTION OF SYMBOLS 1,1A Rotation braking device 3 Coil 6 Rotor 23a, 23b A pair of yoke edge part 61 Inner member 62 Outer member 63A, 63B End surface nonmagnetic board (end surface nonmagnetic layer)
63C Intermediate nonmagnetic plate (intermediate nonmagnetic layer)
64 Magnetorheological fluid filling area 65 Magnetorheological fluid 101, 101A Rotation braking device 106 Rotor 161 Interposition plate 201, 201A Rotation braking device 206 Rotor 261 Interposition plate 263A, 263B End face nonmagnetic plate (end face nonmagnetic layer)
263C Intermediate nonmagnetic plate (intermediate nonmagnetic layer)
264, 265 legs

Claims (7)

A pair of yoke ends facing each other;
A coil disposed to form a magnetic field between the pair of yoke ends,
A rotor disposed between the pair of yoke ends and provided so as to be relatively rotatable around an axis with respect to the pair of yoke ends;
With
The rotor includes a pair of yokes each including a nonmagnetic layer (hereinafter referred to as an “end face nonmagnetic layer”) disposed on both sides and a magnetorheological fluid filling region disposed between the end face nonmagnetic layers. Having between the ends,
A rotary braking device characterized by that. The rotary braking device according to claim 1,
The rotor further includes one or more nonmagnetic layers (hereinafter referred to as “intermediate nonmagnetic layer”) disposed between the end surface nonmagnetic layers.
The filled region of the magnetorheological fluid is disposed between each of the end surface nonmagnetic layer and the intermediate nonmagnetic layer,
A rotary braking device characterized by that. A pair of yoke ends facing each other;
A coil disposed to form a magnetic field between the pair of yoke ends,
A rotor disposed between the pair of yoke ends and provided so as to be relatively rotatable around an axis with respect to the pair of yoke ends;
With
The rotor is
An inner member provided on the axis side, and an outer member provided at an interval on the distal side of the inner member,
Furthermore, a non-magnetic plate (hereinafter referred to as an “end face non-magnetic plate”) erected from both sides of the inner member to both sides of the outer member and a magnetic viscosity disposed between the end face non-magnetic plates. A fluid-filled region between the pair of yoke ends,
A rotary braking device characterized by that. The rotary braking device according to claim 3,
An interposed plate made of a non-magnetic material or a magnetic material is interposed between the inner member and the outer member,
A filling region of the magnetorheological fluid is formed between each of the two end face nonmagnetic plates and the interposed plate,
A rotary braking device characterized by that. The rotary braking device according to claim 4,
The end face nonmagnetic plate is detachably attached to the inner member and the outer member,
The interposed plate is detachably fitted between the inner member and the outer member and is sandwiched between legs that protrude from the non-magnetic plates on both sides.
A rotary braking device characterized by that. The rotary braking device according to claim 3 or 4,
A plurality of the rotors are provided so as to be overlapped in the axial direction, and the end surface nonmagnetic plate is formed as one intermediate nonmagnetic plate between adjacent rotors. The rotary braking device according to claim 5,
The rotor is a rotary braking device provided with a plurality of overlapping in the axial direction, wherein the end surface nonmagnetic plate is an intermediate nonmagnetic plate each having the legs on both sides between adjacent rotors,
The rotary braking device, wherein each of the plurality of rotors is provided so as to be separable in the axial direction.

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