Magnetorheological brake device

Abstract

The invention relates to a magnetorheological brake device (1) having a stationary mounting (4) and two brake parts (2, 3), wherein one of the two brake parts (2, 3) is fixedly connected to the mounting (4) in order to be rotationally fixed, and wherein the two brake parts (2, 3) are continuously rotatable relative to one another, wherein the first brake part (2) extends in an axial direction (20), and wherein the second brake part (3) comprises a hollow-structured housing part (13) which extends around the first brake part (2). An annular gap (5) which is filled with a magnetorheological medium (6) is provided between the first and second brake parts (2, 3). The first brake part (2) comprises an electrical coil (26) and a core (21) which extends in the axial direction (20) and which is made of a magnetically permeable material, wherein the core (21) comprises a main body (33). A magnetic field concentrator (81) which is arranged on the core and / or a magnetic field concentrator (81) which is arranged on the housing part protrudes into the gap (5), which results in the annular gap (5) having a variable gap height (5b). The electrical coil (26) is wound around at least one portion of the core (21) in such a way that the magnetic field (8) of the electrical coil (26) passes through the core (21) and the magnetic field concentrators (80, 81) and through the gap (5) into the wall of the housing part (13).

Description

Technical Field

[0001] This invention relates to a magnetorheological braking device having a fixed mounting base and at least two braking components and / or damping components. The magnetorheological braking device according to the invention can be used to brake relative movement in many technical fields. The magnetorheological braking device according to the invention can also be used as a tactile operating device and, for example, for operating technical devices in vehicles, such as rotary actuators; rotary / push actuators; for infotainment systems, air conditioning systems (temperature, wind speed, distribution); for transmission selectors; for navigation systems; for cruise control systems; for vehicle distance control systems; for seat adjusters; for steering systems or steering wheels; for suspension adjustment systems; for driving mode adjustment systems; for adjusting windshield wipers; for adjusting windows or sunroofs; for parking assistance systems; or for setting (partial) autonomous driving modes, or as a substitute for a steering wheel. It can be used in motor vehicles, spacecraft and aircraft, ships, boats, agricultural machinery (tractors, combine harvesters, harvesters, other agricultural machinery for tilling), construction machinery and material handling machinery (forklifts, etc.), or medical or industrial systems. The present invention can also be used in the operation of washing machines, kitchen / home appliances and devices, radios, cameras and cinema cameras, HiFi systems and TV systems, smart devices, smart home appliances, laptops, personal computers, smartwatches or as their output devices, as crown gears of wristwatches or as computer mice or as computer mice or controllers, game consoles, rotating wheels in gaming equipment or as rotating buttons in keyboards or other devices. Background Technology

[0002] Magnetorheological fluids (MRFs) contain micro-ferromagnetic particles (such as carbonyl iron powder) distributed in, for example, oil. MRFs utilize approximately spherical or circular particles with a production diameter of 1 to 10 μm, where the particle size and shape are non-uniform. When such a MRF is subjected to a magnetic field, the carbonyl iron particles form chains along the magnetic field lines, causing the rheological properties of the MRF to be significantly influenced by the shape and strength of the magnetic field (transmissible shear stress).

[0003] WO 2012 / 034697 A1 discloses a magnetorheological transmission device having two coupleable components whose coupling strength can be influenced. A channel with a magnetorheological medium is provided to influence the coupling strength. The magnetorheological medium in the channel is influenced by a magnetic field. A rotating member is provided in the channel, and the rotating member has sharp regions containing the magnetorheological medium. The channel, or at least a portion thereof, can be impacted by a magnetic field from a magnetic field generator to selectively (magnetically) interconnect particles and wed the particles into the rotating member or release the particles. This magnetorheological transmission device can also be used on rotary buttons of operating technical equipment. This magnetorheological transmission device is used for and allows the transmission of relatively large forces or torques while having a relatively small construction mode and volume.

[0004] WO 2012 / 034697 A1 also discloses a rotary button or operating button in which the actual button is attached to be rotatable about an axis. The braking torque can be controlled by a magnetic field generated by an electric coil. If a higher achievable braking torque is required, a cylindrical roller can be used instead of a spherical rotating member, allowing the magnetic field to act over a longer distance or a larger area (the magnetic field is concentrated and forms a wedge over a larger area). It has been shown that, particularly with rotary or operating buttons of relatively small diameter, increasing the length of the rolling member does not necessarily lead to an increase in the maximum achievable braking torque. This is because the magnetic field is enclosed by the central axis, or must pass through the central axis. Because the magnetic field required for braking action rapidly saturates in the (shaft) material, the small diameter of the shaft limits the achievable braking torque. The material through which the magnetic field passes no longer allows for any higher magnetic flux, which is why a stronger magnetic field cannot reach the roller. The minimum cross-section through which the magnetic field passes in the entire magnetic circuit defines the maximum possible magnetic flux, and thus the maximum braking torque in the braking device. Because the magnetic field is distributed across a relatively long roller region, using a longer roller as the rotating component in this case may even negatively impact the achievable braking torque. A lower field strength (low magnetic field concentration) exists. Although the achievable braking effect is not a linear function of the magnetic field, it increases disproportionately in stronger magnetic fields and decreases disproportionately in weaker magnetic fields. Summary of the Invention

[0005] Therefore, the object of the present invention is to provide a magnetorheological braking device that allows for high braking torque or relatively high braking torque compared to the prior art, especially in the case of small or even very small diameters.

[0006] This objective is achieved by a magnetorheological braking device. Further advantages and features of the magnetorheological braking device will become apparent from the general description and the description of exemplary embodiments.

[0007] The magnetorheological braking device according to the invention comprises a fixed mounting base, a brake housing, and at least two brake components. One of the two brake components is rotatably fixed to the mounting base, and the two brake components are continuously rotatable relative to each other. A first brake component extends in an axial direction and includes a core of axially extending magnetically conductive material. A second brake component includes a housing portion that is rotatable about the first brake component and is configured to be hollow. An annular gap is disposed between the first and second brake components, the annular gap being at least partially and particularly completely filled with a magnetorheological medium. Here, the magnetorheological medium wets the brake components. At least one electric coil is housed in the brake housing. At least one star-shaped profile is provided or housed between the housing portion and the core, on which a magnetic field concentrator is disposed and protrudes radially into the gap, thereby creating an annular gap with a variable (across circumferential angle) gap height.

[0008] The first brake component defines the axial direction. However, the first brake component can also be configured at least partially to be angled relative to the axial direction. In the context of this invention, the term "core" of the first brake component extending in the axial direction should be understood to mean that the core extends at least substantially in the axial direction. The core may have a profile with a small angle relative to the axial direction. For example, the core may also be aligned at an angle of 2.5°, 5°, 10°, or 15° relative to the axial direction. The winding of the coil may be aligned radially around the core, or it may be aligned axially around the core (again, not precisely aligned). The coil may also be wound around the core at an angle of 5°, 10°, or 15°, etc., relative to the axial direction. In the case where the coil is axially wound around the core, preferably, the angle between the alignment of the core and the axial direction, and the angle of the winding of the coil relative to the axial direction, is less than 20°, and particularly, less than 10°.

[0009] The magnetorheological braking device according to the present invention has many advantages. A significant advantage of the magnetorheological braking device according to the present invention is that, due to the star-shaped profile or a similar profile, the magnetic field concentrator is able to generate high braking torque (high shear stress).

[0010] A particular advantage is that the magnetic field concentrator is fixedly connected to the core or housing portion, and particularly integrally connected to the core or housing portion. Therefore, a particularly simple construction that can be produced in a cost-effective manner becomes possible due to lower assembly costs. It has been surprisingly demonstrated that the magnetic field concentrator does not need to be configured as a self-rotating or rotatable rolling member; rather, the fixed magnetic field concentrator reliably and repeatably allows for a high increase in the generated braking torque. The magnetic field concentrator can be manufactured separately and fixedly connected to the star profile or directly connected to the core or housing portion and, for example, by threaded connection, riveting, flexible / hard welding, welding, or optionally adhesive bonding or press-fitting. Surprisingly, the magnetic field concentrator can also be attached to the housing portion. In summary, high braking torque is achieved with a small (even smaller) installation space. Therefore, the braking torque can be increased overall, or maintained with a smaller installation space. This opens up new possibilities, as a smaller braking torque than previously possible can be generated with a significantly smaller installation space.

[0011] The magnetorheological braking device according to the present invention is used in various devices. This magnetorheological braking device can be used in tactile operating devices or designed as such. The magnetorheological braking device can also be used in device components.

[0012] In the context of this invention, a star-shaped profile is also understood as a profile resembling a star. In the context of this invention, the star-shaped profile has radially projecting profile elements that act as magnetic field concentrators. Specifically, the local radius on the profile element is larger than the local radius adjacent to it in the circumferential direction. The maximum local radius is preferably at least 0.1%, particularly at least 0.25% (and preferably larger) larger than the minimum local radius adjacent to it in the circumferential direction. Multiple profile elements are preferably arranged across the circumference.

[0013] The coil is preferably wound around at least a portion of the core, such that the magnetic field of the coil passes through the core and the magnetic field concentrator, and through the gap (extending axially and / or radially) into the wall of the housing component.

[0014] The magnetic field, or magnetic field lines, preferably travel laterally through the first braking component or the inner braking component. In this case, for the same diameter, increasing the length of the first braking component increases the potential magnetic flux and thus the braking torque. In most cases, the inability to increase the potential core diameter due to construction reasons does not limit the magnetic flux in this situation. In magnetorheological braking devices, the magnetic field concentrator forms the transmission component. The magnetic field concentrator or transmission component is at least partially, and particularly substantially completely or entirely, surrounded by a magnetorheological medium. Generally, a magnetorheological fluid is preferred as the magnetorheological medium.

[0015] Multiple magnetic field concentrators (as transmission components) are preferably arranged in a circumferential distribution across the gap. The magnetic field concentrators cannot rotate about themselves, but rotate together with the brake components to which they are fastened. Therefore, relative movement occurs within the gap during rotation.

[0016] It is possible that, in addition to the magnetic field concentrator or in place of the various parts of the star-shaped profile, there are additional transmission components, which are configured, for example, as rolling members. In the context of this invention, the term "rolling member" is understood to be a rotating member adapted to roll in the gap on the first or second brake component.

[0017] In a preferred embodiment, the magnetorheological braking device includes a fixed mounting base and at least two brake components, wherein one of the two brake components is rotatably fixed to the mounting base, and wherein the two brake components are continuously rotatable relative to each other, wherein a first brake component extends in an axial direction, and wherein a second brake component includes a housing portion extending around the first brake component and configured to be hollow and at least partially cylindrical internally, wherein an circumferential gap at least partially filled with a magnetorheological medium is disposed between the first brake component and the second brake component. Here, the first brake component includes at least one electric coil and a core made of a magnetically conductive material and extending in an axial direction. The core includes a main body and a plurality of core profiles extending outward as magnetic field concentrators, thereby creating an circumferential gap with a variable (across circumferential angle) gap height. The electric coil is wound around at least a portion of the core (or around the core) such that the magnetic field of the electric coil travels through the core and through at least one core profile extending outward and configured as a magnetic field concentrator on the core, and through a wall of the housing portion that passes through (axially or radially) outwardly adjacent gaps.

[0018] In a preferred improvement of the invention, at least one magnetic field concentrator has a cross-sectional area that tapers towards the distal end.

[0019] At least one magnetic field concentrator is preferably configured to have rounded corners at its distal end.

[0020] Preferably, the core includes multiple arms serving as magnetic field concentrators and / or the housing portion includes multiple arms serving as magnetic field concentrators, said arms extending radially and / or axially. The arms project radially outward from the core and / or laterally from the core. Preferably, the arms project radially inward from the housing portion and / or also laterally from the core.

[0021] In all design embodiments, it is preferred that at least one arm is surrounded by an electrical coil. In each case, multiple arms are particularly preferably surrounded by a single electrical coil.

[0022] The radial length of the (radially extended) arm is preferably less than the length of the arm in the axial direction.

[0023] At least one electric coil is preferably wound around an axis and generates a magnetic field (radial coil) in the core that is generally in the axial direction.

[0024] The coil is preferably housed radially (in a circumferential manner) between the core and the housing portion.

[0025] The coil (or at least one coil) is specifically secured to the interior of the housing portion. In this case, the coil is radially spaced from the core on the first brake component. It is also possible and preferred that at least one coil is wound around the core. The coil can be wound radially around the core. The coil can also be wound axially around the core. In this case, the axis of symmetry of the coil extends transversely to the longitudinal extent of the first brake component.

[0026] In a preferred design embodiment, at least two star-shaped profiles are housed within the brake housing. These star-shaped profiles can be configured identically and, in particular, differently.

[0027] Preferably, the two star-shaped profiles are accommodating each other with an axial gap. It is also possible (in each case) to accommodate three, four or more star-shaped profiles with an axial gap. Each of these star-shaped profiles may be configured identically or have a shape different from the other star-shaped profiles.

[0028] Preferably, the two star-shaped profiles are configured in pairs in the same way in each case.

[0029] At least one star-shaped profile is configured, in particular, to have a separate (and preferably hollow) annular flange for a radially projecting magnetic field concentrator.

[0030] The magnetic field concentrator can be configured to project radially outward. In this case, the annular flange is preferably fixedly (and preferably releasably) attached to the core.

[0031] The magnetic field concentrator can be configured to protrude outwards at an angle. In this case, the annular flange is preferably fixedly (and preferably releasably) attached to the core.

[0032] The magnetic field concentrator can be configured to project laterally (axially). In this case, the annular flange is preferably fixedly (and preferably releasably) attached to the core.

[0033] The magnetic field concentrator can also be configured to project radially inward. In this case, the annular flange is preferably fixedly (and preferably releasably) attached to the housing portion.

[0034] The magnetic field concentrator can also be configured to project inward at an angle. In this case, the annular flange is preferably fixedly (and preferably releasably) attached to the housing portion.

[0035] The magnetic field concentrator can also be configured to project laterally (axially) inward. In this case, the annular flange is preferably fixedly (and preferably releasably) attached to the housing portion.

[0036] At least two star-shaped profiles preferably have different outer profiles. For example, the outer profiles may differ radially on the inner side and / or radially on the outer side and / or on at least one axial side.

[0037] At least one star-shaped profile preferably has a radially outwardly projecting magnetic field concentrator and is magnetically secured to the core, and particularly to the core. For example, the star-shaped profile can be fixed to the core by a threaded connection.

[0038] At least one star-shaped profile preferably has a radially inwardly projecting magnetic field concentrator and is magnetically secured to the housing portion (and particularly secured within the housing portion).

[0039] The magnetic field of the coil preferably passes through the core and at least one star-shaped profile with a magnetic field concentrator, and through the walls of the gap and the housing portion.

[0040] If it includes two axially spaced star-shaped profiles, the magnetic field of the coil preferably passes axially through the core, axially through the wall of the housing portion, and through the two star-shaped profiles with magnetic field concentrators and the gap between the star-shaped profiles and the core or housing portion.

[0041] In a particular preferred improvement, at least one electric coil is wound around the core in the axial direction and generates a magnetic field in the radial direction (horizontal coil).

[0042] In particular, the magnetic field concentrator forms a star-shaped (in cross-section) outer profile.

[0043] The housing portion preferably has a cylindrical inner surface on at least one axial portion.

[0044] The magnetic field concentrator preferably extends through the outer circumference of the core via at least one corner segment. In particular, each corner segment is less than 150°.

[0045] Preferably, no magnetic field concentrator is located outside the corner segment (or multiple corner segments).

[0046] The electric coil wound around the core in the axial direction is preferably housed on the core outside the corner segment (or multiple corner segments). In this case, the electric coil is particularly close to the surface.

[0047] The maximum (outer) diameter of the coil in the radial direction within the coil plane is preferably greater than the minimum (outer) diameter of the core in the radial direction transverse to (especially almost perpendicular to or perpendicular to) the coil plane. However, the minimum diameter need not be perpendicular to the coil plane.

[0048] The coil preferably extends axially about at least one arm. The radial clearance height between the outer end of the arm and the inner surface of the housing portion is particularly smaller than the radial clearance dimension between the outer surface of the first brake component next to the arm and the inner surface of the housing portion. The surface of the body can be configured next to the arm. When the casting compound is filled, the surface of the casting compound can also be next to the arm, for example, to reduce the volume used for magnetorheological media, and in particular magnetorheological fluids (MRFs).

[0049] The second brake component is preferably arranged to be axially displaceable on the first brake component in order to implement volume compensation in the event of temperature changes.

[0050] Specifically, the second brake component is rotatably received on the first brake component via two support points of different outer diameters, so as to cause a volume change in the chamber disposed between the first brake component and the second brake component by axial displacement.

[0051] Preferably, it includes at least one shielding device for at least partially shielding the sensor device from the magnetic field of the coil, or for shielding other magnetic fields.

[0052] The shielding device preferably includes at least one shielding member that at least partially surrounds the magnetic ring element, wherein the shielding device includes at least one separating element disposed between the shielding member and the magnetic ring element, and / or at least one magnetic decoupling device disposed between the shielding member and the housing portion.

[0053] The separating element and / or decoupling device has a permeability that is a certain factor smaller than that of the shielding member.

[0054] The shielding device may consist of multiple parts and include, for example, at least one or two additional axial annular disks and at least one annular sleeve.

[0055] Preferably, the shielding device and the magnetic ring element are arranged spaced apart from each other. Spacers may be arranged between the shielding device and the magnetic ring element. In a simple design embodiment, plastic material portions (such as injection-molded parts) may be arranged between them, maintaining a defined mutual spacing between these components.

[0056] Preferably, at least one sealed chamber is disposed between the brake components (the sealed chamber is externally sealed). A second brake component is rotatably received at a first end of the sealed chamber and is particularly mounted on the first brake component (at a first support point), wherein the sealed chamber is substantially or completely filled with a magnetorheological medium.

[0057] The second brake component is preferably received and particularly mounted to be axially displaceable on the first brake component, such that the volume of the enclosed chamber changes due to the relative axial displacement of the brake components in order to compensate for temperature-related volume changes.

[0058] Advantageously, the electric coil is wound around the core in the axial direction and generates a magnetic field in the generally radial direction. This results in the advantage that a stronger braking torque can be achieved by increasing the length of the magnetic field concentrator in the axial direction. Simultaneously with the increase in the length of the magnetic field concentrator, the length of the electric coil extending in the longitudinal direction of the first brake component can also be increased (in a convenient manner). By configuring the electric coil to be longer in the axial direction, a larger passing area (the cross-sectional area through which the magnetic field passes) becomes available. For this reason, the increase in the axial length of the first brake component also causes an increase in the cross-section of the core. Therefore, a stronger braking torque can be achieved by increasing the axial length of the first brake component.

[0059] In a preferred design embodiment, at least a portion of the magnetic field concentrator is made of a magnetically conductive material. A portion of the transmission component may also be made of a non-magnetically conductive material. When a magnetic field concentrator made of a magnetically conductive material is used in conjunction with a transmission component made of a non-magnetically conductive material, the magnetic field is thus concentrated in the region of the magnetically conductive magnetic field concentrator. This results in both magnetic field concentration (increased magnetic field strength) and localized amplification (concentration of magnetic field lines). For example, the magnetic field strength in the gap increases from a value below 350 kA / m to 1000 kA / m or more. The (high or) concentrated field strength attracts more carbonyl iron particles from the magnetorheological fluid, leading to the accumulation (clustering) of carbonyl iron. This, in turn, allows for higher shear stress and thus generates a braking torque.

[0060] Because the correlation between the achievable braking torque and the magnetic field strength is not linear, and because the achievable braking torque increases disproportionately with increasing magnetic field strength, a considerable amplification of the achievable braking torque can be achieved (within the same installation space / size). However, it is also possible to select a correspondingly smaller number of magnetic field concentrators.

[0061] In situations where a higher braking torque is required within a given installation space than in the prior art, while simultaneously demanding (very) low production costs, the axial width of the magnetic field concentrator can be implemented as a very small and continuous disk (closed profile). For cost reasons, radial or axial extension arms with a star-shaped profile or a similar design with a central space can be omitted. Here, the particularly chosen (very) small width and specific profile of the magnetic field concentrator also concentrate the magnetic field and result in a high field strength (in the (annular) gap described above), and thus lead to the concentration (clustering) of carbonyl particles. Although the field strength in the effective gap is not as high as in the case of a single arm due to the larger transition region, this field strength is sufficient for many applications, especially where significant cost constraints exist.

[0062] In all design embodiments, it is not necessary to increase the diameter of the first brake component to increase the generating braking torque. This is therefore very important because many potential applications do not allow for any large outer diameter of the braking device, or a large outer diameter would be a serious competing disadvantage (e.g., a large lateral adjustment wheel in a wristwatch, a computer mouse scroll wheel, or a thumbwheel in a motor vehicle). To amplify / increase the braking torque, the first brake component can be configured to be axially longer; in terms of construction space, this is not a disadvantage, or a minor one.

[0063] In all design embodiments, it is preferred that the housing portion is disposed on a rotary button or rotary wheel, or that the housing portion includes a rotary button or rotary wheel. The rotating portion may preferably be integrally disposed with the rotary button or rotary wheel. In this design embodiment, it is preferred that the rotary button or housing portion is configured in a "can" shape. The "lid" of the housing portion may be integrally connected to the rotating portion configured as a sleeve portion, or separately fastened to the rotating portion.

[0064] The housing portion is preferably made of a magnetically conductive material, or includes a magnetically conductive sleeve portion such that the outer ring is usable for a magnetic field. The magnetic field used to generate the braking torque travels through the first brake component and through a gap in the magnetic field concentrator, which is configured to be magnetically conductive. The magnetic field enters the housing portion from the magnetic field concentrator. In the latter, the magnetic field lines travel backward before re-entering the first brake component. In this way, a closed magnetic circuit or closed magnetic field lines exist.

[0065] As generally described in WO 2012 / 034697 A1, during the relative rotation of the first and second brake components, a wedge effect is configured on the magnetic field concentrator under the influence of the magnetic field. The disclosure of that publication is fully incorporated herein by reference. In this invention, even when the magnetic field concentrators cannot rotate about themselves but are fastened to the first or second brake component, braking torque is still generated due to the wedge effect or concentration on the magnetic field concentrators.

[0066] At least one radial wall thickness of the housing portion or the sleeve portion of the housing portion is preferably at least half the dimension of the gap width and / or the radial length of the magnetic field concentrator. The radial wall thickness of the housing portion (sleeve portion) is preferably greater than 3 / 4 of the gap width. The radial wall thickness of the housing portion (sleeve portion) can also be particularly greater than the radial length of the magnetic field concentrator. Due to the sufficient wall thickness of the housing portion or the sleeve portion of the rotating part, which is made of magnetically conductive material, the desired magnetic field strength can be generated in the region of the rolling member, thereby enabling the generation of a high braking torque.

[0067] In all design embodiments, it is preferred that the length of the first brake component in the axial direction is greater than the length of the magnetic field concentrator in the axial direction. When the magnetic field concentrator is configured to be shorter than the first brake component in the axial direction, this results in a three-dimensional concentration of the magnetic field in the periphery region of the magnetic field concentrator. The magnetic field can actually pass through the gap only in those sections without the magnetic field concentrator.

[0068] The length of the gap in the axial direction is preferably at least twice the length of the magnetic field concentrator in the axial direction. It is also possible and preferably that two or more magnetic field concentrators are arranged sequentially in the axial direction.

[0069] The first brake component is preferably configured to be generally cylindrical and includes a body (at least partially rotationally symmetric or cylindrical) as a core, and one or more electrical coils. It may also include a ball for mounting a rotary button, potentially centrally positioned at the distal end to provide a simple and low-friction mounting between the first and second brake components.

[0070] When using a "horizontal coil," the coil can be wound in the axial and transverse grooves of the cylindrical body (of the first brake component). When using a "radial coil," the coil can be wound in a surrounding groove. Each groove is preferably at least partially filled or encapsulated with a casting compound. This prevents the magnetorheological medium or fluid from entering the area of ​​the coil conductor. This could lead to fluid decomposition.

[0071] The mounting base preferably has a cable conduit. Connector cables for coils and / or sensor cables, etc., can be routed through the mounting base or the cable conduit of the mounting base. This makes easy assembly and cost-effective production possible.

[0072] The mounting base preferably has a receiving seat for rotationally securing it to the first brake component. Here, the mounting base can receive the first brake component via press-fit and / or form-fit. During operation, the braking torque between the first and second brake components is dissipated through the mounting base.

[0073] The mounting base preferably has a cylindrical travel surface for the bearing and supports the housing portion so that it is rotatable on the mounting base.

[0074] The seal for sealing the gap is preferably arranged on a cylindrical traveling surface, wherein the seal is specifically positioned closer to the gap than the bearing. Therefore, the bearing is reliably protected relative to the magnetorheological medium. This design embodiment achieves a compact construction and reliable operation. The bearing can be, for example, a friction bearing or a rolling bearing.

[0075] The cylindrical traveling surface is preferably hardened and / or has a surface quality superior to that of the radial outer surface of the receiving seat. Therefore, manufacturing costs can be reduced.

[0076] In an advantageous design embodiment, the cylindrical travel surface has an outer diameter that is at least 3 mm smaller than the outer diameter of the receiver of the mounting base.

[0077] The mounting bracket is preferably fastened to the control panel or another component.

[0078] In a preferred embodiment, the device component includes at least one magnetorheological braking device as described above. Such a device component may include at least one user interface, operation panel, display, touch-sensitive display with or without haptic feedback, and / or at least one sensor.

[0079] This application is also possible in haptic operating devices, which include at least one magnetorheological braking device. Furthermore, it preferably includes a user interface, an operation panel, a display, a touch-sensitive display with or without haptic feedback, and / or at least one sensor. In addition to allowing operation, such design embodiments also allow for the display or output of information during operation. Thus, for example, it makes it possible to have operation buttons that simultaneously display output.

[0080] In all design embodiments, it is possible to attach the pressure sensor to the mounting base or assign the sensor to the mounting base. For example, the pressure sensor may be attached to the mounting base. However, the piezoelectric sensor may also be attached to the lower portion, etc. The mounting base may also be configured as two parts and the relative axial displacement of the two parts may be recorded. Tactile feedback may occur during this process.

[0081] In all design embodiments, it is preferred that the difference between the available inner diameter of the housing portion (sleeve portion) and the outer diameter of the first brake component is greater than 3 mm and less than 90 mm. Similarly, it is preferred that the outer diameter of the housing portion (sleeve portion) is between 5 mm and 10 mm and 120 mm. The height of the housing portion is preferably between 5 mm and 120 mm. In all design embodiments, it is preferred that a control device is included, configured to activate an electric coil with a variable braking effect.

[0082] In general, the present invention is particularly preferably operated based on the fundamental principle of wedge clamping, wherein the magnetic field concentrator slides along the wall at specific intervals, or optionally rolls on the wall. The wedge effect is generated by the magnetic field, thereby enabling the generation of high braking torque.

[0083] Furthermore, better scalability can be achieved by using a "horizontal coil." Therefore, it is possible to generate a larger, expandable braking torque using a longer magnetic field concentrator and an axially longer coil. Here, the diameter of the first brake component does not need to be chosen to be large in order to guide the corresponding magnetic field through it, because the area (cross-sectional area) of the core increases as the core extends axially. If only a relatively small braking torque is required, the axial length can also be optionally significantly reduced. This allows for adaptation to available installation space.

[0084] A further advantage is that, considering mass production, the wiring of the electrical connector cables for the coils can be done in a simple manner. The compactness and scalability of the magnetorheological braking device can be implemented through simple means.

[0085] In principle, due to the increased effective length, the magnetorheological braking device can generate a larger torque across a longer magnetic field concentrator (in the axial direction). Simultaneously, the larger core area ensures that the magnetic field concentrator is always exposed to the corresponding magnetic flux density. The magnetic field strength at the "wedge" on the magnetic field concentrator can be selected to be higher than that in the prior art. Long magnetic field concentrators capable of providing sufficiently strong magnetic fields or multiple axially offset magnetic field concentrators can be used.

[0086] Specifically, when using a "radial coil," the magnetic field generated by the coil travels axially through the core, radially through the magnetic field concentrator, and axially closes through the (sleeve portion or) housing portion or outer cylinder. Here, the magnetic field lines close once in one half of the housing portion (e.g., the lower or left half) and again in the other half (e.g., the upper or right half). In a simplified design embodiment, the magnetic flux thus travels approximately in two dimensions. Here, the configuration of the magnetic field concentrator in terms of length or height is irrelevant. Therefore, since the magnetic field transmission area increases simultaneously, arbitrary expansion in terms of length can be achieved.

[0087] Conversely, in the case of an electric coil (“radial coil”) concentrically wound around the longitudinal direction of the first brake component, the cross-sectional area of ​​the core remains constant as long as the diameter does not change, and a bottleneck in the magnetic field can be formed. In the rotary knob of a motor vehicle, the core typically has a sufficient diameter to apply the required braking torque. The required diameter of the first brake component is not particularly disadvantageous in terms of the required mounting space, mounting dimensions, and weight of the magnetorheological braking device. Advantageously, the rotational speed of the rolling element does not change with the static rotation currently used.

[0088] The rotational speed of the magnetic field concentrator changes, which may be detrimental.

[0089] Conversely, in the case of longitudinally concentrically wound electrical coils (“radial coils”) surrounding the first brake component, the cross-sectional area in the core remains constant as long as the diameter does not change, and a bottleneck in the magnetic field can be formed. In the rotary knob of a motor vehicle, the core regularly has a sufficient diameter to apply the desired braking torque. The required diameter of the first brake component is not particularly disadvantageous in terms of the required installation space, installation dimensions, and weight of the magnetorheological braking device. Advantageously, the rotational speed of the rolling element does not change with the currently used fixed magnetic field concentrator, where such speed variation could be detrimental.

[0090] When using a longer magnetic field concentrator, the braking effect of a concentrator that expands in the axial direction may be better than that of two shorter concentrators with the same total length. This is especially true because the fluid must displace a longer distance due to the greater perimeter (hydrodynamic pressure). Conversely, two shorter star-shaped profiles have advantages due to their symmetrical construction.

[0091] In a preferred design embodiment, the magnetorheological braking device has a housing portion (sleeve portion) with a diameter between approximately 5 mm and 80 mm (±20%), and in a preferred design embodiment, approximately 10 mm to 40 mm.

[0092] In general, this invention makes advantageous magnetorheological braking devices (“MRF” brakes) available. Here, the outer diameter of the MRF brake is predefined in most cases, especially in tactile applications. Ergonomic guidelines exist in this regard. Therefore, the core cross-section generally cannot be easily enlarged because the outer diameter increases along with it (outer diameter of a button wheel, thumb wheel, or mouse wheel; the area for the finger). Furthermore, as the outer diameter increases, a higher blocking torque is required because the torque interval increases for this reason. The finger force (i.e., the (tangential) force between the activating finger and the braking device or the outer surface of the braking device) must or should remain constant because, on the one hand, the user can only apply a specific force, and on the other hand, the force required on the finger (at the fingertip) is important in terms of comfort during activation (operational comfort).

[0093] In a preferred design embodiment, the coil can extend axially. In this case, the magnetic field generated by the coil travels radially through the core, then through the magnetic field concentrator, and is closed by the outer cylindrical body (in all cases by the opposing halves). This remains consistent regardless of the height (or length) of the rolling member or MRF brake.

[0094] This invention achieves the goal of obtaining an ideal, simple yet easily scalable MRF brake with high braking torque and a compact outer diameter.

[0095] Flat copper material (or metal wire with a suitable profile) or any other suitable material can be used instead of (cylindrical) coil wire.

[0096] The core, magnetic field concentrator, and outer cylinder can be made of simple steel (e.g., S235) without high requirements on surface properties and hardness; the steel preferably has good magnetic properties. The surfaces that move toward each other and generate braking torque can be rough and / or have surface structures (e.g., embossing, pyramids, etc.).

[0097] The core (including the coil and casting compound) is preferably centered on and fixed (press-fit or form-fit connection) with respect to the mounting base, and the reversing torque surface can be dissipated to the control panel, base plate, receiver plate, or housing by means of the mounting base. The mounting base preferably has a hole through which the cable is routed. A sealing device (e.g., an O-ring) seals the cable relative to the mounting base or internal space, preventing liquid from the internal space from reaching the outside through the cable. In addition to the (coil) cable, temperature sensor cables or other sensor cables may also be routed through the opening.

[0098] The mounting base can also be made of a material different from that of the core, rolling elements, or outer cylindrical body. Reducing the diameter of the mounting base on the traveling surface has the following advantages: the friction radius for the sealing device is reduced, which generally reduces friction. Furthermore, due to the resulting increased construction height, bearing devices with the same bearing outer diameter as the inner diameter of the housing portion can be used. This reduces the production cost of the housing portion; no production-related shoulder (undercut) is required. The preferred rolling element height is between 3 mm and 6 mm, but it can also be 1 mm or 2 mm. Good bearings or sealing devices are difficult to obtain within this range unless the inner diameter of the mounting base allows for additional mounting height.

[0099] Decorative elements or another element (such as a rubber-coated button) may be fitted onto the outer cylindrical body or housing portion.

[0100] A sphere, or a spherical or near-spherical component (which may also be hemispherical), is preferably seen axially at the top, between the outer cylinder and the casting compound. The sphere guides the two parts relative to each other. The sphere is preferably fixed in the casting compound, and the inner axial end of the outer cylinder rotates relative to it. This achieves a simple, low-friction, and cost-effective support (support point). Conical shapes, etc., are also possible. However, any other type of mounting (e.g., friction mounting or rolling mounting) can be chosen instead of this type of mounting.

[0101] At least one component through which the magnetic field passes is preferably at least partially or entirely made of the material FeSi3P.

[0102] In principle, the star-shaped profile can be applied not to the core, but (from the inside) to the surrounding housing or sleeve portion. This construction offers advantages in the basic design of the coil. Space is also gained. Similarly, different variations of the coil can be chosen in this case. Axial coils or "horizontal coils" are also possible. Coils wound around a rotational axis are also possible. Advantageously, there is no longer core material on the radial exterior of the coil, because otherwise the magnetic field would be able to close, which could lead to magnetic losses. Depending on how the "horizontal coil" is positioned, it is also conceivable to use more than one "horizontal coil." Radial coils are also readily conceivable, because the field is thus closed simultaneously by all the "toothed portions" or magnetic field concentrators.

[0103] In all preferred improvements to the design embodiments, the maximum achievable torque (field profile in the effective gap; wedge effect) and / or response time (time until it becomes dominant in the case of sudden excitation or current jump = step response) is a function of the selected inlet angle at the arm or at the corresponding distal end of the magnetic field concentrator. The angle and face length resulting from the external design of the radial end of the arm and the mating surface affect the maximum achievable torque and response time as the magnetic field or field strength is established in the effective gap. Flatter (smaller) inlet angles and / or longer faces increase the achievable torque. Larger (steeper) inlet angles and / or shorter faces reduce the response time. Flatter angles are, for example, between 0° and 10°, or preferably between 10° and 20°. Larger angles are between 20° and 30° or between 30° and 45°. Negative angles, such as inward bending, can also be achieved. For example, -5°.

[0104] Combining different profiles / angles / shapes is also advantageous. In this case, one tip / tooth of the star-shaped profile generates higher torque at low speeds, another tip / tooth generates the same higher torque at medium speeds, and a third tip / tooth generates the same higher torque at high speeds. In this way, a braking device that generates high torque across the entire speed range can be obtained.

[0105] Discs without a star-shaped profile or annular flanges are easier to manufacture and therefore can be produced more cost-effectively. However, the braking output (braking torque) differs. Depending on installation space, production costs, and potential braking torque requirements, a star-shaped profile can be used (for higher power density), or a continuous disc can be used where power density requirements are lower but production cost requirements are higher. Discs can be configured in a rotationally symmetrical manner.

[0106] However, in addition to the different braking torques of different profiles, the different response times must also be considered. The more magnetizable material used in the structure, the longer it takes for the magnetic field to magnetize the entire material and produce the full output (inductance). This means that less material reduces the actuator's response time.

[0107] Therefore, when selecting a profile, the required response / switching time is an additional criterion. These requirements vary depending on the customer and the intended use. Very fine ripples / pulsations (changing torque) require very short response times (a few milliseconds).

[0108] Typical dimensions or values ​​of the profile elements or "teeth" of a star-shaped profile are 5% to 15% of the total diameter. For example, in a particular design embodiment, the maximum diameter of the star-shaped profile (with outwardly projecting profile elements or "teeth") is 36 mm, and the height of the profile elements or magnetic field concentrators or teeth is approximately 2.5 mm. Therefore, the minimum diameter is 31 mm. This corresponds to a relative dimension of 7% of the diameter. A star-shaped profile with a typical deviation from a disk shape would be, for example, a recess of 5% to 10% of the total diameter.

[0109] The depth of the depression is preferably in the range of 0.25% to 25%, and particularly in the range of 0.5% to 10%.

[0110] As the tooth height decreases, manufacturing costs decrease. Therefore, it is advantageous to use only a very small deviation from the disk.

[0111] A star-shaped profile with a relatively small deviation from the disk shape would be, for example, a small concave surface that accounts for 1% to 3% of the total diameter.

[0112] The width of the star-shaped outline can also vary. In a preferred design embodiment, the width is between 1 mm and 25 mm. Specifically, widths of 3 mm and 6 mm have been successfully tested.

[0113] In particular, the tactile operating device according to the invention is preferably used to generate a high power density of a braking device or braking unit with a magnetorheological fluid, wherein this is achieved by a contour element of a concentrated magnetic field.

[0114] In this way, the carbonyl iron particles are specifically attracted from the environment and concentrated in the transition region of the magnetic field.

[0115] The applicant reserves the right to claim protection for a method for generating an increased power density in a braking device having two brake components and a magnetorheological fluid and at least one electric coil, wherein the increased power density is generated by a fixed brake component and a brake component that moves to rotate about the central axis of the fixed brake component and is in direct magnetic contact with the brake component, wherein a contour element of a concentrated magnetic field is arranged on one of the two brake components and is connected thereto, in particular, in a rotationally fixed manner.

[0116] Another method is used to generate high power density in a braking device having a magnetorheological fluid and at least one electric coil, wherein the magnetorheological fluid is generated by a fixed element and elements that move to rotate about the central axis of the fixed element and are in direct magnetic contact with the fixed element, these elements concentrating a magnetic field.

[0117] In particular, carbonyl iron particles are attracted from the environment and concentrated in the transition region of the magnetic field.

[0118] The brake components that move to rotate about a central axis are preferably integral. Attached Figure Description

[0119] Further advantages and features of the invention will become apparent from the exemplary embodiments explained below with reference to the accompanying drawings.

[0120] In the attached diagram: Figures 1a to 1f A schematic three-dimensional view of the device components with a magnetorheological braking device is shown; Figures 2a to 2c A schematic cross-sectional view of another component of a device with a magnetorheological braking mechanism is shown; Figures 3a to 3b A magnetorheological braking device with wedge-shaped dampers (in each case, there are two star-shaped profiles on one side of the electric coil) is shown; Figure 4 Another cross-sectional view of the magnetorheological braking device is shown; Figure 5 Another schematic cross-sectional view of the magnetorheological braking device is shown in the figure. Figure 6 Another schematic cross-sectional view of the magnetorheological braking device is shown; Figures 7a to 7e Another device component is shown; and Figures 8a to 8c The potential torque distribution of the magnetorheological braking device with device components according to the present invention is shown throughout the rotation angle. Detailed Implementation

[0121] Figures 1a to 1f Several device components 200 according to the present invention are shown, in which the magnetorheological braking device 1 can be used. Here, in various cases, the device component 200 is implemented as a tactile operating device 100.

[0122] Figure 1a A tactile operating button 101 is shown. The operating button is secured via a console 50. The operating button 101 is operated via a housing portion 13 or a sleeve portion 13e. The user interface 43 can also be used for transmission information.

[0123] Figure 1b The device component 200 is shown as a thumb wheel 102 with a tactile operating device 100. The thumb wheel 102 is preferably usable for, for example, a steering wheel. However, the thumb wheel is not limited to this specific application. Generally, the thumb wheel 102 can also be used with any other finger, depending on the installation.

[0124] Figure 1c and Figure 1dThe device component 200 is implemented as a computer mouse 103. The tactile operating device 100 is arranged in the mouse wheel 106. The magnetorheological braking device 1 can be used to control the tactile feedback.

[0125] Figure 1d A control lever 104, serving as a tactile operating device 100, is shown, with a magnetorheological braking device arranged within it. Furthermore, the magnetorheological braking device 100 according to the invention can preferably also be used in a game controller 105 to provide tactile feedback to the player depending on the game situation.

[0126] In these exemplary embodiments, the magnetorheological braking device 1 has a housing portion 13 or a rotating portion, or a sleeve portion 13e, which are rotatably received. The torque required to rotate the housing portion 13 or the rotating portion is adjustable.

[0127] The user interface 43 can be arranged on the upper side of the magnetorheological braking device 1. Such a user interface 43 can be configured as, for example, a display device or can also be configured as a touch-sensitive input device (touchpad, motion or gesture control, image recognition, etc.).

[0128] For example, the haptic operating device 100 can be used to operate machines, medical equipment, or in motor vehicles. In a vehicle, the haptic operating device 100 can be used, for example, to operate an air conditioning system, radio, entertainment system, navigation system, vehicle distance control system, driver assistance system, for adjusting the seat, and for operating an infotainment system. Other devices or apparatuses may also be used.

[0129] Figure 2a A cross-sectional view shows a device component 200 according to the invention, having a magnetorheological braking device 1 according to the invention. A transverse groove 32 can be seen, in which the coil 26 of the magnetic field generator 113 is wound at the axial end of the core 21. A connecting cable 45 extends downward here. The magnetic field extends within the core 21 in the radial direction 26d perpendicular to the coil plane 26c. In various cases, a casting compound 28 is provided in the axial direction for sealing at both ends. Individual seals, such as O-rings as depicted, are provided in the area of ​​the cable conduit 35.

[0130] The wall thickness of the current cylindrical shell portion is calculated based on the thickness between the outer diameter 13b and the inner diameter 13a of the shell portion 13.

[0131] The length or height 13c of the magnetic field concentrator 80 and housing portion 13, or sleeve portion 13e, or second brake component 3 in the axial direction 20 is preferably between 1 mm and 100 mm, or between 5 mm and 90 mm. A cover 49 may be attached to the outside of the second brake component 3 such that the appearance of the rotary button 23 is substantially determined by the surface of the cover 49.

[0132] The sleeve portion 13e or housing portion 13 is generally made of magnetically conductive material and is used to enclose the magnetic circuit. The wall thickness 13d of the sleeve portion 13e is preferably half the radial dimension of the magnetic field concentrator 80. The housing portion 13 forms an outer ring 24.

[0133] The diameter 36a of the receiving seat 36 is preferably significantly larger than the diameter 37a of the cylindrical traveling surface 37. This reduces friction on the seal 38. Furthermore, standardized bearings can be used.

[0134] The (flange-mounted) sensors (rotary encoders, angle transmitters) detect the rotational speed (rotation angle) of the operating unit.

[0135] Alternatively, the core 21 and mounting base 4 may be implemented as two parts. This separation preferably proceeds along the centerline drawn in Figure 2, resulting in a left (core) half and a right (core) half. The two core halves may be spaced apart from each other by non-magnetic components (e.g., seals). In this case, the casting compound volume 28 is preferably part of the core half, resulting in a semi-circular device with a surrounding groove on the separation surface for the coil 26. Furthermore, the receiver 36 is also preferably divided into two halves. A receiver half combined with a core half may form a single unit (implemented integrally), or a core half may be integrally implemented together with a complete receiver element 36.

[0136] Here, the tactile operating device 100 with the magnetorheological braking device 1 is mounted on one side only. Here, the second brake component 3 is received only at the first end of the enclosed chamber 110 on the end portion 121 of the first brake component 2; that is, the second brake component 3 is mounted only at the first support point 112 via the support 30. In the event of volume changes within the enclosed chamber, the second brake component 3 can easily move back and forth. Here, it is again assumed that the first brake component 2 is fixed. In this case, a portion of the diameter 116 of the first brake component 2 moves in or out at the first support point 112. The volume 114 of the enclosed chamber 110 changes. Advantageously, the system within the set degrees of freedom of movement is always practically under ambient pressure. Any additional stress on the seal 38 is prevented.

[0137] Figure 2b and Figure 2c Several schematic cross-sectional views of the magnetorheological braking device 1 are shown, which can be used to... Figure 2a It can be used in the device component 200, and can also be used in other exemplary embodiments.

[0138] The inner brake component 2 is configured to be fixed and is surrounded by the continuously rotatable brake component 3. The second brake component 3 has a housing portion 13, which is rotatable about the first brake component and is configured to be hollow and cylindrical internally. An annular gap 5 between the first brake component 2 and the second brake component 3 can be seen. Here, the gap 5 is at least partially, and particularly completely, filled with a magnetorheological medium 6.

[0139] The first brake component 2 has: a core 21 extending in the axial direction 20 and made of a magnetically conductive material; and an electric coil 26 wound around the core 21 in the axial direction 20 and defining a coil plane 26c. The magnetic field 8 of the electric coil 26 extends transversely to the axial direction 20 through the first brake component 2 or the core 21.

[0140] It can be clearly seen that the maximum outer diameter 26a of the coil 26 in the radial direction 26d within the coil plane 26c is greater than the minimum outer diameter 21b of the core 21 in the radial direction 25 transverse to (e.g., perpendicular to) the coil plane 26c.

[0141] The magnetic field concentrator 80 protrudes radially outward from the main body of the core 21. Figure 2b The distribution of magnetic field 8 is illustrated in the figure.

[0142] The coils are arranged outside corner segments 61 and 62 (see reference). Figure 2c No magnetic field concentrator 80 is located outside corner segments 61 and 62.

[0143] The core 21 has an outwardly extending arm 83 that serves as a magnetic field concentrator 80, which extends radially outward from the body 33. Figure 2b and Figure 2c The cavity 110 between the core 21 and the housing portion 13 is completely filled with MRF.

[0144] The maximum outer diameter 26a of coil 26 is greater than the minimum core diameter 21b. The radial range of gap 5 varies circumferentially. There is only a small radial gap height 85 at the outer end of magnetic field concentrator 80, while the radial gap dimension 87 between brake component 2 and brake component 3 is significantly larger at other locations.

[0145] However, the radial clearance height 85 between the outer end of the arm 83 and the inner surface 67 of the housing portion 13 is significantly smaller than the radial clearance dimension 87 between the outer surface 86 of the first brake component 2 next to the arm 83 (i.e., the surface of the core 21 itself or the casting compound 28 on the core) and the inner surface 67 of the housing portion 13.

[0146] Figure 2c It shows Figure 2b A variation thereof, in which the cylindrical portion of chamber 100 is filled with casting compound 28 to reduce the MRF volume. Therefore, the required MRF volume decreases. The radial gap dimension 87 is significantly reduced, but remains much larger than the radial gap height 85 (at least 2, 3, 5, or 10 times larger). This ensures the wedge effect described herein. MRF particles interconnect in the sharp region and form a wedge shape that results in a significant braking torque. Figure 2b and Figure 2c The magnetic field concentrator 80 in the middle forms a type of radial arm 83.

[0147] Figure 3a and Figure 3b Another magnetorheological braking device 1 for the tactile operating device 100 is shown. This magnetorheological braking device 1 includes a brake housing 1a and a housing portion 13, wherein the brake housing 1a is shown herein (…). Figure 3b Basically, each piece consists of two end pieces or covers, 14 and 15.

[0148] The first brake component 2 includes a shaft 12 that extends from the brake housing 1a in a sealed manner on at least one side. The second brake component 3 includes the brake housing 1a. An operating button 101 is housed or disposed on the outside of the brake housing 1a.

[0149] For example, shaft 12 may also have through holes and longitudinal holes.

[0150] The first brake component 2 is typically received on the control panel 50, or other part or component, via a mounting base 4 that is not visible here, in a rotationally fixed manner. In this case, at least the housing portion 13 forms a rotatable part for operating buttons 101, etc. The torque required to rotate the housing portion 13 is adjustable. However, the brake housing 1a can also be assembled in a rotationally fixed manner and the shaft 12 is rotatable.

[0151] Figure 3a The magnetorheological braking device 1 shown has no external brake housing 1a and no housing portion 13. It includes two star-shaped profiles 40, which are received in the axial direction 20 along the shaft 12 and spaced apart from each other on the core 21. Each star-shaped profile 40 is configured as a separate portion and is securely clamped to the core 21 by a separate nut 40b. The inner star-shaped profile can be cylindrical or conical in design.

[0152] The core 21 and the star-shaped profile 40 may optionally each have mutually adaptable non-circular outer or inner profiles to ensure that the star-shaped profile 40 is received on the core 21 in a rotationally fixed manner. Figure 3aThe top left corner shows a view of a star-shaped profile 40 with an internal through-hole. The internal profile can be constructed as a cylinder (solid line) or a non-circular shape (polygon, ellipse, etc.) (dashed line).

[0153] Magnetic field concentrators 80 are disposed radially outward of the star-shaped profile 40. Recesses 87a are disposed between each magnetic field concentrator 80 in each case. Here, all magnetic field concentrators 80 of the star-shaped profile 40 are integrally disposed on the star-shaped profile 40. Rotatable rollers or other rotating elements serve as magnetic field concentrators 80, or are otherwise absent.

[0154] like Figure 3a The two star-shaped profiles 40 of the magnetorheological braking device 1 shown can be constructed identically. However, different star-shaped profiles 40 can also be provided at the right and left ends. In particular, the magnetic field concentrator on the star-shaped profile 40 (which can also be referred to as a profile element in all design embodiments) can also be shaped differently on the right and left sides (see in...). Figure 3a (The upper part of the star-shaped outline is depicted separately in each case). In each case, two (or three) different star-shaped outlines may also be accommodated on one or each end. The outline elements here may have different geometric designs and differ from each other in size.

[0155] exist Figure 3b As can be seen in the cross-section, shaft 12 is sealed relative to brake housing 1a by seal 38. A coil holder 26b, on which an electric coil 26 is wound, is accommodated between two star-shaped profiles 40. The electric coil 26 may be directly adjacent to housing portion 13, and in this case, is held magnetically isolated from core 21. Alternatively, the electric coil 26 may be directly adjacent to core 21, and in this case, is held magnetically isolated from housing portion 13.

[0156] Magnetic field lines 8 are drawn as an example. The magnetic field passes through the housing portion 13 in a generally axial manner between the star-shaped profiles 40 and through the gap 5 in an approximately radial manner in the region of the two star-shaped profiles 40, and is concentrated by the magnetic field concentrator 80, resulting in a wedge effect in the region of the magnetic field concentrator 80. The magnetic field within the core 21 is closed in the axial direction 20.

[0157] In principle, the magnetorheological braking device 1 has a wedge-shaped bearing with two star-shaped profiles 40. A magnetic shaft 12 is located at the center, around which an electric coil 26 is radially wound. The electric coil 26 generates a magnetic field 8 amplified by the shaft 12, which serves as the core 21. The magnetic field lines 8 pass through the star-shaped profile 40 on one side, are guided forward through the magnetically conductive outer wall in the housing portion 13 to the second star-shaped profile 40 on the other side, and then approach the shaft 12 again through the second star-shaped profile 40. In this way, the magnetic field 8 is utilized very efficiently. The MRF, acting as a damping medium, is located in the gap 5 between the star-shaped profiles 40 and the outer wall (housing portion 13).

[0158] Various star-shaped profiles can be attached to this structure. For this purpose, the shaft 12 has a tapered socket, and an annular flange 40a with a corresponding star-shaped profile 40 disposed thereon (e.g., machined into the latter) is pushed onto the tapered socket. Then, when the nut 40b behind the annular flange 40a is tightened, the nut 40b presses the annular flange 40a onto the shaft 12.

[0159] Figure 4 Two schematic cross-sectional views of another embodiment with a (cylindrical) body 33 are shown. The star-shaped profile with a magnetic field concentrator 80 is configured by a single outwardly extending radial arm 83, wherein the radial arm 83 is integrally configured with the core 21 and is made of a positively magnetic material.

[0160] Here, each individual arm 83 is wound with an electric coil 26 of a magnetic field generator 113. The electric coil 26 is preferably jointly actuated, but can also be actuated separately and / or individually. The distal end 82 of the arm 83 (here, the radially outer end 82) can be configured to be wedge-shaped, rounded, or at other angles. In the case where the radially inwardly extending arm 83 acts as a magnetic field concentrator 81, the radially inner end, as the distal end 82, can be configured accordingly to be wedge-shaped, rounded, or at other angles. The maximum achievable torque and response time are affected by the shape.

[0161] The arm height 84 is significantly greater than (10 times, 50 times, 100 times, and much greater than) the radial clearance height 85 between the outer end of the arm 83 and the inner surface 67 of the housing portion 13.

[0162] However, the radial clearance height 85 between the outer end of the arm 83 and the inner surface 67 of the housing portion 13 is significantly smaller than the radial clearance dimension 87 between the outer surface 86 (the surface of the core 21 or the casting compound 28) of the first brake component 2 adjacent to the arm 83 and the inner surface 67 of the housing portion 13. The ratio of the radial clearance dimension 87 to the radial clearance height 85 is preferably 2, 5, or 10 times greater than this. Some enlargement is important considering the formation of the wedge.

[0163] Figure 5 The image depicts three distinct outer contours of the core 21 on the housing portion 13, which is configured with a cylindrical chamber. Magnetic field concentrators 80, extending radially outward onto the star-shaped contour 40, can have different shapes. The outwardly projecting magnetic field concentrators 80 form variable circumferential gaps 5, such that the magnetic field 8 is concentrated in the region of the magnetic field concentrator 80 as it transitions from the core 21 into the housing portion 13. The star-shaped contour 40 is formed by annular flanges having magnetic field concentrators 80 projecting outward from the latter. These annular flanges are, in their respective cases, configured to be hollow and can be shaped non-circular on their inner sides to ensure a rotationally fixed connection with the core, which is also designed to be non-circular in this case.

[0164] exist Figure 5 The left figure shows, schematically, a variant in which the magnetic field concentrator 81 extends inward and the core 21 is disposed inside, via dashed lines. In this case, an inverted image is created. Different characteristics can be achieved by shaping the ends of the magnetic field concentrators 80 and / or 81. In this way, the focus can be set for higher braking torque or faster response time.

[0165] Figure 6 A schematic variant with a central cylindrical core 21 and a shell portion 13 is shown, from which a magnetic field concentrator 81 extends periodically in a radially inward manner. A highly schematic magnetic field line 8 is drawn in the figure, radially passing through the gap 5 between the core 21 and the magnetic field concentrator 81. Clusters of MRF particles 19 interconnect at the necking points in the gap 5 filled with the medium 6 and in the sharp regions 10, forming wedges (clusters) that generate high braking torque.

[0166] In addition to the variation shown in which the coil is wound around the core in the axial direction, it is also possible for the coil 26 to be wound radially around the axis of rotation (2).

[0167] Figures 7a to 7eA further embodiment of the device component 200 is shown, which has a magnetorheological braking device 1 and includes brake components 2 and 3. Again, a “horizontal or axial coil” is used, wherein an electric coil 26 is wound around a core 21 in the axial direction 20, and the electric coil 26 also has a maximum radial coil diameter 26a greater than the minimum core diameter 21b of the core 21. Also here, a magnetic field concentrator 80 is provided that extends radially outward and concentrates the magnetic field in a narrow radial gap, ensuring a wedge effect. This is not conventional shear damping because the gap height of the gap 5 varies significantly circumferentially. Here, a horizontal line showing the radial starting point of the magnetic field concentrator 80 is plotted in the figure. The gap height outside the magnetic field concentrator 80 is very large (here, 50 times, 100 times, or 1000 times larger).

[0168] Here, the device component 200 is implemented as a tactile operating device 100 and is implemented in detail as an operating button 101. The second brake component 3 is received on a support point 112 at the first end 111 of the enclosed chamber 110. Furthermore, the second brake component 3 is received on the first brake component 2 at a second support point 118 at the second end 115 of the enclosed chamber 110. As a result of this installation, the force in the (global) radial direction 122 is absorbed, and furthermore, the brake components 2 and 3 are axially displaceable relative to each other.

[0169] Here, this installation is carried out via a short shaft 119, which has a diameter of 117 at the second support point 118. An annular seal 46 prevents the magnetorheological medium 6 from flowing into the area behind the short shaft 119.

[0170] Here, the diameter 117 at the second support point 118 is implemented to be significantly smaller than the diameter 116 at the first support point 112. In this way, volume changes in the event of axial displacement are also possible. Volume changes related to temperature and volume changes caused by leakage can be compensated. For this purpose, relative axial displacement occurs between the first brake component 2 and the second brake component 3. In order to reduce the throttling effect through the gap 5 in the event of axial displacement, a compensation channel 120 can be provided, which connects the two areas near the support points 112 and 118.

[0171] Furthermore, a sensor device 70 for detecting the angular position of the tactile operating device 100 is also present. A magnetic field sensor 72 is integrated into a fixed mounting base 4 or a first actuator component 2. The cable 45 (i.e., sensor line 73) of the magnetic field sensor 72 is led out to the outside through a cable conduit 35 at the receiver base 36.

[0172] like Figure 7b and Figure 7cAs shown, the mounting base 4 of the first shaft portion or brake component 2 can preferably be implemented as two parts. This simplifies the assembly of the wires, and in particular the sensor wire 73, within the first brake component 2. The cable can be installed via an open cable conduit 35.

[0173] exist Figure 7d The sensor device 70 is shown in detail again. The first brake component 2 and the second brake component 3 (implemented here as rotating parts) are indicated only by dashed lines. The sensor device 70 is magnetically decoupled from the rotatable second brake component 3 by a magnetic decoupling device 78. Here, the shielding device 75 includes three shielding members 76 that suppress the deflection of the magnetic field 8 of the coil 26. In addition, there is a separation element 77 for magnetic separation. The magnetic ring element 71 is used to measure the orientation or rotation angle of the magnetorheological braking device 1. The magnetic field sensor 72 is arranged inside the first brake component 2. See also... Figure 7e Small relative axial displacements can, for example, be used to detect pressed operation buttons 101.

[0174] The signal 68 received by the sensor device shown in Figure 8 changes due to axial displacement. Figure 8 shows the profile of the amplitude 69 of the signal 68 detected by the magnetic field sensor 72, which depends on the axial displacement (horizontal axis) of the brake components 2 and 3. The amplitude 69 of the detected signal 68 changes due to the axial displacement of the magnetic field sensor 72 relative to the magnetic ring element 71. For example, axial displacement of the operation button 101, or lateral displacement of the mouse wheel 106 or other components can be detected.

[0175] The rotation angle can also be detected by the same sensor 72, wherein the direction of the magnetic field 8 is determined in order to detect the rotation angle. The intensity determines the axial position. The activation of the transient switch 74 can be derived from the change in signal 68. This is advantageous because a single (multidimensional) Hall sensor can be used to determine both angular and axial positions.

[0176] Figure 8a , Figure 8b and Figure 8c Potential variations of embodiments for dynamically generated magnetic fields or dynamically generated braking torques based on the control of the rotation angle are shown.

[0177] Here, Figure 8a A variation is shown in which the rotary button is used as a tactile operating aid. Rotational resistance at the rotation angle is shown. Left end stop 228 and right end stop 229 can be generated by control device 27. With further rotation of the rotary button 23, a strong magnetic field or stopping torque 238 is generated thereon, thus the rotary button 23 exhibits high resistance relative to rotational movement. The user receives tactile feedback from the end stops.

[0178] During this process (pulsation / ripple), a pulsation of rotational motion can occur or be generated. For example, this can be used for navigating graphical menus and selecting menu items. Here, for example, a first pulsation point 226 is set directly next to the left end stop 228, and this first pulsation point 226 corresponds to, for example, the first menu item during operation. To select the next menu item, the rotary button 100 must be rotated clockwise. For this to be achieved, a dynamically generated, stronger magnetic field, or pulsating torque 239, or the frictional torque of the pulsating torque 239, must be overcome before reaching the next pulsation point 226. Figure 8a In each case, a constant magnetic field for a specific angular range is generated at the pulsation point 226 and the intermediate region, respectively. The magnetic field at the pulsation point is significantly smaller than the magnetic field in the intermediate region, and also much smaller than the magnetic field at the stoppers 228 and 229. A set torque (or the basic torque 240 generated by the structure) can be applied to the pulsation point 226.

[0179] The angular spacing 237 between individual pulsation points is dynamically variable and matches the number of available pulsation points or menu items.

[0180] Figure 8b A variation is shown in which the magnetic field does not suddenly increase toward the end stops 228, 229 but rather exhibits a steep distribution. Furthermore, in each case, a ramp-like gradient of the magnetic field is provided in both rotational directions at the pulsation point 226, thus increasing the rotational resistance in the corresponding rotational direction. Here, the same operating device 100 makes only three pulsation points 226 available, and the angular spacing 237 of the pulsation points 226 is greater than according to... Figure 8a The angular spacing in the example.

[0181] Figure 8c A variation is shown in which there is low frictional resistance between individual pulsation points 226 and a strong magnetic field 239 is generated only directly adjacent to the pulsation point 226 in each case, so that locking can be achieved at the individual pulsation point 226 and at the same time, only a small rotational resistance is available between the individual pulsation points.

[0182] In principle, Figure 8a , Figure 8b and Figure 8c It is also possible to mix operating modes and magnetic field distributions. For example, different adjustments to the magnetic field distribution (via the angle of torque) can occur in different sub-menus.

[0183] In all cases, such as in the case of pulsation, it is also possible that the switching no longer occurs between the same polarity of the lower and higher amperes (so, for example, +0.2 A to +0.8 A = pulsation), but rather in an alternating manner with variable polarity, i.e., from +0.2 A to +0.8 A, then for the next pulsation through -0.2 A to -0.8 A, then for the next torque peak from +0.2 A to +0.8 A, and so on.

[0184] In all cases, it is also possible to select via voice commands. Figure 8a , Figure 8b and Figure 8c The operating modes are either specific to the user or a combination thereof. The user selects functions (volume, radio, etc.) via voice input (using local or remote voice recognition, such as via Alexa, Amazon Echo, Siri, Google Voice Input, etc.). The magnetorheological braking device then makes the corresponding operating mode available (volume = pulsations with increasing braking torque to increase volume; radio station selection = pulsations with different increments and smaller braking torques in between, until a radio station is found).

[0185] The preferred low-alloy steel may contain a residual magnetic field. The steel is preferably demagnetized periodically or when needed (especially by a special alternating field).

[0186] The material FeSi3P (silicon steel) or similar general-purpose materials are preferably used for components through which a magnetic field passes.

[0187] In all cases, voice or noise control can be performed. Voice control can be used to adaptively control the braking device.

[0188] When the rotating element is not rotating, i.e., when the angle is constant, the current preferably decreases continuously over time. The current can also change according to the velocity (angular velocity of the rotating element).

[0189] List of reference numerals

[0190] 1. Magnetorheological braking device

[0191] 1a Brake housing

[0192] 2. Brake components

[0193] 3. Brake components

[0194] 4 mounting bases

[0195] 5. Gap, Channel

[0196] 6. Medium

[0197] 8 games

[0198] 10 Sharp areas

[0199] 12-axis

[0200] 13. Shell Section

[0201] 13a diameter

[0202] 13b diameter

[0203] 13c height

[0204] 13d wall thickness

[0205] 13e Sleeve Section

[0206] 14 Endpieces

[0207] 15. End pieces, covers

[0208] 19 Magnetic Particles

[0209] 20 Axial direction

[0210] 21 cores

[0211] 21b Minimum diameter

[0212] 23 Rotary Button

[0213] 24 Outer Ring

[0214] 25 Radial direction

[0215] 26 coils

[0216] 26a Maximum diameter

[0217] 26b Coil Holder

[0218] 26c coil plane

[0219] 26d radial direction

[0220] 27. Control device

[0221] 28 Casting compound

[0222] 30 supports

[0223] 32 transverse groove

[0224] 33 (Cylindrical) Main Body

[0225] 35 Cable conduit

[0226] 36 Receiver

[0227] 36a outer diameter

[0228] 37 Cylindrical traveling surface

[0229] 37a outer diameter

[0230] 38 Seals

[0231] 40 Star-shaped outline

[0232] 40a Annular Flange

[0233] 40b nut

[0234] 43 User Interface

[0235] 45 Cable

[0236] 49 masks

[0237] 50 Console

[0238] 61 angle segment

[0239] 62 angle segment

[0240] 67 13 inner surface

[0241] 68 signal

[0242] 69 Amplitude

[0243] 70 Sensor Device

[0244] 71 Magnetic Ring Component

[0245] 72 Magnetic Field Sensor

[0246] 73 Sensor Line

[0247] 74 Temporary Contact Switch

[0248] 75 Shielding device

[0249] 76 Shielding components

[0250] 77 Separable Components

[0251] 78 Magnetic Decoupling Device

[0252] 80 Magnetic field concentrator

[0253] 81 Magnetic field concentrator

[0254] 82 Distal end

[0255] 83 arms

[0256] Radial length of arm 84

[0257] 85 Clearance Height

[0258] 86 Outer surface

[0259] 87 Gap Dimension

[0260] 87a Depression

[0261] 100 Tactile Manipulation Device

[0262] 101 Operation Buttons

[0263] 102 thumb wheel

[0264] 103 Computer Mouse

[0265] 104 control levers

[0266] 105 Game Controller

[0267] 106 Mouse Wheel

[0268] 110 Closed Chamber

[0269] The first end of 111 110

[0270] 112 First support point

[0271] 113 Magnetic field generator

[0272] Volume of 114 110

[0273] 115 The second end of the closed chamber

[0274] 116 Diameter of the first support point

[0275] 117 Diameter of the second support point

[0276] 118 Second support point

[0277] 119 Short Axis

[0278] 120 Compensation Channel

[0279] 121 2 end portion

[0280] 122 Radial direction (global)

[0281] 200 Device Components

[0282] 226 pulsation points

[0283] 228 Terminal stop

[0284] 229 Terminal stop

[0285] 237 angular spacing

[0286] 238 Stopping torque

[0287] 239 Pulsating Torque

[0288] 240 Basic Torque

Claims

1. A magnetorheological braking device (1), the magnetorheological braking device (1) having a brake housing (1a) and a fixed mounting base (4) and having at least two brake components (2, 3), wherein, One of the two brake components (2, 3) is rotatably fixed to the mounting base (4), and wherein the two brake components (2, 3) are continuously rotatable relative to each other, wherein the first brake component (2) extends in the axial direction (20) and includes a core (21) of magnetically conductive material extending in the axial direction (20), and wherein the second brake component (3) includes a housing portion (13) extending around the first brake component (2) and configured to be hollow, wherein an annular gap (5) is configured to be at least partially filled with a magnetorheological medium (6), characterized in that, At least one electric coil (26) is housed in the brake housing (1a), wherein at least one star-shaped profile (40) is arranged between the housing portion (13) and the core (21), on which magnetic field concentrators (80, 81) are disposed, the magnetic field concentrators protruding radially into the gap (5), such that a circumferential gap (5) with a variable gap height is created in the region of the star-shaped profile (40), wherein at least two star-shaped profiles (40) are housed in the brake housing (1a). Furthermore, the housing portion (13) has a cylindrical inner surface (67) across at least one axial portion, and the magnetic field concentrators (80, 81) formed on the core (21) protrude into the gap (5); Alternatively, the core (21) may be cylindrical, and the magnetic field concentrators (80, 81) formed on the housing portion (13) may protrude into the gap (5).

2. The magnetorheological braking device (1) according to claim 1, wherein, At least one magnetic field concentrator (80, 81) has a cross-sectional area that tapers toward the distal end.

3. The magnetorheological braking device (1) according to claim 2, wherein, At least one magnetic field concentrator (80, 81) is configured to have rounded corners at the distal end (82).

4. The magnetorheological braking device (1) according to any one of claims 1 to 3, wherein, The core (21) includes a plurality of arms (83) serving as magnetic field concentrators (80, 81), and / or the housing portion (13) includes a plurality of arms (83) serving as magnetic field concentrators (80, 81), the arms (83) extending radially.

5. The magnetorheological braking device (1) according to claim 4, wherein, At least one arm (83) is surrounded by an electric coil (26).

6. The magnetorheological braking device (1) according to claim 4, wherein, In all cases, multiple arms (83) are surrounded by coils (26).

7. The magnetorheological braking device (1) according to claim 4, wherein, The radial length (84) of the arm (83) is less than the length of the arm (83) in the axial direction (20).

8. The magnetorheological braking device (1) according to claim 1, wherein, At least one electric coil (26) is wound around an axis (12) and generates a magnetic field in the axial direction (20).

9. The magnetorheological braking device (1) according to claim 1, wherein, At least one coil (26) is wound around the core (21) in the axial direction (20) and generates a magnetic field (8) in the radial direction (26d).

10. The magnetorheological braking device (1) according to claim 8, wherein, The coil (26) is radially housed between the core (21) and the housing portion (13).

11. The magnetorheological braking device (1) according to claim 1, wherein, The coil (26) is fastened to the inside of the housing portion (13) or wound around the core (21).

12. The magnetorheological braking device (1) according to claim 1, wherein, The two star-shaped profiles (40) are accommodated as axially spaced apart from each other.

13. The magnetorheological braking device (1) according to claim 1, wherein, At least two star-shaped profiles (40) have different outer profiles.

14. The magnetorheological braking device (1) according to claim 1, wherein, At least one star-shaped profile (40) is configured to have a separate annular flange (40a) with a radially protruding magnetic field concentrator (81).

15. The magnetorheological braking device (1) according to claim 1, wherein, At least one star-shaped profile (40) has a radially outwardly projecting magnetic field concentrator (80) and is magnetically secured to the core (21).

16. The magnetorheological braking device (1) according to claim 1, wherein, At least one star-shaped profile (40) has a radially inwardly projecting magnetic field concentrator (81) and is magnetically secured to the housing portion (13).

17. The magnetorheological braking device (1) according to claim 1, wherein, The magnetic field (8) of the coil (26) passes through the core (21) and the star-shaped profile (40) with the magnetic field concentrators (80, 81), and through the gap (5) and the wall of the housing portion (13).

18. The magnetorheological braking device (1) according to claim 1, wherein, The magnetic field concentrator (80) extends across the outer circumference of the core (21) through at least one corner segment (61, 62).

19. The magnetorheological braking device (1) according to claim 18, wherein, Each angle segment (61, 62) is less than 150°.

20. The magnetorheological braking device (1) according to claim 18 or 19, wherein, No magnetic field concentrator (80) is arranged outside the corner segments (61, 62).

21. The magnetorheological braking device (1) according to claim 18, wherein, The coil (26) wound around the core (21) in the axial direction (20) is housed on the core (21) outside the corner segments (61, 62).

22. The magnetorheological braking device (1) according to claim 1, wherein, The maximum diameter (26a) of the coil (26) in the radial direction (26d) within the coil plane (26c) is greater than the minimum diameter (21b) of the core (21) in the radial direction (25) transverse to the coil plane (26c).

23. The magnetorheological braking device (1) according to claim 1, wherein, The coil (26) extends axially about at least one arm (83), and wherein the radial clearance height (85) between the outer end of the arm (83) and the inner surface (67) of the housing portion (13) is smaller than the radial clearance dimension (87) between the outer surface (86) of the first brake component (2) next to the arm (83) and the inner surface (67) of the housing portion (13).

24. The magnetorheological braking device (1) according to claim 1, wherein, The second brake component (3) is accommodated to be axially displaced on the first brake component (2) to enable volume compensation in the event of temperature changes and / or leakage.

25. The magnetorheological braking device (1) according to claim 1, wherein, The second brake component (3) is rotatably housed on the first brake component (2) by two support points (112, 118) with different outer diameters (116, 117) so as to cause a volume change in the chamber (110) disposed between the first brake component (2) and the second brake component (3) by axial displacement.

26. The magnetorheological braking device (1) according to claim 24 or 25, comprising a shielding device (75) for at least partially shielding the sensor device (70) from the magnetic field of the coil (26).

27. The magnetorheological braking device (1) according to claim 26, wherein, The shielding device (75) includes at least one shielding member (76) that at least partially surrounds the magnetic ring element (71), wherein the shielding device (75) includes at least one separating element (77) and / or at least one magnetic decoupling device (78), the separating element (77) being disposed between the shielding member (76) and the magnetic ring element (71), and the magnetic decoupling device (78) being disposed between the shielding member (76) and the housing portion (13).

28. The magnetorheological braking device (1) according to claim 27, wherein, The magnetic permeability of the separating element (77) and the magnetic decoupling device (78) is smaller than that of the shielding member (76).

29. The magnetorheological braking device (1) according to claim 28, wherein, The shielding device (75) includes at least one axial annular disk and at least one annular sleeve.

30. The magnetorheological braking device (1) according to claim 28, wherein, The shielding device (75) and the magnetic ring element (71) are arranged to be spaced apart from each other.

31. The magnetorheological braking device (1) according to claim 1, wherein, A closed chamber (110) is disposed between the brake components (2, 3), wherein the second brake component (3) is rotatably accommodated on the first brake component (2) at a first end (111) of the closed chamber (110), wherein the closed chamber (110) is filled with the magnetorheological medium (6).

32. The magnetorheological braking device (1) according to claim 1, wherein, A rotary button (23) or a rotary wheel is disposed on the housing part (13).

33. The magnetorheological braking device (1) according to claim 1, wherein, The housing portion (13) includes a sleeve portion made of a magnetically conductive material, which enables the outer ring (24) to be used in the magnetic field.

34. The magnetorheological braking device (1) according to claim 1, wherein, A magnetic field strength greater than 350 A / m is generated in the gap.

35. A device component (200) having a magnetorheological braking device (1) according to any one of claims 1 to 34.

36. The device component (200) according to claim 35, comprising at least one user interface (43), an operation panel, a display, a touch-sensitive display with or without haptic feedback, and / or at least one sensor.

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