WO2024003055A1 - Dispositif de freinage et contrôleur de jeu - Google Patents

Dispositif de freinage et contrôleur de jeu Download PDF

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Publication number
WO2024003055A1
WO2024003055A1 PCT/EP2023/067487 EP2023067487W WO2024003055A1 WO 2024003055 A1 WO2024003055 A1 WO 2024003055A1 EP 2023067487 W EP2023067487 W EP 2023067487W WO 2024003055 A1 WO2024003055 A1 WO 2024003055A1
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WO
WIPO (PCT)
Prior art keywords
braking
component
braking device
sealing
brake component
Prior art date
Application number
PCT/EP2023/067487
Other languages
German (de)
English (en)
Inventor
Stefan Battlogg
Benjamin BÜRKLE
Original Assignee
Inventus Engineering Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inventus Engineering Gmbh filed Critical Inventus Engineering Gmbh
Publication of WO2024003055A1 publication Critical patent/WO2024003055A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets

Definitions

  • the present invention relates to a braking device for varying an actuation force of an actuation element or for generating a braking torque.
  • the invention relates to a magnetorheological operating device for setting operating states.
  • buttons or keys also called trigger elements
  • trigger elements are often provided, which are often spring-loaded pressure or oscillating elements, when pressed, something is triggered in the computer game and, in particular, an input is made in the computer game. For example, the start of a machine or the triggering of a weapon in the computer game can be triggered, or the lighting of a building can be switched on in the computer game or in a simulation, or the like.
  • a braking device should have the smallest possible space requirement and preferably combine low costs with low energy consumption.
  • the installation space for game consoles and game controls such as game controllers and other operating devices is often very limited and, in particular, limited.
  • An outer contour is often predetermined by an ergonomic design or should not or only minimally be determined by a control element and its technical dimensions or Their structure can be influenced or even changed because it is ergonomically important and e.g. B. has been known for many years, so that the outer contour is often an identifying feature.
  • game consoles and operating devices are subject to high price pressure, which is why often only very cost-effective solutions are possible.
  • such control devices are often used wirelessly, so power consumption and therefore battery life are important.
  • a braking device is used in particular to brake a movement of (in particular pivotable, rotary or linear) control elements such as control buttons, control levers, push buttons and other control parts.
  • the braking device comprises at least one first braking component extending along a longitudinal direction and a second braking component at least partially comprising a magnetically conductive material and a magnetic field generating device.
  • the magnetic field generating device comprises (at least) one electrical coil unit.
  • Preferably (at least) one magnetically conductive core is included.
  • the first braking component is movably received on the second braking component along the axial longitudinal direction.
  • the braking device according to the invention has many advantages.
  • a significant advantage of the braking device according to the invention is that in the linearly movable braking device only the effective gap is filled with a magnetorheological medium.
  • no separate fluid chambers or reservoirs are necessary between which the magnetorheological medium preferably has to be pumped back and forth depending on the direction of movement.
  • this linear braking device can advantageously be designed to be particularly small and lightweight.
  • the braking device according to the invention can be manufactured particularly cost-effectively, so that it is preferably also suitable for use in game controllers or computer keyboards.
  • a displacement resistance or a resistance to displacement of the brake components relative to one another is variable by applying a magnetic field to the magnetorheological medium in the effective gap and can in particular be increased compared to the basic force, so that a user can perceive a changing resistance.
  • the magnetically conductive second brake component is in particular at least one component of a magnetically conductive stator unit.
  • the stator unit can advantageously have several preferably include magnetically conductive housing parts or components.
  • the first braking component is in particular at least one component of a linear actuator unit or rotor unit movably mounted on the stator unit.
  • the linear actuator unit, preferably the first braking component and the stator unit are arranged coaxially and preferably concentrically to one another along at least the movement axis or longitudinal axis of the linear actuator unit.
  • the linear actuator unit is expediently arranged at least partially radially within the stator unit.
  • the stator unit advantageously encloses the linear actuator unit completely and/or along an entire circumference of the linear actuator unit.
  • the second brake component is preferably designed as a, in particular cylindrical, sleeve or as a sleeve-shaped part, which encloses the first brake component at least partially along the circumference.
  • the second brake component completely surrounds the first brake component.
  • the second brake component can expediently also form a housing part and/or be designed as such.
  • the magnetorheological medium preferably comprises magnetorheological particles and gas as a filling medium.
  • the sealing device can be designed in such a way that only one seal has to be provided for the magnetorheological particles.
  • Gas exchange with the environment is advantageously possible and unproblematic.
  • the gas used is preferably a gas mixture and in particular air. This allows a particularly low basic friction and thus a basic force to be achieved, so that a ratio of the maximum braking force that can be generated to the basic force required for the movement is very high.
  • gas and especially air as the filling medium, leaks are not a problem and compensate for each other during operation.
  • the magnetorheological medium also liquids, such as B. include oils or fats.
  • the magnetorheological particles can advantageously be finely dispersed in the liquid or fat, so that a homogeneous distribution of the particles in the filling medium and thus in the effective gap can be permanently ensured.
  • a grease also includes all thickened lubricants, preferably also saponified oils.
  • the effective gap contains more than 40 percent by volume of magnetorheological particles. Particularly preferably, the effective gap is filled to more than 50, 60 or 80 percent by volume with magnetorheological particles. It is preferred that the effective gap is filled to less than 95 percent by volume with magnetorheological particles.
  • a high volume fraction of magnetorheological particles within the effective gap advantageously enables a high braking torque.
  • the magnetorheological particles behave almost like a fluid and can be displaced accordingly.
  • the magnetorheological particles each or in the majority or over 90% or 100% have a maximum external diameter of less than 200 pm and in particular less than 100 pm.
  • a typical diameter of the magnetorheological particles is between 10 and 50 pm.
  • the magnetorheological particles consist predominantly of carbonyl iron powder and can have a coating to prevent corrosion and/or to improve the sliding behavior (sliding coating). This ensures long-term and advantageously maintenance-free operation.
  • Such an additive or coating can include graphite, molybdenum, Have or include bronze and the like. Such additions can improve sliding and also reduce or eliminate squeaking.
  • the magnetorheological medium preferably comprises an addition of graphite. It is possible for a (thin) graphite layer to be applied at least in sections to some (or all) of the magnetorheological particles. It is also possible for a certain proportion of graphite to be added to a certain volume of magnetorheological particles.
  • the magnetorheological medium is advantageously accommodated in at least one receiving body.
  • a receiving body is preferably at least partially covered by a random fiber material, such as. B. a ball of one or more (fabric) threads and/or a foam is formed.
  • a random fiber material such as. B. a ball of one or more (fabric) threads and/or a foam is formed.
  • other receiving bodies such as porous media and in particular sintered materials are also possible.
  • the random fiber material is preferably arranged within the knitting gap.
  • the receiving body advantageously contributes to the more homogeneous distribution of the magnetorheological medium and in particular the magnetic particles.
  • the receiving body holds the magnetorheological medium and expediently also its components in place during relative movements, the risk of (global) agglomeration of the magnetorheological medium and preferably the magnetic particles at one point or at one end of the effective gap is reduced or even completely prevented .
  • the receiving body can z. B. in the case of a foam also act like a sponge, which absorbs and stores the magnetorheological medium and preferably a liquid filling medium and reduces the risk of leaks.
  • At least one effective surface of the effective gap is flat in its axial direction (ie along the longitudinal extent of the effective gap), at least in sections.
  • the magnetorheological medium in the effective gap is advantageously subject to a pure shear load, which in particular (precisely) predictable.
  • the effective surface of the effective gap has a (periodic) cross-sectional narrowing at least in sections in its axial direction and is in particular wavy.
  • “mountain and valley sections” alternate, with a smaller height of the effective gap in the area of a “mountain” than in the area of a “valley”.
  • Magnetorheological media in particular are concentrated in the area of the “mountains” of the effective surfaces or the contained magnetic particles, so that a “wedge effect” is created and particularly high forces can be transmitted.
  • the transition between “mountain and valley” is smooth and/or without jumps and edges and/or continuously differentiable in order to create a flow in the effective gap e.g. B. not to be negatively influenced by separation vortices.
  • a height between a “mountain and a valley” is in particular between 5% and 50% of the height of the effective gap or even up to 75% or even 90% of the height of the effective gap.
  • the active surface can also have any shape and in particular have jumps or can also fall or rise (strictly) monotonically in one direction in order to positively influence the flow in the effective gap and in particular to optimize the power transmission between the moving components.
  • the sealing device is mounted on one of the two brake components and preferably on the first brake component.
  • the effective gap between the sealing devices moves with the first braking component and the relative position of the effective gap to the first braking component is unchangeable.
  • the sealing device is preferably accommodated on the second brake component, so that a position of the effective gap relative to the second brake component is unchangeable.
  • the sealing device comprises at least one or several sealing units.
  • a sealing unit of the sealing device expediently seals the effective gap without contact between the parts moving towards one another, in particular the first and second brake components.
  • a non-contact seal is virtually or at least almost wear-free and in particular offers a particularly low resistance to movement.
  • the sealing unit of the sealing device preferably seals the effective gap at least partially in contact with it. At least a part of the sealing unit at least partially touches a wall of the second brake component or the first brake component on the effective surface or sealing surface of the effective gap, on which the sealing device is not accommodated.
  • the contacting sealing unit can expediently be designed, for example, as an O-ring or as a sealing ring such as a felt ring or the like.
  • the contacting seal unit at least partially comprises a rubber or a PTFE (polytetrafluoroethylene) seal. Contact seals offer the advantage that they work robustly and reliably and mechanically seal and/or close and/or cover the effective gap.
  • the sealing device or at least one sealing unit has at least one sealing gap of at least less than 0.3 mm or preferably less than 0.15 mm or in particular less than 0.075 mm or particularly preferably a sealing gap of less than 0.05 mm or also very particularly preferably less than 0.01 mm to the effective surface of the effective gap or a sealing surface, which results between the first brake component and the passage on the second brake component when the sealing device is accommodated on the first brake component. If the sealing device is accommodated on the second brake component, the sealing surface is defined accordingly.
  • the sealing device and/or the sealing unit comprises at least one (mechanically sealing) sealing lip, which, when installed, has a sealing gap which is permeable to liquid and which, in particular, retains the magnetorheological particles.
  • the sealing lip can also seal completely in contact, so that no sealing gap remains. Sealing lips are particularly cost-effective and are advantageous (also) in conjunction with other sealing units to ensure a reliable and permanent seal of the effective gap.
  • liquid-permeable here means that pure liquid water would at least partially pass through the sealing gap at, for example, a temperature of 20 ° C. In the long term, water (or a carrier oil) would therefore be able to escape at least partially in this embodiment
  • pressure compensation can also be made possible in the event of temperature changes and density changes of the magnetorheological medium and preferably of the filling medium.
  • the sealing device and/or the sealing unit comprises at least one (preferably non-contact or even touching) labyrinth seal.
  • a sealing labyrinth of the labyrinth seal is arranged at least partially on the side of the effective gap (the first braking component and/or the second braking component) on which the sealing device is accommodated.
  • the sealing labyrinth particularly advantageously includes e.g. B. several chambers connected (to each other) along a sealing gap or a sealing surface, so that an escape of the magnetorheological medium or its components from the effective gap is effectively prevented or at least (greatly) reduced.
  • a labyrinth seal can also advantageously be used to seal components that move axially towards one another.
  • a labyrinth seal advantageously seals reliably and independently of external forces such as magnetic fields.
  • the sealing device and/or the sealing unit comprises at least one magnetic seal, in particular with at least one non-contact sealing gap.
  • the Magnetic seal can be formed by one or more permanent magnets.
  • the magnetic seal is preferably designed as a magnetic ring.
  • the magnetic seal can also comprise a sealing fluid, such as a ferro-fluid, which is held in the sealing gap by the magnetic forces and thereby seals the sealing gap permanently and with little wear mechanically and in contact or even in a non-contact manner.
  • the sealing device and/or the sealing unit comprises at least one magnetic particle collector.
  • the particle collector is advantageously arranged axially outside the effective gap and, as viewed from the effective gap, is arranged on the outside of the sealing device, in particular behind the sealing device.
  • the particle collector preferably comprises, for example, a (strong) magnetic source, such as a permanent or permanent magnet or an electric coil, and is arranged near the sealing gap, so that magnetic particles that could emerge from the effective gap are collected on the particle collector and adhere there, so that these individual particles cannot get into the environment or even lead to a mechanical malfunction.
  • the braking device and in particular the magnetic field generating device comprises at least one electrical coil unit.
  • the braking device and in particular the magnetic field generating device or the first braking component comprises at least one (magnetically conductive) core.
  • the core on the first brake component and preferably at least partially accommodated or formed on the first brake component.
  • the first brake component comprises several component parts or components or the first brake component is constructed from several components.
  • the braking device (and in particular the first braking component or the magnetic field generating device) advantageously comprises at least one magnetically conductive core and/or a coil holder as well as further components.
  • At least one component part can consist (largely or completely) of a plastic.
  • the first brake component comprises (at least) two component parts and a core that is firmly connected to both component parts.
  • the core is in particular (in a central region) of the two component parts wrapped with an electrical coil unit. This results in a sequence of parts in the longitudinal direction (axial direction), which includes a (first) component part, a part of the electrical coil unit, a core, a part of the electrical coil unit and a (second) component part.
  • a component part adjoins the core wrapped by the electrical coil unit on both sides in the axial direction.
  • the magnetically conductive core is preferably on a z. B. component part designed as a coil holder (on) the first brake component.
  • the core can also be held by a (separate) spool holder.
  • the spool holder can also be formed by the two component parts.
  • the component part (or the coil holder) preferably has a (significantly) lower magnetic conductivity than the core.
  • the component parts (around the core) and adjacent to the core have a significantly lower magnetic conductivity than the core (preferably at least a factor of 1/10 or 1/100).
  • a magnetically non-conductive material is in particular a material with a Permeability number of less than ten and preferably less than one is understood.
  • Materials with a permeability number greater than ten and preferably ferromagnetic materials are understood to be magnetically conductive here.
  • the magnetic conductivity is the "relative magnetic permeability", which is also simply called “magnetic permeability”.
  • at least one component part (and in particular the component parts adjacent to the core) consists of magnetically non-conductive materials.
  • a core made of a material without a "residual field" or only with a lower residual field is preferably advantageous, in the absence of the magnetic field of the magnetic field generating device, i.e. no or only a weak or almost no hysteresis. It has been found that silicon steel in particular , soft magnetic cobalt-iron alloys such as “Vacoflux”, a 17% cobalt-iron alloy, are particularly suitable for this.
  • the core can advantageously be produced as a cast solid or as a sintered material.
  • the remaining components of the first brake component have a (significantly) lower magnetic conductivity than the (magnetically conductive) core.
  • a ratio of the magnetic conductivities of the core to other components is advantageous, in particular greater than 10 or 100 or 1000 or even 10,000 or even more.
  • the magnetic field lines of the magnetic field of the coil unit and in particular of the magnetic field generating device are guided specifically in the direction of the effective gap and through it, so that the effect of the magnetic field is improved and advantageously maximized. At the same time, scattering of the magnetic field is advantageously minimized.
  • the components with at least low magnetic conductivity can preferably be made from a plastic (inexpensive).
  • the electrical coil unit is preferably wound in the longitudinal direction at least partially around the first braking component, and advantageously around the coil holder, such that a vertical on the plane spanned by the coil unit (essentially) is aligned transversely and in particular perpendicular to a winding plane spanned by the coil windings is.
  • a vertical on the plane spanned by the coil unit (essentially) is aligned transversely and in particular perpendicular to a winding plane spanned by the coil windings is.
  • an axis of symmetry of the windings does not extend along the longitudinal direction, but that the coil unit is wound transversely to it, so that the magnetic field of the coil unit extends perpendicular or at least transversely to the longitudinal direction.
  • the coil unit is advantageously cast on the core using a suitable filling material.
  • the magnetic field of the electrical coil unit then expediently enters from the core through the effective gap into the housing part surrounding the core and comprising a magnetically conductive material and runs along a peripheral wall to the opposite side, where the magnetic field again passes through the effective gap between the core and the second braking component passes through.
  • the magnetic field lines can thus be closed. It is also possible for a plurality of arms to be arranged radially distributed over the circumference of the core, on each of which an electrical coil unit is accommodated, so that a plurality of electrical coil units are arranged on the circumference of the brake component or an enclosed piston, each of which generates separate magnetic fields.
  • the first brake component comprises a cable bushing in order to guide connecting cables of the coil unit and in particular of the magnetic field generating device to the outside.
  • the cable bushing is expediently designed at least partially within the first brake component, so that, for example, connecting cables of a coil unit can be easily routed to the outside.
  • the magnetically conductive second braking component extends between the ends of the effective gap.
  • the magnetically conductive core extends between the sealing devices that form the effective gap limit.
  • the sealing devices (in particular in all possible positions and preferably in all positions that make sense in regular operation) are arranged axially outside the second brake component and/or the first brake component.
  • the sealing devices are not influenced by a magnetic field of the coil unit and in particular the magnetic field generating device or are only influenced to a significantly lesser extent than if the sealing devices are arranged at a position axially within the second brake component and/or the core. This can be particularly advantageous if the sealing unit is designed as a magnetic seal, as this can minimize the mutual influence of the magnetic fields.
  • At least one sealing device has a minimum axial distance from the core. This achieves effective (magnetic) decoupling.
  • the (axial) minimum distance from the core is at least 5% or 10% of the diameter of the core.
  • the minimum axial distance is at least 3% or 5% of the outer diameter of the braking device.
  • At least one sealing device has a minimum axial distance from the magnetically conductive second brake component.
  • sealing device at a position at least partially axially within the sealing devices in order to preferably obtain a particularly small braking device.
  • a particularly small braking device e.g. B. mechanically touching sealing units, such as sealing rings, which are not influenced by the magnetic field generating device.
  • a receiving space extends at least partially (also) through the second brake component, in which the first brake component is accommodated.
  • the receiving space advantageously also extends through further parts and components, preferably also an (outer) housing.
  • the first braking component is arranged radially inside of the second braking component.
  • the second brake component advantageously surrounds the first brake component along its circumference, advantageously completely.
  • a minimum internal cross section of the receiving space is expediently adapted to the outermost cross section of the first braking component, at least in sections and preferably along the effective gap.
  • the outermost cross section of the first brake component and the minimum inner cross section of the receiving space are designed to be rotationally symmetrical at least in sections.
  • the first brake component has, at least in sections, a non-round outer and in particular outermost cross section.
  • a minimum internal cross section of the receiving space is preferably adapted to the outermost cross section of the first brake component.
  • the first brake component has a substantially constant external cross section over its length.
  • the internal cross section of the receiving space is preferably over at least a substantial part of the length of the housing or. of the receiving space is uniform.
  • the angular orientation in a circumferential direction is precisely defined or, in other words, the first braking component only fits into the second braking component or in one orientation. the outer casing.
  • the first is Brake component at least in sections and preferably in the area of the effective gap transverse to its longitudinal extent polygonal, polygonal with rounded corners, oval or, for example, kidney-shaped.
  • Such configurations are made possible cost-effectively in particular by the fact that magnetorheological particles are accommodated in the effective gap without a carrier liquid. This makes sealing much easier, which is often difficult with liquids and angular designs.
  • a V-shaped or U-shaped or C-shaped or semicircular piston cross section with two legs that meet at their middle ends enables particularly space-saving designs while at the same time having particularly large effective areas of the effective gap. Solutions that can be used in series production can also be advantageously implemented.
  • the first brake component is (therefore) advantageously accommodated in the receiving space in an almost or completely (rotatably) rotationally fixed manner.
  • a rotary movement or a pivoting movement of an operating element can be reliably converted into a linear movement on the first brake component.
  • the receiving space of the magnetically conductive second brake component is advantageously filled with air or gas and is opened to the outside through a ventilation channel in order to enable gas exchange and to prevent compression of the gas in the receiving space.
  • At least one sensor device for detecting a measure of a position of the first brake component is included.
  • a sensor device can directly detect a position of the first brake component and can be designed, for example, as a linear sensor. It is also possible for the sensor device to detect an angular position, which is converted into a linear position of the first brake component based on the known installation situation.
  • the sensor device preferably comprises at least one Hall sensor.
  • Such a sensor device, which is based on the Hall effect advantageously enables an exact measurement of an axial position with high and repeatable accuracy, so that this is particularly good suitable for input information or Passing input requests from a user to a computer program such as a computer game.
  • a change in position can be resolved particularly finely and particularly continuously over the (in particular entire) travel path.
  • the sensor device can also include, in particular, an infrared sensor or an ultrasonic sensor or the like in order to detect the position of a (relatively) moving component of the braking device.
  • the cross section of the receiving space is constant over the intended travel path, so that the first braking component can be moved over the entire travel path.
  • the effective gap is preferably formed between the first braking component and the inner wall of the receiving space.
  • a ratio of the maximum diameter of the first braking component at least in the area of the effective gap transverse to its longitudinal extent to a height of the effective gap is greater than 10 or greater than s 20 and even preferably greater than 30.
  • a large ratio makes the effective gap small in relation to the first brake component, in particular a piston.
  • the effective gap therefore preferably represents a small magnetic resistance through which the magnetic field can easily pass.
  • the magnetically conductive second brake component advantageously forms at least one component of an outer housing with at least one further housing part or is housed in a housing.
  • the outer housing expediently includes the magnetically conductive second brake component and at least one further housing part.
  • the magnetically conductive second brake component is accommodated on the outer housing.
  • the receiving space preferably extends through the entire outer housing and in particular also through the second brake component.
  • the outer housing has a lower magnetic conductivity than the magnetically conductive second brake component.
  • the ratio of the magnetic conductivity of the second brake component to the magnetic conductivity of the outer housing is greater than 5 and in particular greater than 10 or 50 or 100.
  • the at least one further housing part of the outer housing has a lower magnetic conductivity than the magnetically conductive second brake component.
  • a ratio of the magnetic conductivity of the magnetically conductive second brake component to other components of the outer housing is in particular greater than 10 or advantageously 100 or preferably greater than 1000, 10000 or even more.
  • one further component of the outer housing or the remaining components is not or only particularly poorly magnetically conductive. This advantageously improves the alignment of the magnetic field lines, so that the magnetic field can align itself particularly effectively and scattering is minimized.
  • the at least one further housing part of the outer housing is advantageously made of plastic and can therefore advantageously be manufactured particularly cost-effectively.
  • the further housing part can preferably be produced in series production by injection molding or equivalent manufacturing processes.
  • the magnetically conductive second brake component is made of the same or a very similar material as the core.
  • an outer end of the first brake component and an end of the outer housing or the first brake component facing away from it can each be pivotally received, in particular on a console.
  • the braking device can thereby advantageously align itself along a force acting on a control element.
  • a pivoting control such as a lever or rocker
  • the angle of an applied finger force may change to a fixed and non-pivoting axis as the user operates the control as the user's finger moves along a circular path moves around the pivot point of the control element and thus also that of the Finger actuating force that acts on the braking device.
  • the first braking component can advantageously move independently along the acting force or align a (pivoting) position of the control element, so that the risk of tilting relative to the second brake component is minimized or at least significantly reduced and actuating forces act advantageously in the direction of movement of the first brake component.
  • the pivotable receptacle is designed as a ball head or joint socket or as a circular hole (receiving eye), which can be received via a corresponding joint socket or a pin and a second hole in the console.
  • the pivotable receptacle makes it possible to operate the braking device over large pivot angles of the actuating element.
  • the first brake component and/or the first brake component is preloaded into at least one rest position relative to the second brake component via a preload unit.
  • the preload unit can be located outside of the receiving space and preferably outside of the second brake component or of the outer housing. However, it is also possible for the preload unit to be accommodated within the second brake component or even within the first brake component.
  • the preloading unit advantageously comprises at least one spiral spring, a torsion spring or the like, which are inexpensive and robust.
  • the first brake component advantageously comprises at least one piston and/or at least one piston rod.
  • a length of the piston or the first braking component along the longitudinal direction is greater than a maximum diameter of the piston or the first Brake component.
  • a guide length of the piston or The brake component on the inner wall along the other brake component is so long in relation to the diameter that the risk of tilting due to forces acting transversely to the direction of movement is minimized.
  • the piston or the first braking component is at least 50% wider than its height transversely to its longitudinal extent.
  • the piston or The first brake component can also be twice or three times as wide as it is high.
  • a wide and flat piston or A wide and flat first brake component can also be fitted into small installation spaces.
  • a ratio of the outside diameter of the second brake component to an outside diameter of the first brake component is less than two.
  • the receiving space is preferably divided into two different subspaces by the first brake component, in particular the (linearly movable) piston.
  • a game controller comprises a control element or a control button or the like and a (magnetorheological) braking device for braking the movement of the control button or. the control element or the like.
  • the braking device comprises a first braking component extending along an axial longitudinal direction and a second braking component made of a magnetically conductive material with a and in particular elongated receiving space formed therein and a magnetic field generating device.
  • the first brake component is at least partially accommodated movably in the receiving space along the longitudinal direction and preloaded into a rest position via a preloading unit.
  • An effective gap is formed between the first brake component and the second brake component, which is sealed at each of its axial ends via a sealing device.
  • the effective gap is at least partially filled with a magnetorheological medium.
  • the game controller according to the invention also has many advantages.
  • the game controller allows for easy and permanently stable structure.
  • the maximum braking force that can be generated when the control button of the control element is pressed is high, while the minimum necessary basic force is very low.
  • the invention not only makes it possible to provide a braking device for a game controller, but its use is also conceivable and possible on computer keyboards, exoskeletons, prostheses and/or when operating machines or other devices.
  • an active element can also be attached (such as an electric motor, a spindle drive, a solenoid, a piezo actuator, a voice coil, ). This allows an active force to be generated.
  • the linear brake would preferably be locked (blocked) when the active element is switched on.
  • the adaptive linear element can also dampen or dampen the movement of the active element. influence .
  • a “dry” magnetorheological medium is preferably used and does not contain any oil or hydraulic fluid, the basic torque or the basic friction can be reduced.
  • the sealing device can be changed in such a way that the basic friction is significantly reduced If necessary, a touching sealing lip can advantageously be dispensed with and the sealing is carried out solely by a magnetic seal.
  • Fig. la- li various configurations of devices, in particular operating devices, with braking devices according to the invention
  • Fig. 2 a perspective view of an inventive
  • Fig. 3a-e a highly schematic section through a braking device according to the invention as well as highly schematic detailed views and a highly schematic sectional view;
  • Fig. 4 u. 5 two cuts in the retracted and extended state of the braking device according to FIG. 2 ;
  • Fig. 6 u. 7 is a perspective sectional view of the embodiment of the braking device and a further perspective view of the braking device according to FIG. 2 ;
  • Fig. 8 is a schematic sectional view of a further embodiment of a braking device
  • FIG. 11 - 13 further sections and detailed views of the embodiment according to FIG. 9 and 10;
  • FIG. 14 u. 15 i sometric views of the embodiment according to FIG. 9 and 10 in the extended and retracted states.
  • Figures la to lg show several operating devices 100 according to the invention in which the magnetorheological braking device 1 can be used.
  • the operating devices 100 are each designed as a haptic operating device 100 with an operating element 101.
  • Figure la shows a haptic control button 101.
  • the control button 101 can be rotated or pivoted and also preferably moved in a direction along the axis of rotation.
  • An axial movement or a pivoting movement can advantageously be influenced by the braking device 1 according to the invention, as in the following embodiments.
  • the operating device 100 is shown as a thumb roller 102.
  • the thumb roller 102 can preferably be used in steering wheels, for example. However, the thumb roller is not limited to this application.
  • the thumb roller 102 can generally also be used with any other finger, depending on the installation situation.
  • the thumb roller is preferably rotatable about an axis of rotation and, in particular, displaceable along the axis of rotation.
  • the operating device 100 is arranged in a computer mouse 103.
  • the haptic operating device 100 is housed in the mouse wheel 106.
  • the magnetorheological braking device 1 can be used to control haptic feedback, in particular during a displacement along the axis of rotation.
  • Figure le shows a joystick 104 as a haptic operating device
  • a braking device 1 is housed.
  • the braking device 1 can preferably be used in a game controller 100 in order to give the player haptic feedback depending on the game situation, in particular when actuating the control buttons 101, control lever
  • the game controller 100 is in a side view shown.
  • the braking device 1 according to the invention is arranged inside the game controller 100 (dashed lines).
  • the control element 101 is formed here by a rocker or a lever 101, which can be pivoted about the angle of rotation 41. If a user presses the control element 101, this movement is transmitted to the braking device 1.
  • the braking device 1 according to the invention is so small that the outer contour of the game controller is not influenced by the braking device 1.
  • the braking device 1 according to the invention is particularly light, so that the braking device 1 does not negatively influence the weight of the game controller 101.
  • the braking device 1 according to the invention can be manufactured inexpensively in series or mass production.
  • a vibration device 45 can be connected in series.
  • the vibration device 45 is particularly preferably designed as a “voicecoil” or includes at least one such device.
  • the vibration device 45 can, for example, cause the simulation of “continuous fire” in a computer game or an earthquake or the like. simulate.
  • the vibration device 45 can also be arranged on the opposite side, ie in the area of the control element 101 (e.g. a trigger button).
  • the intensity of the vibration generated by the vibration device 45 or voice coil can be adjusted.
  • the braking device 1 is preferably set to “braked” in order to transmit the movements.
  • Figure lh shows a very schematic top view of a game controller 100 and a braking device 1.
  • the dimensions of the game controller 101 and the braking device 1 are shown here (approximately) to scale.
  • the length 34 of the braking device here is between approximately 1/3 and approximately 1/2 of the maximum (transverse) extent 108 of the game controller 100 and is between approximately 1/2 and 2/3 of the length 107 of the side edge.
  • An outer diameter 3a of the braking device 1 is approximately 1/4 of the length 34. This clearly shows that cramped space conditions and the high demands on the construction of the braking device 1, which must be completely installed in the housing of the game controller 101. You cannot simply take a braking device 1 “off the shelf” and use it.
  • Figure left shows dashed z. B. a housing of an operating device.
  • the operating device can z. B. be a steering wheel spoke in a motor vehicle.
  • the operating device can also be a game controller or the like.
  • Shown with a solid line and shown in dashed lines in several pivoting positions is an operating element 101 (e.g. an actuating element such as a switching lug 46), which can be pivoted about the central pivot point 47.
  • Articulated at the (opposite) articulation point 48 is a (linear) braking device 1, with which the actuation of the switching lug 46 or the like can be braked in a targeted manner.
  • the control element 101 can z. B. be designed as a rocker switch.
  • the control element 101 in the form of z. B.
  • a switching lug 46 can z. B. can be installed in steering wheels of motor vehicles and can have several switching positions. The feel is adjustable.
  • the braking device 1 can z. B. two reset units in the form of z. B. have return springs to force the control element 101 into the neutral position. However, return springs can also be dispensed with, or separate return springs can be provided.
  • FIG. 2 shows a perspective view of a braking device 1 according to the invention in an installation situation with a schematic control element 101, as z. B. can be used in a game controller 100.
  • the braking device 1 is pivotally mounted on a console 2 at an outer end 37 of a first brake component 8 and an opposite end 38 of a second brake component 3, here by ball joints with ball heads and joint sockets. This allows the braking device 1 to rely on the actuating force 42 or in Align depending on the pivot angle 41 so that the actuating force 42 acts along the longitudinal direction 19 of the piston rod 9 of the first brake component 8, so that the braking device 1 can be moved smoothly and does not tilt. Further advantageously, large pivot angles are also possible thanks to the pivotable mount.
  • Figures 3a-e show a highly schematic section through a braking device 1 according to the invention as well as detailed views and a sectional view.
  • 3a shows a highly schematic section through a braking device 1 according to the invention for braking a movement of an operating element 101 of an operating device 100.
  • the braking device 1 comprises a first braking component 8 extending along the axial longitudinal direction 19 and a second braking component 3 made of a magnetically conductive material.
  • a receiving space 4 extends through the second brake component 3.
  • the first braking component 8 is movably accommodated in the receiving space 4.
  • the first brake component 8 divides the receiving space 4 here into different sub-spaces 6, 7.
  • the first brake component 8 comprises a piston 10 received in the receiving space 4 and a piston rod 9 projecting outwards from the receiving space 4.
  • the piston 10 and the second brake component 3 form an effective gap 5 filled with a magnetorheological medium 13, which is sealed at the axial ends via a sealing device 12.
  • the magnetorheological medium 13 can include magnetorheological particles 14 and a gas as a filling medium 14a.
  • the filling medium 14a can also be formed by a liquid, such as a (carrier oil) or a fat.
  • the magnetorheological medium 13 is advantageously only present in the effective gap 5.
  • the effective gap 5 here advantageously contains between 40 and 95 percent by volume of magnetorheological particles 14.
  • the magneto- rheological particles 14 each consist of carbonyl iron powder. Due to the high particle concentration, the magnetorheological particles 14 themselves behave like a fluid, with the effective gap 5 not becoming clogged.
  • the particles 14 each have a coating to prevent corrosion.
  • the particles 14 have a sliding coating, here in the form of a graphite additive, which is applied to the particles 14 in sections as a thin graphite layer. This improves the sliding behavior and enables long-lasting and reliable operation.
  • the effective gap 5 is here at each end via a sealing device 12 with a sealing unit 15 between the parts moving towards one another, i.e. H. the first brake component 8 and the second brake component 3, sealed and limited.
  • the sealing devices 12 are accommodated here on the first brake component 8 and more precisely on its piston 10, so that the effective gap 5 moves with the piston 10 or the first brake component 8.
  • the braking device 1 further comprises a magnetic field generating device 24 designed as an electrical coil unit 24a and a magnetically conductive core 26.
  • the magnetically conductive core 26 is formed here on the first brake component 8 and more precisely on the piston 10.
  • the electrical coil unit 24 is wound in the longitudinal direction 19 around the first brake component 8 and more precisely around the piston 10.
  • the piston rod 9 extends along the longitudinal direction 19.
  • a vertical 24d is spanned on the plane 24c tensioned by the coil unit 24 transversely and in particular perpendicular to a winding plane 25 tensioned by the coil windings.
  • the magnetic field 24b is guided through the magnetically conductive second braking component 3 and the magnetically conductive core 26 and passes through the effective gap 5 here, so that the magnetic particles 14 align themselves along the magnetic field 24b and the viscosity of the magnetorheological medium 13 can thereby be changed.
  • a movement of the first brake component 8 relative to the second brake component 3 can be braked and influenced in this way.
  • the piston 10 of the first brake component 8 is here preloaded into a rest position 43 by a preloading unit 39.
  • the preload unit 39 is accommodated outside the piston 10 of the first brake component 8 but within an outer housing 3b.
  • the receiving space 4 is filled with air here and connected to the environment via the ventilation channel 11, so that gas exchange and pressure equalization can take place.
  • 3b is a detailed view of a sealing device 12 of a braking device 1 according to the invention with several sealing units 15, which include a non-contact labyrinth seal 16, a non-contact magnetic seal 20 and a sealing lip 18 that is non-contact to the sealing surface 12a of the sealing device 12.
  • the magnetic seal 20 is designed here as a magnetic ring, which prevents the magnetic particles 14 of the magnetorheological medium 13 from passing through the sealing device 12 with the sealing surface 12a.
  • the labyrinth seal 16 comprises several chambers or Groove (s) extending over the circumference, which allows the passage of the magnetorheological particles 14 from the effective gap 5 through the sealing device 12 along the sealing surface 12a into the recording room 4.
  • a sealing lip 18 is present to mechanically retain the magnetorheological particles 14.
  • the sealing lip 18 blocks the cross section of the effective gap 5 along the height of the effective gap 5a, with a small sealing gap 17 remaining to the sealing surface 12a of the second brake component 3.
  • the sealing lip 18 is permeable to liquid while magnetorheological particles 14 are retained and cannot pass through the sealing lip 18.
  • the sealing device 12 here has a magnetic particle collector 21.
  • the particle collector 21 is here radially outside the effective gap 5, i.e. H. on the side of the sealing device 12 facing away from the sealing gap.
  • the particle collector 21 here has a (strong) permanent magnet, through which the magnetic particles 14 are collected, which pass through the sealing device 12 from the effective gap 5 despite the sealing lip 14.
  • the first braking component 8 has a non-round outermost cross section 29.
  • a minimal internal cross section 30 of the receiving space 4 of the second brake component is adapted to the outermost cross section 29 of the first brake component.
  • the piston 10 of the first brake component 8 here has an oval outermost cross section 29.
  • the minimum inner cross section 30 of the receiving space 4 is here adapted to the outermost cross section 29 of the first brake component 8, so that a thin gap remains between the first brake component 8 and the second brake component 3, in which the effective gap 5 is arranged.
  • the effective gap 5 is formed here between the piston 10 and the inner wall 33 of the receiving space 4.
  • the first brake component 8 here is thus
  • the piston 10 of the first brake component 8 here has a length 27 along the longitudinal direction 19, which is larger than a maximum diameter 28 of the piston 10 of the first brake component 8.
  • the piston 10 is here transverse to the longitudinal extent 19 at least 50% wider than it is tall .
  • the internal cross section 30 is constant over the intended travel path 31, so that the piston 10 can be displaced over an entire piston path 31.
  • the braking device 1 further comprises a sensor device 32, which is designed here as a Hall sensor.
  • the sensor device 32 is used to record a measure of a position of the piston 10 of the first brake component 8 in relation to the second brake component 3.
  • a ratio of the largest transverse dimension of the piston 10 (transverse to its longitudinal extension 19) to a height 5a of the effective gap 5 is greater than 20. Consequently, the effective gap 5 represents a (only small) resistance for the magnetic field 24b, through which it ( can pass through without any problems.
  • FIG. 3d An alternative embodiment of the sealing device 12 is shown in FIG. 3d.
  • the sealing device 12 here comprises two sealing units 15 touching the opposite sealing surface 12a, a magnetic seal 20 and a sealing lip 18.
  • the sealing lip here lies in contact with the inner wall 33 of the receiving space 4.
  • the magnetic seal 20 here comprises two magnetic rings with electrical coils which hold a ferro-fluid 20a, shown only schematically here, in the sealing gap 17, which blocks the sealing gap 17.
  • FIG. 3e An enlarged section of the effective gap 5 is shown in FIG. 3e.
  • the active surfaces 5b of the effective gap 5 are formed here along the axial direction 5c of the effective gap 5.
  • the active surfaces 5b can also have a different shape, as shown here in dashed lines, for example.
  • B. a periodically repeating, wavy “mountains and valleys” Profile, whereby a height between "mountain and valley” extends over approximately 50% of the height 5a of the effective gap 5, so that a wedge effect can arise, which leads to a local concentration of the magnetorheological particles 14, whereby higher forces can be transmitted.
  • the profile extends here over the entire circumference of the piston 10 of the first brake component 8.
  • the effective surface 5b on the second brake component 3 can also be designed analogously.
  • Figures 4 and 5 show two sections in the retracted and extended state of the braking device 1 according to Fig. 2.
  • a ratio of the outer diameter 3a of the second brake component 3 to an outer diameter 9a of the piston rod 9 is smaller than two, so that the design is very compact.
  • the first brake component 8 is displaceable along the travel path 31 and is preloaded into the rest position 43 by the preloading device 39, which is designed here as a spiral spring.
  • Connection cables can be led out through the cable bushing 40, which extends through the piston rod 9 of the first brake component 8.
  • the magnetically conductive second brake component 3 is here a component of the outer housing 3b, which here has a significantly lower magnetic conductivity than the magnetically conductive second brake component 3.
  • the housing 3b or outer housing 3b comprises a further component which is made of plastic. Plastics have the advantage that they are easy and inexpensive to produce compared to metallic materials and, above all, can be mass-produced.
  • the housing 3b here has the largest outside diameter 3a of the entire braking device 1.
  • the end 38 (connection end) intended for connection is formed on the housing 3b.
  • the other (outer) end 37 (connection end) intended for connection is formed on the piston rod 9.
  • a wall thickness of the Outer housing 3b preferably corresponds (approximately) to a wall thickness (+/- 20%) of the magnetically conductive second brake component 3 (in a central region) of the second brake component 3.
  • the sealing device 12 is only shown schematically in FIGS. 4 and 5 and in detail can have a structure that deviates from the rectangular cross section shown.
  • the first brake component 8 also has several components here.
  • the core 26 is magnetically conductive and is formed on the piston 10.
  • the first brake component 8 here includes a coil holder for the coil unit 24a of the magnetic field generating device 24 and a piston rod 9. All components except the magnetically conductive core 26 are also made here from a plastic that is inexpensive and has very poor magnetic conductivity.
  • the magnetorheological medium 13 in the effective gap 5 can be subjected to a magnetic field by the magnetic field generating device 24, which is designed here as a coil unit 24a, so that the magnetic particles 14 are in the effective gap 5 align and transfer forces between the second brake component 3 and the first brake component and here the piston 10. Consequently, a movement of the piston 10 relative to the second brake component 3 is braked.
  • the magnetorheological medium 13 is present exclusively in the (thin) effective gap 5 between the piston 10 of the first brake component 8 and the second brake component 3, which is limited by the sealing devices 12.
  • Figures 6 and 7 show a perspective section
  • Figure 8 shows a schematic sectional view of another Embodiment of a braking device 1.
  • the sealing devices 12 are accommodated on the second brake component 3, so that the effective gap 5 is stationary in relation to the second brake component 3 and the sealing surface 12a is formed on the first brake component. Consequently, the effective gap 5 moves here with the second braking component 3.
  • Figures 9 and 10 show schematic sectional views of a further embodiment of a braking device 1 in the retracted and extended state.
  • the ends 37, 38 are designed here as joint sockets.
  • the sealing device 12 here comprises two sealing units 15, a magnetic seal 20, in particular with a ferro-fluid, not shown separately, and a mechanical contact seal, which is designed in particular as a felt ring in order to obtain an optimal seal of the effective gap 5. Furthermore, the outer housing 3b completely encloses the entire piston 10 and the piston rod 9 of the first brake component 8.
  • the 10 shows a minimum (axial) distance 12b between the second brake component 3 and the sealing device 12 arranged closer to the end 37 and in particular the magnetic seal 20. As a result, the seal is (largely) magnetically decoupled from the magnetic field generating device 24.
  • the maximum (axial) distance 12c is shown on the other side (closer to the end 38).
  • the corresponding distance on the right side here closer to the end 38 is smaller than the distance on the left side here.
  • the distance on the right side can then correspond to the minimum distance 12b (or possibly be larger).
  • the minimum distance 12b between the second brake component 3 and the sealing device 12 is dimensioned such that the magnetic seal 20 seals reliably and remains largely unaffected. Such a minimum distance 12b is preferred in all configurations and Examples of embodiments and positions are provided.
  • component parts 8a and 8b are provided with reference numbers.
  • the component parts 8a and 8b can be designed as separate parts or in one piece as e.g. B. coil holder can be shaped.
  • the component parts 8a and 8b have a significantly lower magnetic conductivity than the core 26.
  • the ratio of the magnetic conductivities of the component parts 8a and 8b (and also the outer housing 3b) to the core 26 is (in all configurations) less than 1:5 and preferably less than 1:10 and in particular less than 1:50 or 1:100.
  • Figures 11, 12 and 13 show further sectional and detailed views of the embodiment according to Figures 9 and 10.
  • Figure 12 a section through the winding plane 25 is shown, so that the winding of the coil unit 24 in the longitudinal direction 19 can be seen.
  • Figures 14 and 15 show isometric views of the embodiment according to Figures 9 and 10 in the extended and retracted states.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Pinball Game Machines (AREA)
  • Braking Arrangements (AREA)

Abstract

L'invention concerne un dispositif de freinage (1) et un contrôleur de jeu (100) doté d'un dispositif de freinage (1), en particulier destiné à freiner le déplacement d'éléments de commande (101), tels que par exemple des touches de commande, des leviers de commande, des boutons-poussoirs. Le dispositif de freinage (1) comprend un premier composant de freinage (8) s'étendant le long d'une direction longitudinale axiale (19) et un second composant de freinage (3) consistant en un matériau magnétiquement conducteur et un dispositif générateur de champ magnétique (24), lequel comprend un ensemble bobine (24a) électrique et un noyau (26) magnétiquement conducteur. Le premier composant de freinage (8) est logé sur le second composant de freinage (3), de manière à se déplacer dans la direction axiale (19). L'ensemble bobine (24) électrique est enroulé dans la direction longitudinale (19) autour du premier composant de freinage (8), de telle sorte qu'une perpendiculaire (24c) sur le plan défini par l'ensemble bobine (24a) est orientée transversalement à un plan d'enroulement (25) défini par les enroulements de bobine. Un entrefer (5), rempli d'un milieu magnétorhéologique (13) et rendu étanche aux extrémités axiales, dans chaque cas par un dispositif d'étanchéité (12), est réalisé entre le premier composant de freinage (8) et le second composant de freinage (3)
PCT/EP2023/067487 2022-06-27 2023-06-27 Dispositif de freinage et contrôleur de jeu WO2024003055A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1559119B1 (fr) * 2002-11-06 2007-09-19 Lord Corporation Dispositif magnetorheologique ameliore
US20200257369A1 (en) * 2010-09-15 2020-08-13 Inventus Engineering Gmbh Input device and method of operating an input device

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DE102010055833A1 (de) 2010-09-15 2012-03-15 Inventus Engineering Gmbh Rheologische Übertragungsvorrichtung
DE102015104927A1 (de) 2015-03-31 2016-10-06 Inventus Engineering Gmbh Dämpfer zur Dämpfung einer Relativbewegung

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Publication number Priority date Publication date Assignee Title
EP1559119B1 (fr) * 2002-11-06 2007-09-19 Lord Corporation Dispositif magnetorheologique ameliore
US20200257369A1 (en) * 2010-09-15 2020-08-13 Inventus Engineering Gmbh Input device and method of operating an input device

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Title
YEONJU NAM, Y.M. PARK, R. YAMANE: "Smart glove: hand master using magnetorheological fluid actuators", PROCEEDINGS OF SPIE - THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING, 31 December 2007 (2007-12-31), XP040430759, DOI: 10.1117/12.783776 *

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