MAGNETIC HEOLOGICAL BRAKE DEVICE, IN PARTICULAR CONTROL DEVICE

Description

[0001] The present invention relates to a magnetorheological braking device for braking or decelerating rotary movements and, in particular, a magnetorheological control device for setting operating states, at least by means of rotary movements. The braking device comprises at least one axle unit and at least one rotating body rotatable about the axle unit. The rotation of the rotating body can be selectively braked by means of at least one magnetorheological braking device.

[0002] Such braking devices enable highly precise deceleration, even to the point of blocking rotational movements. Sometimes, these braking devices are integrated as control elements. Such control elements are increasingly found in a wide variety of devices, including motor vehicles (e.g., controls in the center console, steering wheel, seat), medical technology (e.g., for adjusting medical devices), smart devices (e.g., smartphones, smartwatches, computer peripherals, computer mice, game controllers, joysticks), off-highway vehicles (e.g., controls in agricultural machinery), boats / ships, and aircraft, for example, to select menus or to perform precise controls. Using the magnetorheological braking device, different torques, stops, and detents for the rotational movement can be set.This allows for a special haptic feel when setting operating states (haptic feedback), which supports the user and allows for very targeted settings, thus reducing the complexity of operation.

[0003] To enable targeted control of the magnetorheological braking system, a sensor device is typically provided to detect and monitor the rotational position. However, its integration into the braking device presents considerable challenges, especially when the available installation space is very limited.

[0004] The sensor assembly (e.g., the distance between the magnetic ring and the sensor) must typically be positioned within a very narrow tolerance band relative to the components being monitored. Deviations in the distances of such components, for example, lead to a degradation of the measurement signal and disruptive noise. This is particularly disadvantageous with fine detents, reversing rotation with a stop or lock in one direction (clockwise or counterclockwise; free rotation in one direction), and precise adjustment options (e.g., a sensor with 90,112 increments per revolution). Haptic actuators, such as rotary / push switches, place high demands on adjustment precision, as they are usually operated with very sensitive fingers. Even the smallest angular errors or torque differences, especially with electronically generated stops with reversing rotation, feel unpleasant to the touch.Furthermore, due to the usually numerous components involved, many interfaces with a long tolerance chain result, and thus a high overall tolerance.

[0005] Further problems arise from the often very small dimensions of the braking device. For example, a braking device designed as a thumbwheel often only has a diameter of 12 mm available, as is the case with a wheel (roller) that can be rotated with a finger (e.g., thumb) in a steering wheel or steering wheel spoke of a vehicle (e.g., for adjusting the infotainment volume). This severely limits the installation space for the sensor assembly. Overall, this results in a need for optimization in terms of assembly, cost, and installation space.

[0006] The interference with sensor signals caused by the magnetic field generated by the braking system during operation is often particularly problematic. External interference fields also frequently cause disruption. Therefore, there is a significant need for improvement in shielding the sensor system from such influences.

[0007] A magnetorheological braking device of this type is known from EP 1 168 622 A2.

[0008] From EP 3 382 495 A1, a magnetorheological rotary knob for a motor vehicle is known. The rotary knob can be mounted in a center console and can be used, for example, to adjust the ventilation, temperature, or airflow.

[0009] In contrast, the object of the present invention is to provide an improved braking device. Preferably, the shielding of the sensor device from interference is to be improved. In particular, the design of the sensor device (installation space requirements, arrangement of components, overall tolerance of the components, etc.) is to be improved. Preferably, reliable and as precise as possible sensory detection and, at the same time, space-saving integration into the magnetorheological braking device should be possible.

[0010] This problem is solved by a braking device having the features of claim 1. Preferred embodiments of the invention are the subject of the dependent claims. Further advantages and features of the present invention will become apparent from the general description and the description of exemplary embodiments.

[0011] The braking device according to the invention is magnetorheological and serves to adjust operating states, at least by means of rotary movements. The braking device comprises at least one axle unit. The braking device comprises at least one rotating body. The rotating body is rotatable about the axle unit. The rotation of the rotating body (relative to the axle unit) can be selectively braked by means of at least one magnetorheological braking device. The braking device comprises at least one sensor device for detecting a rotational position of the rotating body, particularly in relation to the axle unit. The sensor device comprises at least one magnetic ring unit and at least one magnetic field sensor for detecting a magnetic field of the magnetic ring unit.The magnetorheological braking device comprises at least one shielding device for at least partially shielding the sensor device from at least one magnetic field of a coil unit of the braking device and / or, in particular, from external magnetic fields. The shielding device comprises at least one shielding body that at least partially surrounds the magnetic ring unit. The shielding device particularly includes at least one separating unit arranged between the shielding body and the magnetic ring unit. The separating unit has a significantly lower magnetic conductivity than the shielding body. The shielding device also includes at least one retaining device that at least partially, and in particular rotationally fixed, connects the shielding device to the rotating body. Finally, the shielding device comprises at least one magnetic decoupling device arranged between the shielding body and the rotating body.The decoupling device has a magnetic conductivity many times lower than that of the shielding body. The decoupling device is at least partially provided by the holding device. Additionally or alternatively, the holding device comprises at least a path extending between the rotating body and the shielding body, which corresponds to at least one quarter and preferably at least one half of the maximum diameter of an electrical coil of the coil unit.

[0012] The braking device according to the invention offers many advantages. The shielding device and the holding device offer a significant advantage. This allows the sensor device to be shielded from interfering influences particularly effectively, yet in a space-saving and cost-efficient manner. The invention therefore offers significantly improved detection of the rotational position.

[0013] The shielding device comprises, in particular, at least one magnetic decoupling device arranged between the shielding body and the rotating body. The separating unit and / or the decoupling device preferably have a magnetic conductivity (magnetic permeability) that is many times lower than that of the shielding body.

[0014] In particular, the decoupling device is at least partially provided by the holding device. The decoupling device can be provided entirely by the holding device. In this case, the holding device corresponds specifically to the decoupling device. Then, the terms holding device and decoupling device can be used synonymously and therefore interchangeably. The holding device can encompass the decoupling device or be designed as such. The decoupling device and the holding device can also be designed at least partially separately. The decoupling device and the holding device can be separate components.

[0015] It is possible and advantageous for the holding device to be designed in at least two parts. In particular, the holding device then comprises at least a first holding component which is magnetically conductive. In particular, the holding device then comprises at least a second holding component which is magnetically non-conductive. Preferably, the second holding component has a magnetic conductivity (magnetic permeability) many times lower than that of the shielding body. In particular, the second holding component comprises the decoupling device or is designed as such. The holding device can be at least partially magnetically conductive. The holding device can be at least partially magnetically non-conductive.

[0016] In particular, it is provided that the holding device at least partially connects the shielding body and / or the separation unit and / or the magnetic ring unit and / or the decoupling device to the rotating body in a rotationally fixed manner.

[0017] Within the scope of the present invention, braking or deceleration is understood to mean, in particular, the application of a (rotational) torque. This torque can decelerate a (rotational) movement and, in particular, also block it. The torque can preferably also decelerate and, in particular, block rotation from a standstill. Specifically, within the scope of the present invention, the terms braking and deceleration are used synonymously and can therefore be used interchangeably.

[0018] It is possible and advantageous for the rotating body and / or the shielding body and / or the decoupling device to be at least partially integrally connected to the holding device. The rotating body and / or the shielding body and / or the decoupling device can also be designed separately from the holding device. In particular, the separating unit is designed separately from the holding device.

[0019] It is also possible and advantageous for the rotating body and / or the shielding body and / or the separating unit and / or the decoupling device to be at least partially mounted on the holding device. In this case, the separate components can be mounted on the holding device and / or to each other.

[0020] The holding device can have at least one fastening device designed for fastening at least one accessory, in particular an accessory of a finger roller. The accessory is, in particular, the accessory described in more detail below.

[0021] In a further development, the holding device comprises at least one (in particular magnetically conductive) path extending between the rotating body and the shielding body. This path corresponds to at least one quarter and preferably at least half of the maximum (in particular outer) diameter of an electrical coil of the coil unit (especially in a radial direction within the plane of the coil). This allows the decoupling device to be omitted in certain applications without undesirably affecting the magnetic field sensor. Depending on the geometry of the holding device, the field strength of a magnetic field present in the rotating body during operation can be reduced by half or more along the path to the shielding body. The path extends, in particular, over a sleeve-like portion of the holding device comprising a central radial recess.

[0022] In a preferred embodiment, the braking device is magnetorheological and serves to set operating states, at least by means of rotary movements. The braking device comprises at least one axle unit. The braking device comprises at least one rotating body. The rotating body is rotatable about the axle unit. The rotation of the rotating body (relative to the axle unit) can be selectively braked by means of at least one magnetorheological braking device. The braking device comprises at least one sensor device for detecting a rotational position of the rotating body, particularly in relation to the axle unit. The sensor device comprises at least one magnetic ring unit and at least one magnetic field sensor for detecting a magnetic field of the magnetic ring unit.The magnetorheological braking device comprises at least one shielding device for at least partially shielding the sensor device from at least one magnetic field of a coil unit of the braking device and / or, in particular, from external magnetic fields. The shielding device comprises at least one shielding body that at least partially surrounds the magnetic ring unit. The shielding device particularly comprises at least one separating unit arranged between the shielding body and the magnetic ring unit. The shielding device comprises at least one magnetic decoupling device arranged between the shielding body and the rotating body. The separating unit and / or the decoupling device have a significantly lower magnetic conductivity (magnetic permeability) than the shielding body.

[0023] In particular, the shielding device is suitable and designed to shield a magnetic field of the braking device, especially the coil unit, in such a way that it does not scatter into the sensor device and adversely affect the detection of the magnetic field of the magnetic ring unit.

[0024] In particular, the shielding body is not positioned between the magnetic field sensor and the magnetic ring unit. Specifically, the shielding body is positioned between the magnetic field sensor and the magnetic ring unit in such a way that the shielding body does not (undesirably) shield the magnetic field sensor from the magnetic field of the magnetic ring unit to be detected.

[0025] In an advantageous embodiment, the shielding body surrounds the magnetic ring unit at least partially on at least one radial outer side. It is also preferred and advantageous that the shielding body surrounds the magnetic ring unit at least partially on at least one axial side facing the coil unit of the braking device. In particular, the shielding body extends at least along one axial inner side of the magnetic ring unit.

[0026] In particular, the shielding element is designed as a shielding ring. Specifically, the shielding ring has an L-shaped cross-section. The shielding ring can also have a U-shaped cross-section. The shielding element can also be designed as a cylindrical ring. Other suitable geometries are also possible, which extend at least partially around the magnetic ring unit. The shielding ring can be formed in one piece. A multi-part design is also possible. In particular, the magnetic ring unit is partially arranged radially within the shielding ring. This provides a compact arrangement and effective shielding.

[0027] In a preferred and advantageous embodiment, the separating unit comprises at least one gap extending between the shielding body and the magnetic ring unit. In particular, the separating unit also comprises at least one filling medium arranged in the gap. Specifically, the filling medium is a potting compound for subsequently filling the gap. In particular, at least one plastic is provided as the filling medium. In particular, the filling medium is suitable and configured to firmly connect the shielding body to the magnetic ring unit. It is also preferred and advantageous that air is provided as the filling medium.

[0028] In all embodiments, it is preferred that the magnetic ring unit is connected to the rotating body in a rotationally fixed manner. If air is used as the filling medium, at least one connecting element and, for example, an end-face disc or the like can be provided for the rotationally fixed connection of the magnetic ring unit to the rotating body. The connecting element preferably has the magnetic properties described for the separating unit with respect to its magnetic permeability.

[0029] In particular, the filling medium is suitable and designed to mechanically and preferably rotationally fix the magnetic ring unit to the shielding body. This enables a particularly compact design, as both fastening and shielding are achieved simultaneously. Specifically, the filling medium and the magnetic ring unit are rotatably mounted relative to the axle unit.

[0030] In particular, the magnetic ring unit is connected to the holding device and, in particular, to the decoupling device in a rotationally fixed manner by means of the separating unit and / or the shielding body. Preferably, the holding device, in particular the decoupling device, is connected to the rotating body at least indirectly in a rotationally fixed manner. In this way, the rotational movement of the rotating body can be transmitted to the magnetic ring unit in a space-saving and reliable manner via the shielding device. The rotating body can be radially surrounded by at least one additional part. The holding device, in particular the decoupling device, can be connected to the rotating body in a rotationally fixed manner via the additional part. The holding device, in particular the decoupling device, can also be connected directly to the rotating body in a rotationally fixed manner. In particular, the magnetic ring unit, the separating unit, the shielding body, and the decoupling device are rotatably mounted relative to the axis unit.In particular, the holding device is rotatably mounted relative to the axle unit.

[0031] In a particularly advantageous embodiment, the holding device, especially the decoupling device, comprises at least one decoupling sleeve or is designed as such. In particular, the decoupling sleeve surrounds at least the axle unit radially. In particular, the decoupling sleeve is arranged axially adjacent to the rotating body, at least in sections. This offers a significant improvement in magnetic decoupling. It is possible for the decoupling sleeve to be arranged overlapping the rotating body and / or the additional part in the axial direction. The decoupling sleeve can be provided, at least partially, by the holding device.

[0032] Preferably, the decoupling sleeve is axially spaced from the rotating body by at least one decoupling gap. In particular, the decoupling device comprises both the decoupling sleeve and the decoupling gap. At least one filling medium can be arranged in the decoupling gap. The filling medium is preferably designed as described above for the separation unit. In particular, the gap provides magnetic decoupling between the decoupling sleeve and the rotating body. However, it is also possible for the decoupling sleeve to be in contact with or attached to the rotating body.

[0033] The decoupling sleeve can be designed, at least partially and in particular completely, as a separate component. It is also possible and advantageous that the decoupling sleeve is provided, at least partially and in particular completely, by at least one additional part radially surrounding the rotating body. In particular, the decoupling sleeve is integrally connected to the additional part. For example, the additional part can extend axially to such an extent that it radially surrounds the magnetic ring unit.

[0034] At least one sealing device is preferably attached to the holding device, in particular to the decoupling device and especially preferably to the decoupling sleeve. The sealing device is in a sealing position against the rotating body and / or the additional part and / or the axle unit. In particular, the sealing device is designed and configured to prevent the escape of a magnetorheological medium from the brake device located in a receiving chamber. Such component integration allows the brake device to be designed even more compactly.

[0035] In particular, the holding device, especially the decoupling device and, most preferably, the decoupling sleeve, has at least one axial wall. In particular, the axial wall extends between the braking device, especially its coil unit, and the magnetic ring unit. In particular, at least a part of the sealing device is attached to the axial wall. It is also possible and preferred that at least one bearing device for the rotational movement of the rotating body relative to the axle unit is attached to the axial wall. For example, the shielding device and the components non-rotatably coupled to it are supported or mounted on the axle unit by the axial wall. The decoupling sleeve can also have at least one further axial wall, which closes off an outer end of the decoupling sleeve at its end face.

[0036] Preferably, the decoupling sleeve is made of plastic. Other suitable materials are also possible, particularly those with low magnetic conductivity.

[0037] It is possible and preferred that the rotating body projects no more than half the axial width of a brake body of the braking device beyond the last axial brake body. In particular, the rotating body projects beyond the axial end facing the magnetic ring unit. Specifically, the rotating body does not project beyond the last axial brake body at this axial end. The rotating body can also be set back relative to the last axial brake body. Such configurations can advantageously be provided at both axial ends or at the end opposite the magnetic ring unit. Such a shortening of the rotating body is particularly advantageous for further reducing the stray effect of the braking device's magnetic field on the sensor device.

[0038] In a particularly advantageous embodiment, the rotating body is radially surrounded by at least one additional part. The rotating body is, in particular, axially offset from the additional part at least at the axial end of the axis unit where the magnetic ring unit is located. Specifically, the additional part projects beyond the rotating body at this axial end. Preferably, the rotating body is offset from the additional part at both axial ends. In particular, the axial length of the rotating body is shorter than the axial length of the additional part. This further significantly improves the magnetic decoupling.

[0039] In all embodiments, it is particularly preferred and advantageous that the shielding body has a relative magnetic permeability of at least 1000, and preferably at least 10,000, and particularly preferably at least 100,000 or at least 500,000. Preferably, the shielding body has at least the same relative magnetic permeability as the rotating body. The magnetic properties of the shielding body described here are preferably also provided for the rotating body.

[0040] The shielding body comprises, in particular, at least one ferromagnetic and / or at least one paramagnetic material, or consists of such a material. Preferably, such materials are also provided for the rotating body.

[0041] In a particularly advantageous embodiment, the shielding body comprises or consists of at least one (especially soft magnetic) nickel-iron alloy containing 60% to 90% nickel and proportions of copper, molybdenum, cobalt, and / or chromium. A nickel content of 69% to 82%, and preferably 72% to 80%, is also possible. Preferably, such an embodiment is also provided for the rotating body. Particularly preferably, the shielding body and / or the rotating body comprise or consist of at least one micro-metal.

[0042] It is advantageous and preferred that the decoupling device (in particular the decoupling sleeve and / or the decoupling gap) and / or the separation unit (in particular its filling medium) and / or at least the additional part have a relative magnetic permeability of at most 1000, and preferably at most 100, and particularly preferably at most 10 or at most 2. It is also preferred and advantageous that the aforementioned components have a relative magnetic permeability of at most one thousandth of the relative magnetic permeability of the shielding body and / or a relative magnetic permeability between 1 and 2. In particular, the aforementioned components comprise or consist of a paramagnetic material. It is also possible and preferred that the aforementioned components comprise or consist of a diamagnetic material.

[0043] The previously described magnetic properties of the decoupling device are preferably also provided for the axle unit. This prevents the axle unit from generating a disruptive stray field at the magnetic field sensor. For example, the axle unit is made of a plastic, particularly a fiber-reinforced plastic.

[0044] The coil unit of the brake device can be arranged radially with respect to the axle unit. It is also possible for the coil unit to be arranged axially with respect to the axle unit. In such an axial arrangement, the coil unit extends with its main plane, in particular along a longitudinal axis of the axle unit.

[0045] In particular, the sensor device includes at least one magnetic field sensor that is fixed to the axle unit in a rotationally fixed manner.

[0046] In particular, the magnetic field sensor is arranged radially and / or axially adjacent to at least one magnetic ring unit. This design offers many advantages. The arrangement of the magnetic field sensor offers a significant advantage. This allows for space-saving installation with a particularly short tolerance chain of the components (low overall tolerance or few components between the sensor mounting and the magnet mounting) and, at the same time, particularly reliable sensor detection. The connection of the magnetic field sensor to the axis unit provides a particularly tolerance-optimized integration.

[0047] Preferably, the rotating body is designed as a finger roller, and particularly preferably as a thumb roller. The rotating body is preferably designed as a cylindrical component which is set in rotation by means of at least one finger. In particular, the braking device is designed for operation with only one finger. The braking device is particularly suitable and designed for operation in a horizontal position. In particular, the axis of rotation of the rotating body assumes a more horizontal than vertical position. However, it is also possible for the braking device to be operable in a standing position (vertical orientation). In this case, the braking device is usually gripped with two or more fingers. The rotating body can also be designed as a rotary knob or the like and in particular includes at least one push and / or pull function. This push / pull function allows, for example, the following:Selected menus can be selected or confirmed.

[0048] In particular, the rotating body or finger roller has a diameter of less than 50 mm, preferably less than 20 mm, and most preferably less than 15 mm. For example, the rotating body has a maximum diameter of 12 mm. However, larger or smaller diameters for the rotating body are also possible and advantageous for certain applications.

[0049] In all embodiments, it is possible and preferred that the rotating body is equipped with at least one additional part. Preferably, the additional part surrounds the rotating body radially and preferably in a sleeve-like manner. The additional part can also close the rotating body at at least one end face. In particular, the additional part is designed as an additional sleeve which is at least partially and preferably completely closed at at least one axial end face. This applies in particular to the axial end face of the additional sleeve which is located at the end of the axis unit facing away from the magnetic ring unit. It can be provided that the rotating body is designed as a hollow cylindrical sleeve part with open ends.

[0050] In particular, the additional part is designed as an additional sleeve that is slid over the rotating body. The additional part may have local increases in the outer diameter. For example, the additional sleeve may have a circumferential protrusion. The additional part serves, in particular, to increase the diameter of the rotating body. The additional part may also be designed as a ring or the like, or at least comprise one. To improve the feel, the additional part may be provided with at least one contour and, in particular, may be ribbed and / or rubberized or the like.

[0051] The magnetic ring unit is preferably arranged on an axial end face of the rotating body. This offers a particularly advantageous placement of the magnetic ring unit. The magnetic ring unit can be attached directly to the axial end face. However, it is also possible for the magnetic ring unit to be attached to the axial end face of the rotating body via at least one connecting element. It is also possible for the magnetic ring unit to be arranged on the axial end face of the rotating body and attached to another position of the braking device via corresponding connecting elements.

[0052] It is preferred and advantageous that the magnetic ring unit surrounds the magnetic field sensor at least partially in a ring-like manner. In particular, the magnetic ring unit is arranged radially around the magnetic field sensor. The magnetic field sensor is also arranged axially centered with respect to the magnetic ring unit. This means that the magnetic field sensor is arranged in the same axial longitudinal position as the magnetic ring unit. However, the magnetic field sensor can also be arranged axially offset from the magnetic ring unit. Within the scope of the present invention, such positional specifications, and in particular the terms "radial" and "axial," refer specifically to an axis of rotation of the rotating body.

[0053] It is also preferred and advantageous that the magnetic ring unit and the magnetic field sensor are arranged coaxially to each other. This offers a particularly space-saving solution, even with very small dimensions and, for example, in a thumb roller. In particular, the magnetic field sensor is surrounded by the magnetic ring unit. The magnetic field sensor is centered axially and / or radially with respect to the magnetic ring unit. Specifically, the magnetic field sensor has a targeted radial offset from the axis of rotation of the magnetic ring unit. However, the magnetic field sensor can also be arranged offset from the magnetic ring unit, at least in the axial direction.

[0054] The magnetic field sensor can be positioned offset from the axis of rotation of the magnetic ring unit. This is also possible when the magnetic field sensor is arranged centrally, for example, when it is located within the axis unit and surrounded by the magnetic ring unit. By deliberately offsetting the magnetic field sensor from the axis of rotation of the magnetic ring unit, improved angle measurement is possible. For example, even with only two poles of the magnetic ring unit, each rotational position can be precisely defined, and thus each angle can be measured as accurately as possible. This makes implementing an absolute encoder particularly straightforward.

[0055] In a particularly preferred embodiment, the magnetic field sensor is arranged within the axle unit. This offers a particularly compact and tolerance-optimized housing for the magnetic field sensor. The axle unit, in particular, has at least one bore in which the magnetic field sensor is arranged. Within the scope of the present invention, a bore is understood to include, in particular, all other suitable through-holes, regardless of whether they are produced by a drilling process or not. The bore extends, in particular, in the longitudinal direction of the axle unit. The bore is preferably designed as a through hole or can also be configured as a blind hole.

[0056] In particular, the magnetic field sensor is arranged centrally within the axle unit. Specifically, at least one active sensor section of the magnetic field sensor is arranged within the axle unit. Preferably, the entire magnetic field sensor is arranged within the axle unit. Within the scope of the present invention, the position specifications for the magnetic field sensor refer in particular to at least the active sensor section.

[0057] The magnetic field sensor is preferably arranged in the bore of the axle unit, through which at least one electrical connection of the braking device also runs. This electrical connection includes, in particular, at least one supply line and / or control line for the coil unit. This offers advantageous utilization of the installation space and simultaneously enables particularly simple transmission of the sensor signals. Specifically, the electrical connection exits the axle unit at its end face.

[0058] The magnetic field sensor is arranged, in particular, on at least one printed circuit board (PCB). The PCB is, for example, a printed circuit board or comprises at least one such board. Preferably, at least one braking device, in particular the coil unit, is also electrically connected to the PCB. Preferably, at least one connecting cable for contacting the braking device is also connected to the PCB. It is preferred and advantageous that the PCB is arranged within the axle unit. It is also preferred that the connecting cable extends out of the axle unit.

[0059] In particular, the circuit board is positioned in the previously described bore. Specifically, the connecting cable runs through the bore. Specifically, the connecting cable exits the axle unit at one end face. This allows for particularly simple and quick assembly, as well as a compact arrangement of the relevant components.

[0060] The connecting cable includes at least one connector unit. For example, a connector unit with six or eight pins is provided. This allows the brake device to be connected quickly and reliably to the component to be operated and, for example, to vehicle electronics. By plugging in the connector, the control unit can also be fixed in its mounting position (e.g., on the control unit's bracket).

[0061] Preferably, the magnetic field sensor is encapsulated in the axle unit and / or overmolded with at least one material. In particular, the bore is at least partially filled with the material. It is especially preferred that the circuit board in the axle unit is overmolded with at least one material. Preferably, a plastic or another suitable material is used. This allows the magnetic field sensor or the circuit board to be reliably protected from external influences and, at the same time, easily mounted.

[0062] In an advantageous embodiment, the magnetic field sensor is arranged at an axial end of the axis unit, specifically at its end face, and particularly preferably centered at the end face. This arrangement offers advantages in terms of sensor quality, assembly effort, and installation space requirements. Specifically, the magnetic field sensor is arranged at the end face of the axis unit that is located inside the rotating body. The magnetic ring unit is preferably located outside the rotating body. However, the magnetic ring unit can also be located inside the rotating body. In such an embodiment, the magnetic field sensor can be arranged offset from the magnetic ring unit in the axial direction. Alternatively, the magnetic field sensor can be located in the same axial longitudinal position as the magnetic ring unit.

[0063] In particular, the magnetic field sensor is directly attached to the axle unit. For example, the magnetic field sensor can be connected to the axle unit by means of overmolding or similar methods. It is also possible that the magnetic field sensor is attached to the axle unit by means of at least one connecting structure. The magnetic field sensor can also be at least partially embedded in the end face of the axle unit. It is also possible that the magnetic field sensor is arranged radially at an axial end of the axle unit.

[0064] In particular, the magnetic ring unit surrounds the axle unit at least partially in a ring-like manner. In particular, the magnetic ring unit is arranged radially around the axle unit. In particular, the magnetic ring unit is arranged in such a way with respect to the longitudinal direction of the axle unit. In particular, the magnetic ring unit and the axle unit are arranged coaxially to each other. The axle unit is preferably located at the center of the arrangement.

[0065] In an advantageous and preferred embodiment, the magnetic field sensor is arranged between the magnetic ring unit and the axis unit. In particular, the magnetic field sensor is then arranged radially within the magnetic ring unit. Specifically, the magnetic ring unit then surrounds the magnetic field sensor in a ring-like manner.

[0066] In another preferred and also advantageous embodiment, the magnetic ring unit is arranged between the magnetic field sensor and the axis unit. The magnetic field sensor is then, in particular, arranged radially outside the magnetic ring unit. The magnetic field sensor and the magnetic ring unit are then, in particular, arranged radially one above the other.

[0067] It is preferred that the rotating body is rotatably mounted on the axle unit by means of at least one bearing arrangement. For example, the bearing arrangement comprises at least one rolling bearing and / or sliding bearing and / or at least one bearing of another suitable design. In particular, the other rotatable components, and for example the magnetic ring unit and / or the shielding body and / or the decoupling device, are also rotatably mounted on the axle unit by means of the at least one bearing arrangement.

[0068] The braking device preferably comprises at least one wedge bearing assembly. The braking device may also be associated with at least one wedge bearing assembly. The wedge bearing assembly particularly comprises at least one, and preferably a plurality, of brake elements. The brake elements are particularly designed as rolling elements. Cylindrical and / or spherical brake elements may be provided. The wedge bearing assembly is particularly designed as a rolling bearing or comprises at least one such bearing.

[0069] The braking device is specifically designed and configured to selectively dampen, decelerate, and / or block the rotation of the rotating body by means of the wedge bearing assembly, the coil unit, and the magnetorheological medium. The braking device is also specifically designed and configured to selectively reduce the rotational torque of the rotating body after deceleration or blockage by means of the wedge bearing assembly, the coil unit, and the magnetorheological medium.

[0070] The wedge bearing assembly, in particular its rolling bearings and preferably its brake element, is preferably arranged axially between the magnetic ring unit and the braking device, in particular a coil unit of the braking device. This results in a particularly advantageous spacing of the magnetic ring unit from the magnetic field of the coil unit.

[0071] Damping is achieved primarily through the so-called wedge effect, which was already disclosed in earlier patent applications of the applicant (e.g., in DE 10 2018 100 390.0). For this purpose, brake elements are located within the rotating body adjacent to the coil unit and axle unit. The brake elements are surrounded by magnetorheological fluid. The magnetic field of the coil unit passes through the housing of the rotating body, through the roller elements, and terminates at the axle unit. This creates wedges in the magnetorheological fluid, which dampen the movement of the brake elements and thus of the rotating body. The brake elements can be spheres, cylindrical rollers, or other components.

[0072] The magnetic field sensor is arranged axially between the wedge bearing assembly and the magnetic ring unit. The magnetic field sensor can also be arranged axially between the coil unit and the magnetic ring unit.

[0073] The magnetic ring unit is arranged axially between the wedge bearing assembly and the magnetic field sensor. Alternatively, the magnetic ring unit can be arranged axially between the coil unit and the magnetic field sensor. Such configurations enable a compact design while simultaneously providing advantageous detection quality.

[0074] It is possible for the magnetic field sensor, and in particular the magnetic ring unit, to be arranged on the same end face of the rotating body as the end face of the axle unit from which at least one signal line of the magnetic field sensor emerges, so that the signal line does not pass through a magnetic field of the braking device. This has the advantage that the signals of the magnetic field sensor are not disturbed by the magnetic field of the coil assembly. In particular, the connecting line of the braking device is also arranged on this end face.

[0075] It is also possible that the magnetic field sensor, and in particular the magnetic ring unit, are arranged on the end face of the rotating body that is opposite an end face of the axis unit from which at least one signal line of the magnetic field sensor emerges. In such an embodiment, signal transmission in the signal line preferably occurs optically. This ensures that the signals from the magnetic field sensor are not adversely affected despite passing through the magnetic field of the coil assembly. In particular, signal transmission is optical at least where the signal line passes through the magnetic field of the coil assembly. In particular, the signal line includes at least a portion of at least one optical waveguide or is designed as such. In particular, the signal line passes at least a portion of the bore in the axis unit.

[0076] The signal line is preferably provided at least sectionally through at least one bore in the axle unit.

[0077] Preferably, the axle unit itself serves as the optical fiber. The bore is, in particular, the bore described above. In such an embodiment, the magnetic field sensor is arranged, in particular, at the end face of the axle unit or within the axle unit.

[0078] In all embodiments, it is particularly preferred that the magnetic ring unit and / or the magnetic field sensor are arranged within a circumferential line bounded by the rotating body. In particular, the magnetic ring unit and / or the magnetic field sensor do not extend beyond the circumference of the rotating body. Specifically, the magnetic ring unit and the magnetic field sensor are arranged radially within the circumferential line of the rotating body. In particular, the circumferential line is bounded by the rotating body itself and not by an additional part arranged on the rotating body.

[0079] It is possible for the magnetic ring unit to be arranged outside a receiving space bounded by the rotating body. In this case, at least one sealing device is arranged between the magnetic ring unit and the rotating body. Specifically, the sealing device abuts the rotating body and the axis unit to prevent the escape of a magnetorheological medium located in the receiving space. The sealing device comprises, in particular, at least one sealing section that abuts the axis unit. The sealing device also comprises, in particular, at least one sealing section that abuts the rotating body. The sealing device includes at least one sliding seal or is designed as such. However, it is also possible for the magnetic ring unit to be arranged within the receiving space.

[0080] Preferably, at least one, in particular magnetically conductive, wall is arranged between the magnetic ring unit and the braking device, especially its coil unit. In particular, the wall is suitable and designed to shield a magnetic field from the magnetic ring unit in such a way that it does not spread into the braking device and / or the receiving chamber and thereby adversely affect the magnetorheological medium.

[0081] The wall comprises, in particular, a ferromagnetic and / or paramagnetic material, or consists of such a material. The wall may also comprise, or consist of, a diamagnetic material. It is possible that the rotating body is made of such a material. For example, a nickel-iron alloy with, e.g., 69–82% nickel is provided as the material. Other metals that shield the magnetic field (so-called µ-metals) are also possible. In particular, the wall has a relative magnetic permeability of at least 1,000, and preferably at least 10,000, and particularly preferably at least 100,000 or at least 500,000.

[0082] The wall is preferably provided at least partially by an end wall of the rotating body. This is, in particular, a closed end wall through which the axle unit does not extend. In this case, the wall is preferably formed integrally with the rotating body.

[0083] It is also possible and preferred that the wall at least partially closes an open end face of the rotating body. In this case, it is preferred that the axle unit extends through the wall. The wall then has, in particular, at least one through-opening for the axle unit. It is also possible and advantageous that the wall is designed as a support structure for the sealing device. In particular, at least one sealing section for the axle unit and one for the rotating body are attached to the wall. In such embodiments, the wall is, in particular, attached to the axle unit.

[0084] It is possible for the magnetic field sensor to be arranged within a receiving space bounded by the rotating body. The rotating body, in particular, provides a receiving space or at least partially delimits one. Specifically, the magnetic field sensor is separated from a magnetorheological medium arranged in the receiving space by means of at least one sealing unit. The sealing unit comprises, in particular, at least one sealing ring (O-ring) or the like extending radially around the axis unit. The sealing unit, in particular, provides a sealing connection to the rotating body and the axis unit.

[0085] In particular, the magnetic field sensor is then arranged in a protrusion on the end face of the rotating body. Specifically, the magnetic ring unit is then located outside the rotating body. The protrusion is, in particular, centered on the end face. In such an embodiment, the magnetic field sensor is, in particular, arranged on the end face of the axis unit. The protrusion is, in particular, located on the end face of the rotating body, from which the axis unit does not protrude. The magnetic field sensor can also be arranged outside the rotating body.

[0086] In an advantageous embodiment of the brake device according to the invention or a brake device according to the preamble of claim 1, it is preferably provided that the sensor device is suitable and designed to detect, in addition to the rotational position of the rotating body, at least one axial position of the rotating body in relation to the axle unit.

[0087] In particular, the magnetic field sensor is designed as a three-dimensional magnetic field sensor. Specifically, the axial position is detected by means of the magnetic ring unit. This design is particularly advantageous for a braking device where the operating states are also set by means of pressure movements.

[0088] In particular, the braking device is suitable and designed to allow operating states to be set by means of at least one pressure movement. This pressure movement is performed, in particular, in the direction of the axis of rotation for the rotational movement of the rotating body.

[0089] To detect the axial position of the rotating body relative to the axis unit, it is preferably provided that the magnetic ring unit surrounds the magnetic field sensor, at least partially, in a ring-like fashion. The magnetic field sensor is preferably arranged with an axial offset from the axial center of the magnetic ring unit. This enables particularly precise and high-resolution detection of the axial position. At the same time, the axial direction of movement can also be reliably detected. In particular, the magnetic field sensor is arranged radially centered relative to the magnetic ring unit.

[0090] Preferably, the sensor device is suitable and configured to determine the axial position of the rotating body relative to the axis unit from the intensity of the magnetic field of the magnetic ring unit detected by the magnetic field sensor. In particular, the sensor device is suitable and configured to determine the axial direction of movement of the rotating body relative to the axis unit from the sign of a change in the intensity of the magnetic field of the magnetic ring unit. However, it is also possible for the magnetic field sensor to be arranged at the axial center of the magnetic ring unit.

[0091] In particular, the axle unit is designed to be stationary. Specifically, the axle unit provides a support structure for components mounted on it, and especially for the rotating body and / or the braking device and / or the sensor device mounted on it. It may be provided that, in a suitably assembled state, the axle unit is connected to at least one bracket or the like of the braking device. In particular, the axle unit comprises at least one axle, in particular a hollow axle, or is designed as such. In particular, a longitudinal axis of the axle unit provides the axis of rotation of the rotating body. In particular, the axle unit and the rotating body are arranged coaxially with respect to each other.

[0092] The rotating body is, in particular, sleeve-like in design. The rotating body consists, in particular, of a magnetically conductive material, preferably of a metallic material, and especially preferably of a ferromagnetic material. In particular, the rotating body comprises at least one rotating sleeve or is designed as such. The rotating sleeve can also be referred to as a sleeve part. The rotating body is, in particular, designed as a rotary knob. In particular, the rotating body is cylindrical. The rotating body has, in particular, two end faces and a cylindrical wall extending between them. The rotating body preferably has at least one closed end face. It is also possible that both end faces are at least partially closed. It is also possible and advantageous that both end faces are at least partially open.It is also preferred and advantageous that the rotating body is designed as a hollow cylindrical sleeve section open at its end faces. The sleeve section has, in particular, an axial length that extends at least over the coil unit and / or the wedge bearing assembly, especially its brake element. In particular, the rotating body is formed in one piece, with the cylindrical wall being integrally connected to at least one end face.

[0093] In particular, the axis unit extends into the rotating body and preferably into its receiving space. Specifically, the rotating body is designed and arranged on the axis unit such that the axis unit extends out of the rotating body at one open end face. The other end face of the rotating body is closed.

[0094] The braking device comprises, in particular, at least one controllable coil unit for generating a targeted magnetic field. The braking device, and preferably at least the coil unit, are arranged in a rotationally fixed manner on the axle unit.

[0095] The braking device comprises, in particular, at least one magnetorheological medium. The medium is, in particular, a fluid, which preferably includes a liquid as a carrier for particles. The fluid contains, in particular, magnetic and preferably ferromagnetic particles. It is also possible that the medium comprises only particles and omits the carrier medium (vacuum).

[0096] In particular, the braking device can be controlled depending on at least one signal detected by the sensor device. Preferably, a control device is provided for controlling the braking device depending on the sensor device. In particular, the control device is suitable and configured to generate a targeted magnetic field with the coil unit depending on the signal from the sensor device. The braking device is also, in particular, a damping device.

[0097] In particular, at least one receiving chamber is provided for the medium. Specifically, the receiving chamber is provided or at least partially delimited by the rotating body. Specifically, the receiving chamber is also at least partially delimited by the additional part and / or the axis unit. It is possible that further components, such as the wedge bearing assembly and / or the coil unit and / or the magnetic field sensor and / or the magnetic ring unit, are arranged in the receiving chamber. It is possible that the receiving chamber is divided into mutually sealed sub-chambers. Preferably, one sub-chamber is provided for the magnetorheological medium. In particular, the magnetic field sensor is arranged in a different sub-chamber or not in the sub-chamber containing the medium.

[0098] In particular, the braking device, especially the braking assembly, comprises at least one wedge bearing assembly and preferably at least one rolling bearing. In particular, the wedge bearing assembly, preferably its brake body, is (directly) surrounded by the medium. Preferably, the braking device comprises at least one sealing device and / or at least one sealing unit to prevent the medium from escaping the receiving space. In particular, the receiving space is sealed against the rotating body and the axle assembly. The wedge bearing assembly surrounds the axle assembly, in particular radially.

[0099] The sensor device is specifically designed as an absolute encoder. The sensor device can also be designed as an incremental encoder or as another suitable type. The sensor device is specifically interconnected with the control unit and / or the braking unit.

[0100] The magnetic ring unit is, in particular, designed as a closed ring. The magnetic ring unit can also be designed as an open ring. In particular, the magnetic ring unit comprises at least one permanent magnet or is designed as such. In particular, the magnetic ring unit provides at least one magnetic north pole and at least one magnetic south pole. The magnetic ring unit is, in particular, associated with at least one shielding device for shielding its magnetic field from the magnetic field of the coil unit. The shielding device, in particular, comprises the wall described above or is provided by it.

[0101] The magnetic field sensor is specifically designed and configured to detect the orientation of the magnetic field of the magnetic ring unit. In particular, the magnetic field sensor is designed as a Hall sensor or includes at least one such sensor. Other suitable sensor types for detecting the magnetic field of the magnetic ring unit are also possible.

[0102] A braking device suitable for use with the invention is also described in patent application DE 10 2018 100 390.0. The entire disclosure of DE 10 2018 100 390.0 is hereby incorporated into the disclosure of the present application.

[0103] The applicant reserves the right to claim a computer mouse with at least one braking device as previously described. The braking device is provided, in particular, by a mouse wheel of the computer mouse or a similar input device.

[0104] In particular, at least one closed (and externally sealed) chamber is formed between the rotating body and the axle assembly. Specifically, the rotating body is rotatably mounted (supported) at a first end of the closed chamber on the axle assembly (at a first bearing point). In particular, the closed chamber is substantially (completely) filled with a magnetorheological medium.

[0105] In particular, the rotating body is axially displaceable and mounted on the axis unit, so that the volume of the closed chamber changes due to a relative axial displacement of the rotating body to the axis unit, in order to provide compensation for temperature-related volume changes.

[0106] In particular, the rotating body is slidably mounted (supported) on the axle unit at a second end of the chamber. Specifically, the diameter of the first bearing point at the first end of the closed chamber differs from the diameter of the second bearing point at the second end of the closed chamber.

[0107] In particular, a stationary holder is included. In particular, the axle unit is rotationally fixed to the holder and extends in the axial direction. In particular, the rotating body comprises a rotating part that is hollow (and internally cylindrical) and rotatable around the axle unit. In particular, a circumferential gap is formed between the axle unit and the rotating body. In particular, the gap is at least partially filled with a magnetorheological medium.

[0108] In particular, the axle unit comprises an axially extending core made of a magnetically conductive material and an electrical coil (coil unit). Specifically, the coil is wound axially around the core and spans a coil plane such that a magnetic field of the electrical coil extends transversely (to the axial direction) through the axle unit. In particular, a maximum (outer) diameter of the electrical coil in a radial direction within the coil plane is larger than a minimum (outer) diameter of the core in a radial direction transversely (perpendicularly) to the coil plane.

[0109] Further advantages and features of the present invention will become apparent from the description of the exemplary embodiments, which are explained below with reference to the accompanying figures.

[0110] The figures show: Figure 1 is a purely schematic representation of a brake device in a sectional side view; Figures 2-7 are purely schematic representations of further brake devices in sectional side views; Figures 7b-7d are detailed views of the brake device of the Fig. 7a ; Fig. 7e a schematic representation of a sensor signal curve; Fig. 8a-8e schematic three-dimensional views of braking devices; and Fig. 9a-9c possible torque curves versus the angle of rotation.

[0111] Figure 1 Figure 1 shows a braking device 1, which here is designed as an operating device 100 and has a rotatable rotating body 3, designed as a finger roller 23 or thumb roller, for setting operating states. Operation is therefore carried out at least by rotating the rotating body 3.

[0112] The rotating body 3 is rotatably mounted on an axle unit 2 by means of a bearing assembly 22 (not shown in detail here). The rotating body 3 can also be rotatably mounted on an axle unit 2 by means of a wedge bearing assembly 6, designed here as a rolling bearing. Preferably, however, the wedge bearing assembly 6 is not provided, or only partially provided, for mounting the rotating body 3 on the axle unit, but instead serves for the braking device 4 described below. In this case, the rolling elements serve as brake elements 44.

[0113] The axle unit 2 can be mounted on an object to be operated, for example, in the interior of a motor vehicle, on a medical device, or on a smart device. For this purpose, the axle unit 2 may include mounting means not shown in detail here.

[0114] It may be provided here or in the following embodiments that the rotating body 3 is also displaceable in the longitudinal direction or along the axis of rotation on the axis unit 2. Operation is then effected by turning, as well as by pushing and / or pulling or sliding the rotary knob 3.

[0115] The rotating body 3 is designed here in a sleeve-like form and comprises a cylindrical wall and an end wall integrally connected to it. The axle unit 2 protrudes from an open end face of the rotating body 3.

[0116] The finger roller 23 can be equipped with an additional part 33, indicated here by a dashed line. This increases the diameter, thus facilitating rotation, for example in a finger-rotatable wheel of a computer mouse or game controller, or a rotary wheel on a computer keyboard thumbwheel.

[0117] The rotational movement of the rotary knob 3 is dampened by a magnetorheological braking device 4 located in a receiving chamber 13 inside the rotary knob 3. The braking device 4 generates a magnetic field with a coil unit 24, which acts on a magnetorheological medium 34 located in the receiving chamber 13. This leads to a local and strong networking of magnetically polarizable particles in the medium 34. The braking device 4 thus enables targeted deceleration and even complete blocking of the rotational movement. In this way, the braking device 4 can provide haptic feedback during the rotation of the rotary body 3, for example, through perceptible detents or dynamically adjustable stops.

[0118] For the supply and control of the coil unit 24, the brake device 4 includes an electrical connection 14, which is designed, for example, as a printed circuit board or cable. The connecting cable 11 extends through a bore 12 running longitudinally along the axle unit 2.

[0119] The receiving chamber 13 is sealed to the outside by a sealing device 7 and a sealing unit 17 to prevent the medium 34 from escaping. The sealing device 7 closes the open end face of the rotating body 3. For this purpose, a first sealing element 27 rests against the inside of the rotating body 3. A second sealing element 37 rests against the axle unit 3. The sealing elements 27 and 37 are attached to a support structure designed as a wall 8.

[0120] The sealing unit 17 is designed here as an O-ring and surrounds the axle unit 3 radially. The sealing unit 17 rests against the axle unit 2 and the rotating body 3. This seals the part of the receiving chamber 13 filled with the medium 34 from another part of the receiving chamber 13.

[0121] To monitor the rotational position of the rotating body 3 and to enable the control of the braking device 4, a sensor device 5 is provided. The sensor device 5 comprises a magnetic ring unit 15 and a magnetic field sensor 25.

[0122] The magnetic ring unit 15 is diametrically polarized and has a north pole and a south pole. The magnetic field sensor 25, designed here as a Hall sensor, measures the magnetic field emanating from the magnetic ring unit 15 and thus enables a reliable determination of the rotation angle.

[0123] Furthermore, the magnetic field sensor 25 is preferably designed in three dimensions, so that in addition to rotation, an axial displacement of the rotating body 3 relative to the axis unit 2 can also be measured. This allows both rotation and a push / pull function to be measured simultaneously with the same sensor 25. However, the braking device 1 can also be equipped with only a rotation function.

[0124] The sensor assembly 5 is particularly advantageously integrated into the brake device 1. For this purpose, the sensor 25 is inserted into the bore 12 of the axle unit 2. The magnetic ring unit 15 surrounds the sensor 25 radially and is attached to the rotating body 3. This has the advantage that only precisely manufactured diameter tolerances, rather than length tolerances, come into play. The radial bearing clearance between the rotating body 3 and the stationary axle unit 2 is correspondingly small and easily manageable even in series production.

[0125] Another advantage is that axial movements or displacements between rotating body 3 and axis unit 2 do not adversely affect the sensor signal, since measurements are taken in the radial direction and the radial distance is essentially decisive for the quality of the measurement signal.

[0126] Another advantage is that the arrangement shown here is particularly insensitive to contamination and liquids, since the sensor is located inside. Furthermore, the sensor 25 in bore 12 can, for example, be overmolded with plastic.

[0127] To further improve the placement of sensor 25, it is mounted here on a printed circuit board 35. The coil unit 24 and its connection 14 are also connected to the printed circuit board 35.

[0128] Furthermore, the connecting cable 11 is also attached to the circuit board 35, via which the entire brake device 1 is connected to the system to be operated. For example, a 6- or 8-pin connector can be attached to the circuit board 35, via which both the sensor 25 and the coil unit 24 are then connected to the corresponding control unit. The signal line 45 for transmitting the sensor signal is also located in the connecting cable 11.

[0129] This allows the brake device 1 to be installed particularly easily and quickly. To make the entire system especially robust against errors and malfunctions, the circuit board 35, together with the sensor 25, can be potted in the bore 12 in the axle unit 2.

[0130] In the Figure 2An embodiment of the brake device 1 is shown, which differs essentially in the structural arrangement of the sensor device 5 from the previously described embodiment. Here, the magnetic ring unit 15 is arranged on the end face of the rotating body 3 that is closed or through which the axle unit 2 does not extend.

[0131] The magnetic field sensor 25 is arranged in a particularly space-saving manner within the rotating body 3. For this purpose, the magnetic field sensor 25 is positioned in the receiving chamber 13. The sensor 25 lies in the part of the receiving chamber 13 that is separated from the part containing the medium 34 by the sealing unit 17. This part of the receiving chamber 13 is located in a central recess of the rotating body 3. The sensor 25 is attached to an end face of the axis unit 2.

[0132] The axially offset positioning of the magnetic ring unit 15 is highly schematic here and can, for example, also be positioned closer to the rotating body 3, so that the magnetic ring unit 15 surrounds the sensor 25 in a ring shape.

[0133] In the embodiment shown here, the sensor 25 is arranged on the end face of the rotating body 3 that is opposite the exit side for the signal line 45 or the connecting line 11. Therefore, the sensor signal is guided through the bore 12 in the axis unit to the opposite side and must therefore pass through the magnetic field of the coil unit 24.

[0134] To avoid signal interference, signal transmission is optical. The light signal is simply shone through the bore 12 of the axle unit 2. Alternatively, the signal line 45 can be configured as an optical fiber, at least in the area of ​​the coil unit 24. Appropriate photodiodes, not shown in detail here, are provided for transmitting and receiving the signals.

[0135] The Figure 3Figure 1 shows an embodiment that differs from the previously described embodiments primarily in the structural arrangement of the sensor device 5. Here, the magnetic field sensor 25 is arranged outside the axis unit 2 and radially surrounded by the magnetic ring unit 15. This design is particularly advantageous when a very small axis diameter is required. Furthermore, it achieves a significant reduction in the tolerance chain. In this arrangement, the sensor 25 is fixed to the axis unit 2, while the magnetic ring unit 15 is rotatable together with the rotating body 3. This arrangement is also particularly less susceptible to errors due to tolerances, since essentially only the positional tolerance of the axis unit 2 is significant. Moreover, the arrangement shown here has the advantage that measurements can be taken with particularly high reproducibility in the axial direction, which is very advantageous in an embodiment with a pressure function.

[0136] The Figure 4 Figure 1 shows an embodiment that differs from the previously described designs primarily in the structural arrangement of the sensor unit 5. Here, the magnetic field sensor 25 is arranged radially outside the magnetic ring unit 15. This offers particularly simple and cost-effective manufacturing and, at the same time, a significant reduction in tolerances. For example, the sensor 25 can be attached to the axis unit 2. Alternatively, the sensor 25 can be integrated into a cap or similar component.

[0137] In the Figure 5An embodiment is shown which differs essentially in the design of the sensor device 5 from the previously described embodiments. Here, the magnetic field sensor 25 is positioned axially next to the magnetic ring unit 15. Such an embodiment is advantageous, for example, if the magnetic ring unit 15 is to be particularly narrow in the axial direction. It is advantageous that the magnetic ring unit 15 in the embodiment shown here can be wider in the radial direction. The embodiment shown here also offers a significant reduction in the tolerance chain.

[0138] In the Figure 1 and 3 to 5In the illustrated embodiments, the wall 8 is designed to be magnetically conductive. This prevents the magnetic field of the magnetic ring unit 15 and the magnetic field of the coil unit 24 from adversely influencing each other. For example, the wall 8 is made of a magnetically shielding metal and, for example, of a metal with a relative magnetic permeability of at least 100,000. For example, the wall 8 is made of a nickel-iron alloy. At the same time, the wall 8 serves here as a connection for the sealing device 7. To shield the magnetic field of the in the Figure 2 To shield the magnetic ring unit 15 shown from the magnetic field of the coil unit 24, the front face of the rotating body 3 is made of a magnetically conductive material.

[0139] The Figure 6Figure 1 shows a braking device according to the invention with a holding device 49 and a shielding device 9 for shielding the sensor device 5 from the magnetic field of the coil unit 24 of the braking device 4. The braking device 1 shown here differs from the previously described braking devices 1 not only in the shielding device 9, but also in particular in the design of the rotating body 3 and the additional part 33. The braking device shown here is, for example, a mouse wheel of a computer mouse.

[0140] The rotating body 3 is designed here as a cylindrical sleeve and is completely surrounded on its outer surface by the additional part 33. The additional part 33 closes off the rotating body at the radial end face that faces away from the magnetic ring unit 15. The holding device 49 can include a fastening device 59 to assist in securing the additional part 33.

[0141] The additional part 33 has a radially circumferential projection with a significantly increased diameter. This makes the braking device 1 shown here particularly suitable as a mouse wheel for a computer mouse or the like. The projection is designed with a groove in which a particularly grippy material, e.g., rubber, is embedded.

[0142] The braking device 1 shown here has two spaced-apart wedge bearing assemblies 6. Each wedge bearing assembly 6 is equipped with several brake elements 44 arranged radially around the axle unit 2. The coil unit 24 is arranged between the wedge bearing assemblies 6. The brake elements 44 are, for example, rolling elements that roll on the inside of the rotating body 3 or the outside of the axle unit 2.

[0143] The magnetic ring unit 15 is rotationally fixed to the rotating body 3, so that the magnetic ring unit 15 rotates with the rotating body 3. The magnetic field sensor 25 is inserted into the bore 12 of the axis unit 2. The magnetic ring unit 15 surrounds the sensor 25 radially and is axially end-mounted. The magnetic field sensor 25 is positioned with an axial offset from the axial center of the magnetic ring unit 15. This results in particularly high-resolution and reproducible sensing of the axial position of the rotating body 3 relative to the axis unit 2.

[0144] The shielding device 9 comprises a shielding body 19, here designed as a shielding ring 190. The shielding device 9 also comprises a separation unit 29, which here is provided by a gap 290 filled with a filling medium 291. Furthermore, the shielding device 9 comprises a magnetic decoupling device 39, which here is provided by the holding device 49 and includes a decoupling sleeve 390 and a decoupling gap 391.

[0145] The decoupling sleeve 190 comprises an axial wall 392 on which the sealing device 7 is arranged. In addition, a bearing device 22, not shown in detail here, can be arranged on the axial wall 392.

[0146] The shielding body 19 has an L-shaped cross-section and is made of a particularly magnetically conductive material. The shielding body 19 surrounds the magnetic ring unit 15 on its radial outer side and on its axial side facing the coil unit 24. For magnetic decoupling, the gap 290 is arranged between the shielding body 19 and the magnetic ring unit 15 and is filled with a filling medium 291. This filling medium 291 has a particularly low magnetic conductivity. The magnetic ring unit 15 is also attached to the shielding body 19 via the filling medium 291.

[0147] Magnetic decoupling between the rotating body 3 and the shielding body 19 is achieved by the decoupling device 39. For this purpose, the decoupling sleeve 390 and a filling medium arranged in the decoupling gap 391 also exhibit particularly low magnetic conductivity. The decoupling sleeve 391 is rotationally fixed to the shielding body 19, the additional part 33, and the rotating body 3.

[0148] To further decouple the rotating body 3 from the sensor assembly 5, the rotating body 3 is arranged axially spaced from the decoupling sleeve 390. The end of the rotating body 3 facing the magnetic ring unit 15 does not project beyond the brake body 44. Furthermore, the rotating body 3 is axially offset or shortened relative to the additional part 33. This results in a particularly advantageous magnetic and spatial separation between the rotating body 3 and the decoupling sleeve 390 within a very small installation space.

[0149] Since the magnetic field of the coil unit 24 for the braking effect flows via the rotating body 3, this design offers particularly good shielding. To minimize the influence of this magnetic flux on the sensor 25, the rotating body 3 terminates earlier in the axial direction, and the magnetically non-conductive additional part 33 takes over the structural functions (bearing point, sealing points, etc.). This also increases the distance to the sensor 25 and makes the assembly lighter overall.

[0150] The rotating body 3 is made of a highly magnetically conductive material. The additional part 33 and the decoupling sleeve 390, on the other hand, are made of a magnetically non-conductive material. The shielding body 19 and the rotating body 3 are, for example, made of a micro-metal. The components described here as magnetically non-conductive consist, for example, of plastic and have a relative magnetic permeability of less than 10.

[0151] The problematic fields that can typically interfere with rotation angle measurement are primarily those in the radial direction. These fields are shielded here by a shielding body 19, acting as a casing and made of a suitable material, e.g., magnetically conductive steel. This also allows the magnetic field of the magnetic ring unit 15 to be further enhanced. As a result, the magnetic ring unit 15 can be made smaller (thinner), thus saving material, installation space, and manufacturing costs.

[0152] According to the invention, the design is further improved by varying the wall thickness of the shielding body 19 and by providing a gap 290 between the magnetic ring unit 15 and the shielding body 19. The gap 290 between the ring 15 and the shielding body 19 allows for optimal adjustment of the shielding and the gain. The material of the shielding body 19 is selected such that it does not reach magnetic saturation, thus ensuring sufficient shielding from external magnetic fields (a saturated material allows magnetic fields to pass through just like air, i.e., with the magnetic field constant µ0). With an advantageous design of the gap 290 between the ring 15 and the shielding body 19, the magnetic field does not close too tightly over the shielding body 19, and the field in the center at the sensor 25 is sufficiently homogeneous and is increased compared to a ring 15 of the same size or larger without a shielding body 19.

[0153] The dimensions of the shielding device 9 shown here are particularly well suited for a computer mouse wheel and have, for example, the following dimensions. The shielding ring 190 is 0.5 mm thick, the distance between shielding ring 190 and ring 15 is also 0.5 mm, the width of ring 15 is 2 mm, and the diameter of ring 15 is 8 mm. In this case, the potential interference field from the coil unit 24 is 140 µT, resulting in a possible error in the angle measurement of 0.1° (cf. Earth's magnetic field: approx. 48 µT in Europe).

[0154] Figure 7aFigure 1 shows a variant in which a push-pull function is integrated. A push button 474 can be actuated and is automatically reset. The diameters of the two bearing points 412 and 418 are chosen to be the same. Therefore, a relative axial displacement of the first brake component 2 (corresponding to the axle unit) to the second brake component 3 (corresponding to the rotating body) does not change the volume within the chamber. A displacement of the first brake component 2 in the orientation of Figure 7a Moving to the left results in the distance between the magnetic field sensor 25 and the magnetic ring unit 15 being increased or changed.

[0155] Due to an axial shift, the received signal 468 changes according to the representation of Figure 7e. Figure 7eFigure 1 shows the amplitude 469 of the signal 468 detected by the magnetic field sensor 25 as a function of the axial displacement of the brake components 2, 3 (horizontal axis). An axial displacement of the magnetic field sensor 25 relative to the magnetic ring unit 15 changes the amplitude 469 of the detected signal 468. An axial displacement or downward pressure of the additional part 33, or a lateral displacement of the additional part 33, can thus be detected. The same sensor can also detect the angle of rotation, whereby the direction of the magnetic field is determined for this purpose. The intensity determines the axial position. Therefore, a change in the signal 468 indicates axial actuation of the brake device 1 or the push button 474. This is advantageous because a single (multidimensional) Hall sensor can be used to determine both the angular position and the axial position.

[0156] In the Figure 7a The first brake component 2 is arranged inside the second brake component 3 and is held in place by a holder 404 in a form-fitting and / or force-fitting manner. The holder 404 can, for example, be attached to an external console or device. The holder 404 is typically mounted in a rotationally fixed manner. The second brake component 3 is continuously rotatable relative to the first brake component 2 and is mounted on it.

[0157] The holder 404 can, as in Figures 7b and 7c The component shown is preferably designed in two parts. This simplifies the installation of the electrical wiring, and in particular the sensor wire 45, within the first brake component 2. The cables can be routed through the open cable gland shown here.

[0158] In Figure 7dThe sensor assembly 5 is shown again in detail. The first brake component 2 and the second brake component 3, which is implemented here as a rotating part, are only indicated (dashed lines). The sensor assembly 5 is magnetically decoupled from the rotatable second brake component 3 via the decoupling device 39. The shielding device 9 consists of a three-part shielding body 19. A separation unit 29 for magnetic isolation is also present. The magnetic ring unit 15 is used to measure the orientation or angle of rotation of the magnetorheological brake assembly 1. The magnetic field sensor 25 is located within the first brake component 2. Small relative axial displacements can also be used to detect, for example, the pressing down of a control button.

[0159] Figures 8a to 8eFigure 1 shows devices equipped with the invention. The braking devices 1 are each designed as a haptic operating device 100.

[0160] Figure 8a Figure 101 shows a haptic control knob. The control knob is attached via a console 50. The control knob 101 is operated via the sleeve part. The user interface can also be used to transmit information.

[0161] In Figure 8b The braking device 1 is represented as a thumb roller 102 with a haptic control device 100. The thumb roller 102 is preferably used, for example, in steering wheels. However, the thumb roller is not limited to this application. Depending on the installation situation, the thumb roller 102 can generally also be used with any other finger.

[0162] In Figure 8c and Figure 8dThe braking device 1 according to the invention is designed as the mouse wheel 106 of a computer mouse 103. The magnetorheological braking device 1 can be used to control haptic feedback.

[0163] Figure 8e shows a joystick 104 with a braking device 1 as a haptic control device 100. Figure 8f shows a gamepad 105 with the braking device 1 to give the player haptic feedback depending on the game situation.

[0164] In the Figures 9a, 9b and 9c Possible implementation variants for controlling a dynamically generated magnetic field or a dynamically generated braking torque as a function of the angle of rotation are shown.

[0165] Figure 9aFigure 1 shows a variant in which the braking device 1 is used as a rotary knob and haptic operating aid. The rotational resistance is shown as a function of the rotation angle. A left end stop 228 and a right end stop 229 can be generated. As the rotary knob is turned further, a high magnetic field or stop torque 238 is generated at these points, causing the rotary knob to offer high resistance to rotation. The user receives haptic feedback of an end stop.

[0166] A detent can be created or implemented for the rotary movement. This can be used, for example, to navigate through a graphical menu and select menu items. A first detent point 226 is provided directly next to the left end stop 228, which corresponds to, for example, the first menu item when the knob is operated. To select the next menu item, the rotary knob must be turned clockwise. This requires overcoming the dynamically generated higher magnetic field or detent torque 239, or its frictional torque, before the next detent point 226 is reached.

[0167] An angular distance of 237 between individual grid points can be dynamically changed and is adjusted to the number of available grid points or menu items.

[0168] Figure 9bFigure 1 shows a variant in which the magnetic field does not rise abruptly towards the end stops 228, 229, but rather follows a steep gradient. Furthermore, ramp-like slopes of the magnetic field are provided at the indexing points 226 on both sides of rotation, thereby increasing the rotational resistance in the corresponding directions. Here, only three indexing points 226 are provided with the same operating device 100, the angular spacing 237 of which is greater than in the example shown. Figure 9a .

[0169] Figure 9c shows a variant in which there is a lower rotational resistance between individual grid points 226 and an increased magnetic field 239 is generated only directly adjacent to the grid points 226 in order to enable locking at the individual grid points 226 and at the same time to provide only a low rotational resistance between individual grid points.

[0170] Basically, a mixture of operating modes and magnetic field patterns is also possible. Figures 9a, 9b and 9c Possible. For example, different submenus may allow for different settings of the magnetic field pattern.

[0171] In all cases, it is also possible that, for example, with a ripple (grid), the switching between low and high current with the same polarity is not done as before (i.e., +0.2 to +0.8A = ripple), but alternately with changing polarity, i.e., from +0.2 to +0.8A and then the next ripple from -0.2A to -0.8A and then the next torque peak from +0.2 to +0.8A, etc.

[0172] The preferably low-alloy steel may retain a residual magnetic field. The steel is preferably demagnetized regularly or as needed (e.g., by a special alternating field).

[0173] Preferably, the material FeSi3P (silicon steel or silicon steel) or a related material is used for the components through which the magnetic field flows.

[0174] In all cases, voice or sound control is possible. Voice control allows for adaptive control of the braking system.

[0175] If the rotating unit is not rotating, i.e., the angle is constant, the current is preferably reduced continuously over time. The current can also be varied depending on the speed (angular velocity of the rotating unit). Reference symbol list:

[0176] 1 Brake device 102 Thumb roller 2 Axle unit 103 Computer mouse 3 Rotating body 104 joystick 4 Braking system 105 Gamepad 5 Sensor device 106 mouse wheel 6 Wedge bearing device () 190 Shielding ring 7 Sealing device 226 Grid point 8 wall 228 End stop 9 Shielding device 229 End stop 11 Connection cable 237 Angular distance 12 Drilling 238 Stop torque 13 Recording room 239 Grid torque 14 Connection 240 Fundamental moment 15 Magnetic ring unit 290 gap 17 Sealing unit 291 Filling medium 19 Shielding body 390 Decoupling sleeve 22 Storage facility 391 decoupling gap 23 Finger roller 392 Axial wall 24 coil unit 404 holder 25 Magnetic field sensor 412 Storage site 27 Sealing part 416 diameter 29 Separation unit 418 Storage site 33 Additional part 34 medium 35 Circuit board 37 Sealing part 39 Decoupling device 44 brake body 45 Signal line 49 Holding device 50 console 59 Fastening device 100 Operating device 101 Control head

Claims

1. A magnetorheological braking device (1) for decelerating rotational movements, particularly a magnetorheological operating apparatus (100) for setting operating states at least by means of rotational movements, with said braking device having at least one axle unit (2) and at least one rotary body (3) that is rotatable about the axle unit (2), wherein the rotatability of the rotary body (3) can be decelerated in a targeted manner by means of at least one magnetorheological braking apparatus (4), and comprising at least one sensor apparatus (5) for sensing a rotational position of the rotary body (3), wherein the sensor apparatus (5) comprises at least one magnetic ring unit (15) and at least one magnetic field sensor (25) for sensing a magnetic field of the magnetic ring unit (15), and comprising at least one shielding apparatus (9) for at least partially shielding the sensor apparatus (5) from a magnetic field of a coil unit (24) of the braking apparatus (4), wherein the shielding apparatus (9) comprises at least one shielding body (19) that at least sectionally surrounds the magnetic ring unit (15) and at least one separating unit (29) that is arranged between the shielding body (19) and the magnetic ring unit (15) and has a magnetic conductivity that is multiple times lower than that of the shielding body (19), and wherein at least one holding apparatus (49) is provided and connects the shielding apparatus (9) to the rotary body (3) in an at least partially rotationally fixed manner, characterized in that the shielding apparatus (9) comprises at least one magnetic decoupling apparatus (39) that is arranged between the shielding body (19) and the rotary body (3), in that the decoupling apparatus (39) has a magnetic conductivity that is multiple times lower than that of the shielding body (19), and in that the decoupling apparatus (39) is at least partially made available by the holding apparatus (49), and / or in that the holding apparatus (49) has at least one distance that extends between the rotary body (3) and the shielding body (19), wherein said distance corresponds at least to one quarter and preferably at least to half of a maximum diameter of an electric coil of the coil unit (24).

2. The magnetorheological braking device (1) according to one of the preceding claims, wherein the rotary body (3) and / or the shielding body (19) are at least partially connected to the holding apparatus (49) in one piece.

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

4. The magnetorheological braking device (1) according to one of the preceding claims, wherein the shielding body (19) is not arranged between the magnetic field sensor (25) and the magnetic ring unit (15) such that the shielding body does not shield the magnetic field sensor (25) from the magnetic field of the magnetic ring unit (15) to be sensed.

5. The magnetorheological braking device (1) according to one of the preceding claims, wherein the shielding body (19) at least sectionally surrounds the magnetic ring unit (15) on at least one radial outer side and / or wherein the shielding body (19) at least sectionally surrounds the magnetic ring unit (15) on the at least one axial side that faces the coil unit (24) of the braking apparatus (4).

6. The magnetorheological braking device (1) according to one of the preceding claims, wherein the separating unit (29) comprises at least one gap (290) that extends between the shielding body (19) and the magnetic ring unit (15) and at least one filling medium (291) arranged in the gap, and wherein the filling medium (291) connects the magnetic ring unit (15) to the shielding body (19) in a rotationally fixed manner.

7. The magnetorheological braking device (1) according to one of the preceding claims, wherein the magnetic ring unit (15) is connected to the decoupling apparatus (39) in a rotationally fixed manner by means of the separating unit (29) and / or the shielding body (19), and wherein the decoupling apparatus (39) is at least indirectly connected to the rotary body (3) in a rotationally fixed manner.

8. The magnetorheological braking device (1) according to one of the preceding claims, wherein the decoupling apparatus (39) comprises at least one decoupling sleeve (390) that radially surrounds at least the axle unit (2) and is at least sectionally arranged axially adjacent to the rotary body (3).

9. The magnetorheological braking device (1) according to the preceding claim, wherein the decoupling sleeve (390) is axially spaced apart from the rotary body (3) by at least one decoupling gap (391).

10. The magnetorheological braking device (1) according to one of the two preceding claims, wherein the decoupling sleeve (390) is at least sectionally designed in the form of a separate component and / or at least sectionally made available by at least one additional part (33), which radially surrounds the rotary body (3), and in this case connected to the additional part (33), particularly in one piece.

11. The magnetorheological braking device (1) according to one of the three preceding claims, wherein at least one sealing arrangement (7) is fastened on the holding apparatus (49), particularly on the decoupling sleeve (390), and wherein the sealing arrangement (7) abuts on the rotary body (3) and / or on at least one additional part (33) that radially surrounds the rotary body (3) and / or on the axle unit (2) in a sealing manner in order to counteract an escape of a magnetorheological medium (34) of the braking apparatus arranged in a receptacle space (13).

12. The magnetorheological braking device (1) according to one of the four preceding claims, wherein the holding apparatus (49), particularly the decoupling sleeve (390), has at least one axial wall (392) that extends between the braking apparatus (4) and the magnetic ring unit (15), and wherein at least part of the sealing arrangement (7) and / or at least one bearing arrangement (22) for the rotational movement of the rotary body (3) relative to the axial unit (2) is fastened on the axial wall (392).

13. The magnetorheological braking device (1) according to one of the five preceding claims, wherein the decoupling sleeve (390) is made of plastic.

14. The magnetorheological braking device (1) according to one of the preceding claims, wherein the rotary body (3) is radially surrounded by at least one additional part (33), and wherein the rotary body (3) is axially set back relative to the additional part (33) on the axial end of the axle unit (2), on which the magnetic ring unit (15) is arranged.

15. The magnetorheological braking device (1) according to one of the preceding claims, wherein the sensor apparatus (5) is suitable and designed for not only sensing the rotational position of the rotary body (3), but also at least an axial position of the rotary body (3) in relation to the axle unit (2), wherein the magnetic ring unit (15) at least sectionally surrounds the magnetic field sensor (25) annularly, and wherein the magnetic field sensor (25) is arranged with an axial offset to the axial center of the magnetic ring unit (15).