HAPTIC CONTROL DEVICE WITH A MAGNETIC HEOLOGICAL BRAKE DEVICE AND A ROTATING CONTROL ELEMENT

Description

[0001] The invention relates to a haptic operating device with a rotatable operating part, at least one magnetic field source and at least one magnetorheological braking device for braking a rotational movement of the operating part.

[0002] The haptic control device with the magnetorheological braking system can be used in a wide variety of technical fields to operate devices and other equipment. The haptic control device can also be used, for example, to operate technical equipment in vehicles (as rotary controls; rotary / push controls; for infotainment, air conditioning, as a gear selector, for navigation, for seat adjustment, in the steering or steering wheel, for operating the chassis adjustment, driving mode adjustment, distance adjustment, adaptive cruise control, trailer control, etc.), motor vehicles, aircraft, ships, boats, in agricultural machinery (tractors, combine harvesters, harvesters, other field machinery for agriculture, snow groomers, etc.), construction machinery and material handling equipment (forklifts, etc.), processing machines and systems in industry, or in medical or industrial systems.

[0003] The invention can also be used in the operation of or as an input device for washing machines, kitchen / household appliances and equipment, radios, cameras and film cameras, hi-fi and television systems, smart devices, smart home devices, laptops, PCs, smartwatches, in a crown wheel of wristwatches or as an input device for computers or as a computer mouse or as a rotary wheel in a computer mouse or controllers, game consoles, gaming equipment, a rotary knob in a keyboard or other devices.

[0004] The haptic operating device comprises a magnetorheological braking device, which is provided in particular with a magnetorheological medium and preferably with a magnetorheological fluid. Magnetorheological fluids, for example, comprise extremely fine ferromagnetic particles, such as carbonyl iron powder, distributed in an oil. Magnetorheological fluids use spherical particles with a manufacturing-related diameter of 1 to 10 μm, although the particle size and shape are not uniform. If such a magnetorheological fluid is subjected to a magnetic field, the carbonyl iron particles of the magnetorheological fluid interlink along the magnetic field lines, so that the rheological properties of the magnetorheological fluid (MRF) are significantly influenced depending on the shape and strength of the magnetic field (transmissible shear stresses).This also applies to magnetorheological media, where the carbonyl iron particles of the magnetorheological medium interlink along the magnetic field lines, so that depending on the shape and strength of the magnetic field, the transferable shear stresses are significantly influenced.

[0005] WO 2012 / 034697 A1 discloses a magnetorheological transmission device comprising two coupling components whose coupling intensity can be influenced. To influence the coupling intensity, a channel containing a magnetorheological medium is provided. The magnetorheological medium in the channel is influenced via a magnetic field. Rotating bodies are provided in the channel, on which acute-angled regions containing the magnetorheological medium are provided. The channel, or at least a portion thereof, can be subjected to the magnetic field of a magnetic field generating device in order to selectively (magnetically) link the particles and wedge or release them with the rotating body. This magnetorheological transmission device can also be used on a rotary knob for operating technical devices.Such a magnetorheological transmission device works and allows the transmission of quite high forces or torques while maintaining a relatively small design or volume and energy consumption.

[0006] WO 2012 / 034697 A1 also discloses a rotary knob or control knob in which the actual knob is mounted so that it can rotate around a shaft. The braking torque can be controlled via the magnetic field generated by an electric coil. If a higher braking torque is desired, cylindrical rollers can be used instead of spherical rotating bodies, so that the magnetic field acts over a longer distance or a larger area (magnetic field concentration and wedge formation occur over a larger area). It has been shown, particularly for rotary or control knobs with a relatively small diameter, that lengthening the rolling elements does not necessarily lead to an increase in the maximum braking torque that can be generated. It has been found that this is because the magnetic field is closed by, or must pass through, the central shaft.The small diameter of the shaft limits the braking torque that can be generated, as the magnetic field required for braking quickly saturates in the (shaft) material. The material through which the magnetic field flows no longer permits higher magnetic flux, which is why a stronger magnetic field cannot reach the rollers. The smallest cross-section through which the magnetic field flows in the overall magnetic circuit defines the maximum possible magnetic flux and thus the maximum braking torque in the braking device. The use of longer rollers as rotating bodies can then even have a detrimental effect on the braking torque that can be generated, as the magnetic field is distributed over the longer roller surface. The resulting field strength is lower (per transmission surface) (low magnetic field concentration).Because the achievable braking effect does not depend linearly on the magnetic field, but increases disproportionately with stronger magnetic fields, the achievable braking effect decreases disproportionately with weaker magnetic fields.

[0007] For haptic control devices for computers, machines, or vehicles, but also in general, the space required and the price (manufacturing costs) play a major role. In series production, the choice of materials and manufacturing processes is crucial. Cost savings are a key issue. At the same time, high demands are placed on precision. Rotatable haptic control elements that can be braked using a magnetorheological braking system should, on the one hand, have a very low base torque to ensure easy and stress-free operation, and, on the other hand, be able to apply a relatively high braking torque to provide clearly perceptible haptic feedback.

[0008] WO 2019 / 138015 A1, US 10 318 002 B2, US 2018 / 073590 A1, EP 2 603 774 B1, DE 10 2017 104 206 A1 disclose haptic operating devices, wherein the use of magnetorheological braking devices with two braking components that can be rotated relative to one another is also shown.

[0009] It is therefore the object of the present invention to provide a haptic operating device with a rotatable operating part and with a magnetorheological braking device, which has a simple and cost-effective construction and which enables a high braking torque and improved function, in particular even with small or even very small diameters and a particularly very small construction volume.

[0010] This object is achieved by a haptic operating device having the features of claim 1. Preferred developments of the invention are the subject of the dependent claims. Further advantages and features of the haptic operating device will become apparent from the general description and the description of the exemplary embodiments.

[0011] A haptic operating device comprises at least one rotatable operating part, at least one magnetic field source, and at least one magnetorheological braking device for braking a rotational movement of the operating part. The magnetorheological braking device comprises at least two braking components that are rotatable or at least pivotable relative to one another, one of which is coupled to the rotatable operating part. The second braking component, as the outer braking component, surrounds the first braking component, as the inner braking component, at least in sections. Between the two braking components, a magnetorheological braking chamber is formed, which is in particular (at least in sections) closed and provided with a magnetorheological medium and has at least one (circumferential) gap or braking gap. In particular, the magnetorheological medium comprises a liquid and / or gaseous carrier medium in which magnetically influenceable particles are accommodated.The particles can also be accommodated in the brake chamber without a carrier medium. According to the invention, the inner brake component extends in an axial direction. The inner brake component is designed as a stator unit, and the outer brake component is designed as a rotor unit. The outer brake component is rotatably mounted on a support body via at least one bearing unit. The at least one bearing unit provides at least one fixed bearing for blocking axial mobility of the outer brake component. The bearing unit supports the outer brake component independently of the inner brake component.

[0012] Particularly preferably, the brake chamber is sealed (to the outside) by at least one seal. The seal (in particular, wetted with or in contact with the magnetorheological medium) comprises a sealing base connected to the inner brake component and at least one sealing lip adjacent to the outer brake component. Preferably, the seal comprises a sealing base connected only to the inner brake component and / or at least one sealing lip adjacent only to the outer brake component.

[0013] Such a haptic operating device with a rotatable operating part and at least one magnetorheological braking device has many advantages. A significant advantage of such a haptic operating device is that the sealing lip rests on the outside of the outer braking component and not on the inside of the inner braking component. This also offers considerable advantages in the choice of material for the inner braking component or parts of the inner braking component. It is not necessary to manufacture the inner braking component in the area of ​​the sealing base from metal or another hard material or to apply a separate sleeve made of such a material. In the area where the sealing base is accommodated, the inner braking component can also be made from a soft material, such as a plastic. This offers a wide range of possibilities for improvement in design and production.

[0014] However, another suitable seal design is also possible and advantageous. In particular, the carrier medium in which the magnetically influenced particles are accommodated is also taken into account when designing the seal. The seal can be provided with at least one seal base connected to the outer brake component and / or at least one seal lip adjacent to the inner brake component. Combinations of the previously described seal base and seal lip arrangements are also possible.

[0015] The magnetorheological braking device can be mounted on a bracket or support body. The support body can be formed on a console.

[0016] The first or inner brake component extends in particular in an axial direction and can be connected to the support body in a rotationally fixed manner. A circumferential gap, which can also be called a braking gap or an effective gap, is formed between the first and second brake components. The gap is at least partially filled with a magnetorheological medium.

[0017] In this case, the magnetorheological medium wets in particular the first and the second brake component at least in sections. Wetting is understood in particular to mean any type of contact. For example, gas, a gas mixture, air or a vacuum can also be provided as the medium for the magnetically influenced particles. In this case, the first and the second brake component are touched or wetted at least in sections by gas, a gas mixture, air or only by the particles. In particular, the seal is then also in contact with air or the particles. The seal is in particular suitable and designed to seal off particles located in air and / or in a vacuum. The first brake component comprises a core made of a magnetically conductive material and extending in the axial direction and (at least) one electrical coil. The electrical coil can be wound radially or axially around the core.

[0018] Preferably, the electrical coil is wound around the core in the axial direction and spans a coil plane such that a magnetic field of the electrical coil extends transversely (to the axial direction) through the first braking component.

[0019] It is possible and preferred that a maximum (outer) diameter of the electrical coil in a radial direction within the coil plane is greater than a minimum (outer) diameter of the core in a radial direction transverse (and in particular approximately perpendicular or perpendicular) to the coil plane.

[0020] The first braking component always defines an axial direction. However, the first braking component can also be designed to be angled at least locally to the axial direction. The statement that the core of the first braking component extends in the axial direction is understood, within the meaning of the present invention, to mean that the core also extends at least substantially in the axial direction. The core can have a profile that is preferably aligned parallel to the axial direction, but can also have a slight angle to the axial direction. For example, the core can also be aligned at an angle of 2.5° or 5° or 10° or 15° to the axial direction. The winding of the electrical coil also does not have to be aligned exactly in the axial direction around the core (or radially around it).The electrical coil can also be wound around the core at an angle of 5°, 10°, 15°, or the like to the axial direction. However, in all cases, it is preferred that the angle between the orientation of the core and the axial direction and the angle of the winding of the electrical coil to the axial direction be less than 20° and, in particular, less than 10°.

[0021] Particularly preferably, the gap can be subjected to a magnetic field from the magnetic field source. The magnetic field passes through the gap. The magnetic field is guided (in sections) through a magnetically conductive outer brake body of the outer brake component. The outer brake component can, in particular, consist of or be formed largely from the magnetically conductive outer brake body. Particularly preferably, the outer brake component is designed to be more resistant to abrasion in a contact area with the sealing lip than the inner brake component in a contact section with the sealing base.

[0022] Particularly preferably, the sealing lip is designed to be elastic and, with a (particularly low) spring force, lies elastically against the outer brake component and preferably against the magnetically conductive outer brake body in a sealing manner.

[0023] Preferably, the seal has a sealing base connected to the first brake component and at least one, and in particular exactly one, (elastic) sealing lip adjacent to and surrounding the second brake component, and the second brake component is harder in the contact area with the (elastic) sealing lip than the inner brake component in the contact section with the sealing base.

[0024] Preferably, the outer brake component is more resistant to wear caused by the sealing lip in the contact area than the inner brake component in a contact section with the seal base. Rotational movement of the sealing lip relative to the inner brake component and any resulting wear are avoided. Therefore, apart from the core, the inner brake component can be made of lighter and less rigid materials, e.g., a plastic or a soft metal (especially a soft magnetic metal).

[0025] In all embodiments, the seal base can, for example, be glued to the inner brake component or held to the inner brake component by elastic forces. The seal base can, for example, also adhere to the inner brake component via a central inner fastening ring. For this purpose, a circumferential groove can be provided on the inner circumference of the seal base, into which, for example, the fastening ring (e.g. an O-ring or quad ring or the like) is inserted. The fastening ring, which projects radially inward, then adheres to the outer surface of the inner brake component, which may also have a circumferential groove on its outer surface in order to position the fastening ring, the seal base and thus the seal in a defined manner. The seal can, however, also be clamped using, for example, a screw or a nut that is screwed on.

[0026] Preferably, the outer brake component is rotatable. The outer brake component is preferably not only pivotable by a specific (and limited) angular amount, but can also be freely rotated without being influenced by the magnetorheological braking device. Preferably, the control element is coupled to the outer brake component and, in particular, is connected substantially or even completely in a rotationally fixed manner.

[0027] It is also possible that the inner brake component is rotatable and that the control unit is coupled to the inner brake component.

[0028] The inner brake component preferably has a shaft made of a plastic. The sealing base is preferably applied or fixed to and / or on the shaft.

[0029] The seal particularly preferably has a U-, V-, C-, or W-shaped or disc-shaped cross-section. The U-, V-, C-, or W-shaped cross-section is particularly preferably open toward the brake gap. This further enhances the sealing effect in the event of an increase in pressure inside, for example, due to temperature.

[0030] According to the invention, the inner brake component extends in an axial direction or defines an axial direction. The inner brake component is designed as a stator unit, and the outer brake component is designed as a rotor unit. Preferably, the rotor unit is rotatable relative to the stator unit.

[0031] Particularly preferably, the inner brake component comprises a stator body with a core made of a magnetically conductive material and an electrical coil wound around the core as a magnetic field source.

[0032] Preferably, a maximum outer diameter of the electrical coil in a radial direction within the plane spanned by the electrical coil (coil plane) is greater than a minimum outer diameter of the core in a radial direction transverse to the coil plane.

[0033] A particular advantage arises when the electrical coil is wound axially around at least a significant portion of the core or entirely around the core. If 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 transverse to, and in particular at least approximately perpendicular to, the coil plane, a larger core diameter can be realized. A larger core cross-section enables the generation of a stronger magnetic field (higher field strengths in the braking gap or effective gap). This allows higher braking forces to be generated in the same installation space or equally high braking forces in a smaller installation space, thus increasing the achievable torque per installation volume. If necessary, it is also possible to generate considerable braking forces in a very small installation space.

[0034] This results from the fact that the magnetic field of the electric coil runs transversely to the axial direction of the first braking component (i.e. radially relative to the longitudinal axis) and that the diameter of the electric coil is increased.

[0035] This represents a significant difference to the prior art disclosed in WO 2012 / 034697 A1, where the electrical coil is provided on the outer component and the windings of the electrical coil extend concentrically around the axial direction. This generates a magnetic field in this prior art that extends axially through the interior of both components. The inner component, usually a thin shaft due to its design, limits the magnetic flux cross-section in this prior art and thus the maximum achievable total magnetic flux. In contrast, in this embodiment, the magnetic field or field lines run perpendicular to it and thus perpendicular through the first or inner braking component. Lengthening the first braking component increases the possible magnetic flux and thus the braking torque, while maintaining the same diameter.The core diameter, which is usually not larger due to design constraints (due to installation space constraints), thus no longer restricts the magnetic flux. In the present invention, the winding(s) of the electrical coil are preferably located (at least substantially) in a plane or closely adjacent to the plane that includes the central axis of the axial direction. In WO 2012 / 034697 A1, the central axis is perpendicular to the plane of the windings of the electrical coil.

[0036] Such a design is also very advantageous compared to the prior art from WO 2019 / 138015 A1, which shows a magnetorheological braking device with an electric coil wound around a longitudinal axis. In contrast, the magnetic field in the core can be enlarged, thus increasing the braking force and / or reducing the installation space. In this prior art, rolling elements are arranged around the entire circumference and can rotate. It is surprising that an increase in the braking force can be achieved with a design in which complete rotation of the rolling elements is no longer possible because the electric coil protrudes outwards.

[0037] This is achieved by making the most efficient and, above all, optimal use of the available installation space. The goal is to generate the highest possible magnetic field strength (many amperes / meter) in the effective gap between the moving effective surfaces (rotating and stationary components). To achieve this, specific magnetic cross-sections are required in the components through which the magnetic field flows (magnetic circuit), which in turn must be fed by an electrical coil with a matching winding window and electrical design (wire gauge / wire diameter, number of windings / turns). All of this within a usually predetermined (and often tight) installation space.

[0038] Tests using the state of the art have shown that, for example, a brake unit fully equipped with rollers produces less braking torque than one partially equipped. This is because, in a fully equipped brake unit, the magnetic field generated by the electric coil and via the geometrically restricted core is distributed across multiple transmission elements, resulting in less field strength per transmission unit. Less field strength leads disproportionately to less braking torque. In this further development of the design, the MRF brake was not constructed with magnetically non-conductive rollers (which are essentially placeholders). Instead, the space for these non-torque generating components was used to enlarge the electric coil and core, thus generating more magnetic field. This results in an increase in the braking torque in the same installation space because it increases the field strength in the effective gap. The installation space was used in the best possible way.

[0039] In the magnetorheological braking system, the transmission components are at least partially surrounded by a magnetorheological medium. A magnetorheological fluid is preferably used as the magnetorheological medium.

[0040] Preferably, a plurality of, in particular, rotatable transmission components are arranged distributed over the circumference of the gap. The transmission components can be rotatable in the gap and then preferably rotate at least partially relative to one another during rotation of the first and second brake components. A central component of the rotatable transmission component or the rotatable transmission component as a whole is, in particular, dimensionally stable and does not (at least substantially) change its external shape during rotation. Preferably, the rotatable transmission component rotates at least slightly during rotation of the second brake component relative to the first brake component.

[0041] In a preferred embodiment, at least one transmission component is designed as a rolling element. For the purposes of the present invention, the term "rolling element" refers to a rotating element capable of rolling in the gap on the first or second braking component.

[0042] Preferably, at least one rolling element has a cylindrical or spherical or round or rounded (essentially dimensionally stable) cross-section. In particular, a rolling element can have an (elongated) cylindrical section. At the ends, the rolling element can be rounded or have a tapered or angular design. Other sections, and in particular end sections, are also possible. Cylindrical rollers are particularly preferably used as rolling elements. A cylindrical rolling element has the significant advantage that the rolling element can be effective over the length of the cylindrical section. This increases effectiveness.

[0043] A significant advantage of the present invention is that a stronger braking torque can be generated by extending a cylindrical rolling element, for example. At the same time as the rolling element is extended, the electrical coil extending in the longitudinal direction of the first braking component can also be extended (in a meaningful way). An electrical coil that is longer in the axial direction provides a larger passage area (cross-sectional area through which the magnetic field flows) for the magnetic field. Therefore, in this embodiment, extending the first braking component in the axial direction also enlarges the cross-section of the core. As a result, a stronger braking torque can be achieved by extending the first braking component in the axial direction.

[0044] In preferred embodiments, at least some of the transmission components consist of a magnetically conductive material. It is possible for some of the transmission components to consist of a magnetically non-conductive material. Preferably, the majority of the transmission components consist of a magnetically conductive material. In all cases, the magnetic field is concentrated in the region of the magnetically conductive transmission components. This leads to the concentration of the magnetic field and to a local amplification (magnetic field line concentration). Since the relationship between the braking torque that can be generated and the strength of the magnetic field is non-linear, and since the braking torque that can be generated becomes disproportionately stronger as the magnetic field strengthens, a significant increase in the braking torque that can be generated (with the same installation space / dimensions) can be achieved.

[0045] The iron particles are drawn in the direction of the magnetic field gradient (the force acting on magnetizable particles always acts in the direction of the stronger magnetic field). This also increases the concentration of carbonyl iron particles in the areas of higher magnetic field line concentration. For example, the magnetic field strength in the gap increases from < 350 A / m to values ​​greater than 350 A / m and to values ​​of up to 1,000 A / m (1 kA / m) or more. The high (concentrated) field strength attracts more carbonyl iron particles from the magnetorheological fluid, resulting in carbonyl iron accumulation (piling). This, in turn, allows the generation of higher shear stresses and thus braking torques.

[0046] In all designs, it is not necessary to increase the diameter of the first braking component to increase the braking torque that can be generated. This is very important because many applications do not allow for a larger outer diameter of a braking device, or a larger outer diameter would be a serious competitive disadvantage (e.g., an oversized lateral adjustment dial on a wristwatch). To amplify / increase the braking torque, the first braking component can be made axially longer, which, depending on the specific application, is either not a disadvantage or a minor disadvantage in terms of installation space.

[0047] The outer brake component, in particular, has a magnetically conductive outer brake body. Preferably, the outer brake component, and in particular the outer brake body of the outer brake component, has a cylindrical inner surface (in the axial direction) at least in sections.

[0048] At least one transmission component is preferably arranged on at least one angular segment of the outer circumference of the core between the core and the cylindrical inner surface of the magnetically conductive outer brake body. In particular, on the angular segment, the core and / or the stator unit has shaped elements formed laterally next to the core, which form at least one receptacle adapted to the shape of the transmission components. In the case of cylindrically shaped, roller-shaped transmission components, the core is preferably correspondingly concave in the region of the receptacle. Preferably, only a small gap is formed between the receptacle and the transmission component. As a result, the transmission component is enclosed by the receptacle, and a particularly effective transmission of the magnetic field to the transmission component takes place.

[0049] In other embodiments or apart from the areas of the receptacles, the outer surface of the core is preferably cylindrical (at least or only) over the angle segment.

[0050] In particular, the electrical coil is mounted on the core outside the angular segment. Particularly preferably, the electrical coil projects radially further outward than the outer surface of the core in the angular segment.

[0051] In all embodiments, preferably at least two angle segments are formed on which transmission components are arranged, wherein in particular at least one angle segment and preferably each angle segment is less than 150°.

[0052] In advantageous embodiments, transmission components are arranged only in the angle segment or in the (in particular two) angle segments.

[0053] In advantageous developments, a smaller radial gap is formed between the radially outer ends of the transmission components and the cylindrical inner surface of the magnetically conductive outer brake body than the radial distance between the coil and the cylindrical inner surface of the (magnetically conductive) outer brake body. At the radially outer ends of the transmission components, a gap with a small gap height (effective gap) is preferably present. This, in combination with high field strengths, allows for a favorable wedge effect.

[0054] It is possible for the core to be permanently connected to a plurality of transmission components. In this case, it is possible for no transmission component to be rotatable. However, it is also possible for individual transmission components to be permanently connected to the core, while other transmission components are provided as separate parts that can also move or rotate relative to the core. These can be guided so that they can rotate laterally.

[0055] The transmission components that are firmly connected to the core can be formed in one piece with the core or can be firmly connected to it and, for example, screwed, riveted, welded or connected in any other rotationally fixed manner.

[0056] Preferably, at least some transmission components (fixedly connected to the core) form outwardly projecting arms of the core.

[0057] It has surprisingly been shown that a particularly strong interlinking of the magnetorheological particles in the magnetorheological medium can be created even without (rotating) rolling elements. With a strong magnetic field and high field strengths in the active gap, effective interlinking and accumulation of carbonyl iron particles can be achieved. In all cases, the transmission components serve as magnetic field concentrators. Transmission components can also be referred to as magnetic field concentrators. The high field concentration in the area of ​​the transmission components results in a particularly high field strength and thus also a particularly strong interlinking and accumulation of particles. The wedge effect enhances this effect, as the gap does not have a constant height all around, but rather tapers. In the area of ​​the transmission components, the radial gap height is reduced, while adjacent areas can interlink and form a type of clump / heap.

[0058] In all embodiments, it is preferred that the first brake component is axially displaceable or displaceably received on the second brake component and / or the support body.

[0059] Preferably, at least one sensor device is included, wherein the sensor device comprises at least one magnetic ring unit (in particular attached directly or indirectly to the outer brake component and particularly preferably coupled thereto in a rotationally fixed manner) and at least one magnetic field sensor connected in a rotationally fixed manner to the first brake component and arranged radially and / or axially adjacent to the magnetic ring unit for detecting a magnetic field of the magnetic ring unit. In particular, at least one Hall sensor is used. A two- or three-dimensional Hall sensor is advantageous. The magnetic ring unit preferably has a south pole at one radial end and a north pole at the opposite radial end. By detecting the orientation of the magnetic field lines within (radially within) the magnetic ring unit, the angular position of the two brake components relative to one another can be determined.

[0060] In particular, the magnetic ring unit is (indirectly) attached to the outer brake body.

[0061] In all further developments, it is preferred that at least one shielding device is included for at least partially shielding the sensor device from a magnetic field of the electrical coil and / or other components and / or another external magnetic field.

[0062] In particular, the shielding device comprises at least one shielding body that surrounds the magnetic ring unit at least in sections. Preferably, the shielding device has at least one separating unit arranged between the shielding body and the magnetic ring unit and / or at least one magnetic decoupling device arranged between the shielding body and the outer braking component (the outer braking body or a magnetically non-conductive body connected thereto).

[0063] In particular, the separation unit and the decoupling device have a magnetic conductivity that is several times lower than that of the shielding body. This provides particularly advantageous shielding against potentially interfering magnetic fields. The shielding body, which may be constructed in multiple parts, is made of a magnetically conductive material and has a wall thickness such that, during normal operation, no magnetic saturation occurs in at least one wall or in the walls of the shielding body. This ensures effective shielding and allows for a high measurement signal quality.

[0064] The shielding device can be constructed in several parts and comprise several interconnected components. In particular, the shielding device comprises at least one annular sleeve and at least one axial annular disc or, for example, two axial annular discs, in which case an axial annular disc can be arranged at each end.

[0065] In particular, the sensor device is arranged radially centrally and approximately axially centrally on the shielding device (which spans a cylindrical section volume). A slightly axially off-center position can be advantageous if an axial position is derived from the strength of the measured magnetic field.

[0066] In particularly advantageous embodiments, the shielding device and the magnetic ring unit are arranged at a distance from each other in the radial and axial directions. For example, a separating unit made of a non-magnetically conductive or only weakly magnetically conductive material can be provided between the shielding body and the magnetic ring unit. The separating unit can be made of a plastic, for example. For example, the separating unit can consist of an injection-molded part. The separating unit preferably ensures a defined distance and a defined positioning.

[0067] It is preferred that a closed (and externally sealed) chamber be formed between the two brake components. It is possible and preferred that the second brake component be rotatably received or mounted (for example) at a first end of the closed chamber on the first brake component (at a first bearing point). The closed chamber is particularly preferably substantially and in particular completely filled with the magnetorheological medium.

[0068] Preferably, the second or outer brake component is axially displaceably received on the first or inner brake component and, for example, mounted, so that a volume of the closed brake chamber changes due to a relative axial displacement of the two brake components to one another in order to provide compensation for temperature-related volume changes.

[0069] It is possible that at a second end of the brake chamber, the second brake component is slidably received on the first brake component (and can be mounted separately there), wherein a diameter of the first bearing point at the first end of the closed brake chamber is different from a diameter of the second bearing point at the second end of the closed brake chamber.

[0070] In all embodiments, it is preferred that the operating part is formed or accommodated on the outer brake component and is designed, for example, as a rotary part, rotary knob, mouse wheel, or rotary dial. The rotary part can preferably be formed, for example, in one piece with a rotary knob or rotary dial. In such embodiments, it is preferred that the rotary knob or the rotary part is "pot"-shaped. The "cover" of the rotary part can be connected in one piece to a rotary part designed as a sleeve part or can be attached separately to it.

[0071] The operating part preferably comprises the outer brake body made of a magnetically conductive material. The outer brake body provides an outer ring for the magnetic field. The magnetic field for generating a braking torque passes through the first brake component transversely to the axial direction and passes through the gap at the transmission elements, which are designed to be magnetically conductive. From the stationary or movable transmission elements or the rotatable rolling elements, the magnetic field enters the outer ring or the outer brake body. There, the magnetic field lines run back to the other side of the first or inner brake component and pass through the gap again (on the opposite side) at the transmission elements or rolling elements before the magnetic field lines enter the inner brake component again. This creates a closed magnetic circuit or closed magnetic field lines.

[0072] Under the influence of a magnetic field, a wedge effect forms on the rolling elements during relative rotation of the first and second braking components relative to one another, as is fundamentally described in WO 2012 / 034697 A1. The disclosure of this document is incorporated in its entirety into this application. The braking torque in the present invention is also regularly generated by the wedge effect on the stationary or movable transmission components, rolling elements, or rotating bodies. Surprisingly, it has been shown that rolling elements are not always necessary. This is particularly advantageous for particularly compact device components. A corresponding design is also possible with a braking effect via shear forces without the use of transmission components.

[0073] Preferably, at least one radial wall thickness of the outer brake body is at least half the size of a gap width and / or a diameter of a transmission component. Preferably, a radial wall thickness of the outer brake body is greater than 3 / 4 of the gap width and / or a diameter of a transmission component. The radial wall thickness of the outer brake body can, in particular, also be greater than a diameter of a transmission component. A sufficient wall thickness of the outer brake body, which is made of a magnetically conductive material, can ensure that the desired field strength of the magnetic field can be generated in the region of the rolling elements in order to be able to generate a high braking torque.

[0074] In all embodiments, it is preferred that the length of the first or inner brake component in the axial direction be greater than the length of a transmission component in the axial direction. If the transmission component is shorter in the axial direction than the first brake component, this leads to a three-dimensional concentration of the magnetic field in the edge region of the transmission component or the rolling element. The magnetic field can practically only penetrate the gap in the sections where a transmission component or a rolling element is located.

[0075] Preferably, the length of the gap in the axial direction is at least twice as large as the length of a transmission component in the axial direction. It is also possible and preferred for two or more transmission components, and in particular rolling elements, to be arranged one behind the other in the axial direction. For example, it is possible for magnetically conductive transmission components and magnetically non-conductive transmission components to alternate in the axial direction, so that, for example, every second or third transmission component in the axial direction is magnetically non-conductive. This creates a concentration of the magnetic field (high field strengths in the effective gap for the magnetically conductive transmission components), which is advantageous for the maximum braking torque that can be generated.

[0076] In certain embodiments, the first brake component is essentially cylindrical and comprises a cylindrical base body as the core and the electrical coil(s). However, other shapes (e.g., ellipses) can also be chosen.

[0077] It is also possible, for example, to include a ball for supporting a rotary knob or the braking device of the device component, which can be arranged centrally at the distal end in order to provide a simple bearing between the first braking component and the second braking component.

[0078] It is possible for the electrical coil to be wound at least partially in axial slots and / or transverse slots of the cylindrical stator body of the stator unit (the first brake component). Preferably, the windings of the electrical coil or the entire component are encapsulated with potting compound. It is preferable to at least partially fill any axial slots and / or transverse slots with potting compound. This prevents magnetorheological medium or magnetorheological fluid from entering the area of ​​the coil wires. In the case of a magnetorheological fluid, this could lead to fluid separation.

[0079] Preferably, the support body and / or the stator unit, and preferably the stator shaft, have a cable duct. Connection cables for the coil and / or sensor cables, etc., can be routed through the cable duct. This enables easy assembly and cost-effective production.

[0080] Preferably, the support body has a receptacle for a rotationally fixed connection to the first brake component. The support body can accommodate the first brake component in a force-locking and / or form-locking manner. During operation, the braking torque between the first brake component and the second brake component is dissipated via the support body.

[0081] Preferably, the stator unit has a cylindrical receptacle for a bearing unit and supports the second brake component rotatably on the stator unit.

[0082] The seal for sealing the gap is preferably arranged on the cylindrical running surface, with the seal in particular being arranged closer to the gap than the bearing unit. This reliably protects the bearing unit from the magnetorheological medium. Such a design enables a compact design and reliable operation. The bearing unit can be, for example, a plain or rolling bearing.

[0083] The haptic control device can be attached to a console or to other parts.

[0084] Preferably, a relative angular position or an absolute angular position can be detected. Preferably, an accuracy of better than 1°, in particular better than 0.5°, and particularly preferably better than 0.2° or 0.1°.

[0085] Preferably, a user interface, a control panel, a display, a touch-sensitive display with or without haptic feedback, and / or at least one sensor is attached. Such a configuration enables not only operation but also the simultaneous display or output of information during operation. This allows, for example, a control button with a simultaneous output display.

[0086] In all designs, it is possible for a pressure-sensitive sensor to be attached to the support body or the stator unit, or for such a sensor to be assigned to the stator unit. For example, a pressure-sensitive sensor can be mounted in the stator unit. However, it is also possible for a piezo sensor to be mounted on the lower part of the stator unit or on the console, etc. An axial displacement of the two brake components relative to each other can also be registered. Haptic feedback can be provided in this case.

[0087] In all embodiments, it is preferred that the difference between a clear inner diameter of the outer brake body and a minimum outer diameter of the first brake component is greater than 1, 2, or 3 mm and less than 50 mm. It is also preferred that the outer diameter of the outer brake body is between 5 mm or 10 mm and 90 mm.

[0088] The height of the control element is preferably between 5 mm and 100 mm. In all embodiments, it is preferred that a control device be included, which is designed to produce a variable and specifically controllable braking effect with the electric coil.

[0089] Overall, the present invention particularly preferably works according to the basic principle of wedge clamping, whereby a transmission component brushes along the walls at a certain distance or, if necessary, rolls on them. The wedge effect is created by a magnetic field, so that a high braking torque can be generated. Preferably, a magnetic field is generated transversely to (the core) of the first braking component. The radially enlarged electrical coil allows higher braking torques to be generated with a smaller design. The use of this axial coil enables better scalability. This makes it possible to generate a scalable and larger braking torque using longer rolling elements and an axially longer electrical coil, or a correspondingly smaller braking torque with a shorter design.The diameter of the first braking component does not need to be larger to transmit a sufficient magnetic field, because axially adjusting the core also increases the core's surface area (cross-sectional area). If necessary, the axial length can also be reduced if only a relatively low braking torque is required. The installation space can be adjusted accordingly.

[0090] A further advantage is that the electrical connection cable for the electric coil can be easily routed out, even for large-scale production. Sealing of the magnetorheological braking system and scaling can be achieved using simple means.

[0091] In principle, a greater torque can be generated by the magnetorheological braking system over longer rolling elements due to the increased effective length. The significantly larger core area ensures that the transmission components are always exposed to a corresponding magnetic flux density. The magnetic field strength of the "wedge" on the transmission component can be selected higher than in the state of the art. Long transmission components can be used, to which a sufficiently strong magnetic field can be applied.

[0092] In particular, the magnetic field generated by the electric coil passes radially through the core, then through the rolling elements and closes via the (sleeve part or) the outer brake body. The magnetic field lines close once in one, e.g. lower or left, and once in the other, e.g. upper or right half of the outer brake body. The paths are therefore short, which results in a better response time (lower inductance or time constant (Tau)). In simple designs, the magnetic flux is therefore essentially two-dimensional. It does not matter how long, short or high the transmission components are. This means that any scaling in length can be achieved, since the magnetic field transmission area grows accordingly.In the case of electrical coils wound concentrically around the longitudinal direction of the first braking component (state of the art), the cross-sectional area in the core always remains the same, thus forming a bottleneck for the magnetic field as long as the diameter remains unchanged. However, a larger diameter of the first braking component also changes the space requirements, the installation dimensions, and the weight of the magnetorheological braking device. Furthermore, the torque intervals and the rotational speeds of the rolling elements change, which is not always advantageous. However, this does not change when the available core cross-section is increased and a linear extension is achieved, as in the present invention.

[0093] If longer rolling elements are used, the braking effect of one long roller can be better than that of two short ones of the same overall length. This is due, among other things, to the fact that the fluid must be displaced over a longer distance because the edge is further away (hydrodynamic pressure).

[0094] In preferred embodiments, the magnetorheological braking device has a diameter of the outer braking body (and thus of the second braking device) of between approximately 5 and 40 mm (+ / - 20%) and in preferred embodiments approximately 7 or 10 to 20 mm.

[0095] Overall, the invention provides an advantageous haptic operating device with a magnetorheological braking device ("MR brake"). The outer diameter of the MR brake is usually predetermined, especially in haptic applications. Ergonomic guidelines or installation space requirements apply here. Therefore, the core cross-section cannot generally be increased so easily, because this also increases the outer diameter (button outer diameter; surface for the fingers). Furthermore, as the outer diameter increases, more locking torque is required, as the torque difference becomes larger. The finger force, i.e., the (tangential) force between the actuating finger(s) and the braking element or the outer surface of the braking element, must or should remain constant, since, on the one hand, the user can only apply a certain amount of force, and, on the other hand, the necessary forces at the fingers (fingertips) are important for comfort during operation (operating quality).

[0096] The invention achieves the goal of obtaining a haptic operating device that is as simple as possible but still easily scalable with a high braking torque and a compact outer diameter.

[0097] Potting the electrical coil is advantageous to prevent the MR fluid (carrier fluid) from entering the spaces between the coil wires (capillary effect). This can otherwise lead to segregation. Instead of a (cylindrical) coil wire, a flat material made of copper or another suitable material can be used.

[0098] The core, rolling elements, and outer brake element can be made of a simple steel (e.g., S235) with no stringent requirements regarding surface finish and hardness, preferably with good magnetic properties. However, rolling elements (stacked several on top of each other) or balls or other shaped transmission components can also be used. Spacers (guide plates) can be provided between the rolling elements.

[0099] The remaining space (gap) between the core and the outer cylinder next to the electrical coil does not necessarily have to be (almost) completely filled with roller elements. Spacers between the roller elements, or one or more roller elements or transmission components made of non-magnetically conductive material—together with roller elements or transmission components made of magnetically conductive material—can also be used.

[0100] The counter torque can be diverted to, for example, a bracket, base plate, mounting plate, housing, or another component. The stator unit preferably has a hole through which the cables are routed. A sealing element (e.g., an O-ring) preferably seals the cable from the stator unit or the interior, preventing fluid from escaping from the interior via the cable. In addition to the (coil) cable, a temperature sensor cable or other sensor cable can also be routed through this opening.

[0101] The stator body can also be made of a different material, such as the core, roller body, or outer brake body. The preferred roller body height is between 3 and 6 mm, but can also be 1 or 2 mm.

[0102] A decorative element or other control element can be mounted above the outer brake body, such as a rubberized button or a friction wheel or a special knurl or the like.

[0103] Preferably, at least one component through which the magnetic field flows consists at least partially or completely of the material FeSi3P.

[0104] In particularly preferred developments of the haptic operating device, the outer brake component is mounted on the support body by means of at least one bearing unit of at least one bearing device for its rotatability about the inner brake component, so that the outer brake component is mounted independently of the inner brake component by means of the bearing unit.

[0105] Preferably, the rotor unit is mounted on the support body by means of at least one bearing unit of at least one bearing device for its rotation about the stator unit, so that the bearing unit provides support for the rotor unit independently of the stator unit.

[0106] In particular, the outer brake component is mounted radially outward on the support body by means of the bearing unit.

[0107] It is advantageous if the bearing unit is arranged on a radial outer side of the outer brake component and if the outer brake component is arranged at least partially between the bearing unit and the inner brake component.

[0108] Preferably, the bearing unit only partially surrounds the outer brake component radially. Preferably, the bearing unit surrounds the outer brake component radially in a form-fitting manner, so that the outer brake component cannot leave the bearing unit in the radial direction. In particular, the outer brake component is mounted on the support body only with a radial portion of its circumference.

[0109] Preferably, the outer brake component is not mounted on the inner brake component and preferably only on the support body.

[0110] It is possible and preferred that at least one bearing unit provides at least one fixed bearing for blocking an axial mobility of the outer brake component and / or that the at least one bearing unit is assigned at least one travel limit for an axial mobility of the outer brake component in at least one direction.

[0111] In particular, a shaft of the inner brake component is arranged on the support body by means of at least one shaft holder.

[0112] Preferably, the stator unit is arranged in a rotationally fixed manner on the shaft holder. In particular, the shaft holder is arranged axially displaceably on the support body, and the shaft holder radially surrounds the outer brake component at least in sections.

[0113] It is preferred that the outer brake component is mounted axially displaceably on the support body.

[0114] In particular, the inner brake component is only attached to the support body on one side and / or is only attached to the support body with one end section of the shaft.

[0115] Preferably, at least one alignment device is included for aligning an axial center axis of the inner brake component, in particular for aligning the shaft relative to an axial center axis or rotational axis of the outer brake component.

[0116] Preferably, at least one shaft of the inner brake component can be aligned with the shaft holder by means of the alignment device. In particular, the shaft comprises at least one conical alignment section, which is arranged in and / or on a corresponding conical alignment part of the shaft holder.

[0117] It is advantageous if the shaft holder can be aligned to the support body and / or the outer brake component to the shaft holder by means of the alignment device.

[0118] In particular, the shaft holder is designed to be at least partially axially symmetrical, so that an axial center axis of a section of the shaft holder which radially surrounds the outer brake component and an axial center axis of a section of the shaft holder to which the inner brake component is fastened are arranged parallel and in particular overlapping.

[0119] The outer brake component may be rotatably mounted on a portion of the shaft holder which radially surrounds the outer brake component.

[0120] Preferably, a portion of the shaft holder radially surrounds the outer brake component and is arranged with its outer side at least partially in the support body and is preferably arranged there in a rotationally fixed manner.

[0121] In particular, a deceleration torque occurring during a deceleration of the rotational movement of the outer brake component can be dissipated into the supporting body via the inner brake component.

[0122] A pressure load exerted on the outer brake component during an operating process can be dissipated into the support body, in particular at least via the bearing unit, bypassing the inner brake component.

[0123] The bearing device comprises in particular at least one further bearing unit and the outer brake component is in particular also mounted on the support body by means of the at least one further bearing unit.

[0124] The outer braking component comprises or is designed as at least one control wheel. The control wheel is preferably a finger roller and particularly preferably a mouse wheel.

[0125] The magnetorheological medium comprises, in particular, particles that can be specifically influenced by means of a magnetic field. In particular, the particles are held in a carrier medium. In particular, the carrier medium is provided by ambient air and / or a fluid that is different from the ambient air. The carrier medium can also differ from the ambient air at least in terms of pressure. For example, the particles can be subjected to a negative pressure or held under a vacuum in a fluid or in the ambient air or gas mixture. In particular, a space or gap for the magnetorheological medium is arranged between the rotor unit and the stator unit, which space or gap is adapted to the respective medium. The seal is preferably suitable and designed to seal the gap to the outside for such a magnetorheological medium and, for example, for particles in air as a medium and / or in a liquid medium.

[0126] In particular, ferromagnetic and / or ferrimagnetic and / or superparamagnetic particles, and preferably at least particles of carbonyl iron powder, are provided. A magnetorheological medium, which is provided from carbonyl iron powder in ambient air, can be used particularly advantageously in the operating device shown here. Auxiliary substances can also be added, which in particular improve lubrication. In particular, the particles have a particle size distribution between one and twenty micrometers. Also possible are smaller (< 1 micrometer) to very small (a few nanometers, typically 5 to 10 nanometers) or larger particles of thirty, forty, and fifty micrometers.

[0127] In a preferred embodiment, the operating device comprises a control device that is suitable and configured to brake the rotational movement of the operating part by means of the, in particular, magnetorheological braking device, depending on the operating state of a motor vehicle. The operating state preferably comprises at least one driving mode and at least one stationary mode. The stationary mode, in particular, comprises at least one charging mode for a traction battery of an at least partially electrically powered vehicle.

[0128] In particular, the control device is suitable and designed to automatically select, set, or suggest a functional level that can be operated with the control unit depending on the operating state, preferably using a machine learning algorithm. In particular, the functional level comprises at least one entertainment function. In particular, the entertainment function is selected depending on the stationary mode. In particular, the functional level comprises at least one driver assistance function. In particular, the driver assistance function is selected depending on the driving mode.

[0129] It is preferred and advantageous for the control device to be suitable and configured to automatically block and / or not suggest a functional level depending on the operating state, preferably using the machine learning algorithm. In particular, depending on the driving mode, functional levels that are likely to distract the driver and / or that are prohibited by law while driving are specifically blocked and / or not suggested. In particular, the control device can store which functional levels should be blocked and / or not suggested.

[0130] Such further developments can be implemented purely as an example as follows (individual features can be implemented on their own or in any combination with one another): Electric / hybrid vehicles require more time to refuel (charge) than vehicles with combustion engines. Depending on the charging structure and battery size, this can be several hours. Even with rapid charging stations (800 volts), charging takes noticeably longer than when refueling with fossil fuel. A motor vehicle is equipped with many control elements, some of which are designed like the control element described here. During the charging process (idling), the adaptive (magnetorheological) control elements in the vehicle are haptically controlled in such a way that the driver can use them to pass the time or to work (set entertainment functions). The car, including the control elements, then becomes an office or gaming station. For example, a control element designed as a rotary wheel orA thumb roller-shaped control unit in the steering wheel or center console can be used as a computer mouse wheel, the head-up display, instrument panel display or other (touch) displays can be used as a display unit, the lighting can be used to create effects and voice input can be used to dictate text, for example. Even a multifunctional seat (its massage function) or the chassis can be included (e.g. air suspension of a car or truck) and certain game situations can be simulated more realistically. The indicator, gear lever, (shift) rocker switches or pedals can be used as control elements in games, the (by wire) pedals for steering a car in a gaming game (e.g. Need for Speed...), and the steering wheel, especially in cars with steer by wire, or all of these together as a flight simulator control / game. For this, the haptics (force feedback) must bethe force over distance or the torque over angle can be variably set and adjusted according to requirements (particularly by the control device which specifically activates the braking device). The haptic feedback of the thumb roller in the steering wheel has been enhanced so that, for example, in conjunction with an office application (PC), it is easier to scroll through pages; a brief increase in force is noticeable in the user's finger when turning a page. The input wheel is harder to turn (stops) at the end of pages, at the end of the view, at maximum / minimum zoom, at the end of lists, etc. It is locked when accessing prohibited pages (e.g. as a parental control on the Internet). The grid of the input wheel can be switched on and off and the grid strength can be changed. The user can set the grid width as required. File folder and file sizes are indicated by more resistance when moving.When scrolling through folders, the resistance is greater for large folders and less for small files and individual files. The thumb roller, which becomes a mouse wheel, can change its scrolling behavior when the cursor approaches a desired (favorite) point (or fixed points, at a constant distance, etc.). If the mouse wheel is used for gaming, the torque should generally be reduced (e.g. less than 1 Nm), because the adaptive rotary wheel is used for much longer than for adjusting a menu while driving a car, and is therefore more strenuous. When driving a car or while driving, the controls should be a little harder (higher torque or force; e.g. 2 Nm or more), because the vehicle is exposed to vibrations and driving is a dynamic process (external forces act on it). This allows for safe user inputs. Using the controls when stationary or in motionCharging the battery is a completely static process during which the control element is used for a long time and intensively, but in a quiet environment. Excessive forces or torque lead to faster fatigue of the input elements (fingers, hand, foot) and, with very intensive input, can sometimes lead to inflammation (e.g., tendonitis). In addition, in games or office applications, the torque must be varied more finely and in more stages (more diverse) and with different haptic curves than when operating a car. The modes are programmable, especially when used as a non-driving-specific control element, so that every user can implement their own ideas. A simple app for adapting individual haptic feedback can be implemented for this purpose. The haptics in the vehicle can also be adopted from the games console at home or the PC in the office (e.g., settings are saved and adopted in the cloud).However, the haptics should return to a standard mode for driving-specific inputs, so that the driver receives reproducible feedback for driving events, especially if these are safety-relevant (e.g., cruise control, distance control, accelerator, brake, etc.). The above is also advantageous for the rear seats of the car. There, too, the adaptive rotary controls for the ventilation or the input devices for the air conditioning can be used haptically as input devices for gaming. For example, children can use the existing controls multifunctionally while charging the battery or driving, thus passing the time. The vehicle can also be used in the garage as a "game simulator" or as a "driving school simulator"; it doesn't have to be limited to charging the battery. Similar designs can also be used for other vehicles such as trucks, off-highway vehicles, motorcycles, snow groomers, airplanes, bicycles, etc., i.e. vehicles that have controls that can be adaptively adjusted.

[0131] Further advantages and features of the present invention will become apparent from the embodiments which are explained below with reference to the accompanying figures.

[0132] The figures show: Fig. 1a-1f schematic three-dimensional views of haptic operating devices with a magnetorheological braking device; Fig. 2 a highly schematic cross-section through a rolling element of a magnetorheological braking device; Fig. 3 a schematic cross-section through a haptic operating device with a magnetorheological braking device; Fig. 4a-4c various cross-sections of further haptic operating devices; Fig. 5a-5e schematic representations of further embodiments of the haptic operating device in sectional side views; Fig. 6-12 schematic overall and detailed representations of a further haptic operating device; Fig. 13a-e schematic representations of the mobility of the operating part by the magnetorheological braking device when the operating part is actuated.

[0133] Figures 1a to 1fshow several haptic operating devices 100 or device components 200, on each of which at least one magnetorheological braking device 1 and at least one operating part 101 can be used.

[0134] Figure 1a shows a haptic control device 100 designed as a haptic control button. The control button is attached to the console or a support body 50. The control button 101 is operated by rotating the control part 101. The user interface 43 can also be used to transmit information.

[0135] In Figure 1b The device component 200 is depicted as a haptic operating device 100 with a thumb roller 102. The thumb roller 102 is preferably used, for example, in vehicle steering wheels. However, the thumb roller is not limited to this application. The thumb roller 102 can generally also be used with any other finger, depending on the installation situation.

[0136] If the control unit 101 or the thumb roller is not operated, vibrations from, for example, a vehicle can be transmitted to it. This can transfer vibrations from the moving vehicle to the steering wheel or the center console. This can then cause the control unit or the thumb roller to move unintentionally due to the vibrations. To prevent this from happening, the electrical coil 26a (see Fig. 3) of the thumb roller can be slightly energized when not in use, which essentially increases the base torque. The software monitors the control unit 101. If the angle of rotation of the control unit 101 (rotary knob, thumbwheel, thumb roller, etc.) continues to change even when slightly energized, then it is the user who wants to turn the control unit 101. The software then releases the control unit 101 to rotate and the change in angle is then passed on (input). Touch or near-field sensors can be used so that the control unit knows when the rotation comes from the user and when not. This is particularly useful if such sensors have already been installed. A minor disadvantage is a slightly increased power consumption and a slightly increased base torque (the knob sticking) at the beginning of the rotation.

[0137] In Figure 1c and Figure 1dThe haptic operating device 100 is designed as a computer mouse 103. The controllable magnetorheological braking device 1 of the haptic operating device 100 is housed in the mouse wheel 106. The mouse wheel 106 serves as the operating part 101 or is connected or coupled thereto. The magnetorheological braking device 1 can be used to control haptic feedback.

[0138] Figure 1e shows a joystick 104 as a haptic operating device 100, in which a magnetorheological braking device 1 is housed. Furthermore, the magnetorheological braking device 100 can also be used in a gamepad 105 to provide the player with haptic feedback depending on the game situation.

[0139] In these embodiments, the magnetorheological braking device 1 has a rotatable operating part 101. The torque required to rotate the operating part 101 can be adjusted via the magnetorheological braking device 1.

[0140] A user interface 43 can be arranged on the top side of the haptic operating device 100. Such a user interface 43 can be designed, for example, as a display device or as a touch-sensitive input option (touchpad, motion and gesture control, image recognition, etc.).

[0141] A haptic operating device 100 can be used, for example, to operate machines, medical devices, or for use in and for motor vehicles. It can also be used on other devices or other devices.

[0142] Figure 2shows a highly schematic cross-sectional view of a magnetorheological braking device 1 for influencing the power transmission between two braking components 2 and 3. In this case, between the two braking components 2 and 3 in Fig. 2 A rolling element or rotating body 11 is provided. The rolling element 11 is designed here as a ball or roller 15. However, it is also possible to design rolling elements 11 as cylinders or ellipsoids, rollers, or other rotatable rotating bodies. Even rotating bodies that are not rotationally symmetrical in the true sense, such as a gear or rotating body 11 with a specific surface structure, can be used as rolling elements.

[0143] It is also conceivable in all configurations and designs that individual or all rolling elements 11 are used (not only for transmitting torque, but also) for supporting the brake components 2 and 3 relative to one another, so that a separate bearing device 30 or separate bearing points are not required. In particularly simple designs, this can be achieved using rolling elements 11 in the form of, for example, rollers made of a non- or almost non-magnetically conductive material.

[0144] Between the brake components 2 and 3, a channel or gap 5 is provided, which has a gap width 5a and is filled with a medium 6. The medium here is a magnetorheological fluid, which, for example, comprises an oil as the carrier fluid in which ferromagnetic particles 19 are present. Glycol, grease, silicone, water, wax, and thick or thin substances can also be used as the carrier medium, but are not limited to these. The carrier medium can also be gaseous and / or a gas mixture (e.g., air or ambient air, nitrogen, gas or gas mixture, air mixture), or the carrier medium can be omitted (vacuum or air and, for example, ambient air). In this case, only particles that can be influenced by the magnetic field (e.g., carbonyl iron) are filled into the active gap (gap) or channel.Mixing with other particles—preferably with lubricating properties—such as graphite, molybdenum, plastic particles, or polymeric materials is possible. A combination of the aforementioned materials is also possible (e.g., carbonyl iron powder mixed with graphite and air as a carrier medium). Carbonyl iron powder without a (liquid) carrier medium can be used, for example, with the powder designated CIP ER from BASF, which has a minimum iron content of 97%, no coating, and an average particle size of 5.1 µm, or with CIP SQ-R from BASF, which has a minimum iron content of 98.5%, an average particle size of 4.5 µm, and an SiO2 coating. The various powders differ in particle size distribution, coating, particle shape, etc.

[0145] The ferromagnetic or ferrimagnetic particles 19 are preferably carbonyl iron powder with spherical microparticles, whereby the size distribution and shape of the particles depend on the specific application. Specifically, a particle size distribution between one and twenty micrometers is preferred, although smaller (< 1 micrometer) to very small (a few nanometers, typically 5 to 10 nanometers) or larger particles of twenty, thirty, forty, and fifty micrometers are also possible. Depending on the application, the particle size can also be significantly larger, even reaching the millimeter range (particle spheres). The particles can also have a special coating / shell (titanium coating, ceramic, carbon shell, polymer coating, etc.) so that they can better withstand the high pressure loads that may occur depending on the application or are stabilized. The particles can also have a coating against corrosion or electrical conduction.The magnetorheological particles for this application can be made not only from carbonyl iron powder (pure iron; iron pentacarbonyl), but also from special iron (harder steel) or other special materials (magnetite, cobalt, etc.), or a combination thereof. Superparamagnetic particles with low hysteresis are also possible and advantageous.

[0146] The rolling element 11 is preferably set in rotation about its rotational axis 12 by the relative movement 17 of the two brake components 2 and 3 and practically runs on the surface of the brake component 3. At the same time, the rolling element 11 runs on the surface of the other brake component 2, so that a relative speed 18 exists there.

[0147] Strictly speaking, the rolling element 11 has no direct contact with the surface of the brake components 2 and / or 3 and therefore does not roll directly on it. The free distance 9 from the rolling element 11 to one of the surfaces of the brake components 2 or 3 is, for example, 140 µm. In a specific embodiment with particle sizes between 1 µm and 10 µm, the free distance is in particular between 75 µm and 300 µm, and particularly preferably between 100 µm and 200 µm.

[0148] The free distance 9 is in particular at least ten times the diameter of a typical average particle diameter. Preferably, the free distance 9 is at least ten times the diameter of a typical largest particle. The lack of direct contact results in a very low basic friction / force / torque when the brake components 2 and 3 move relative to each other.

[0149] If the magnetorheological braking device 1 is subjected to a magnetic field, the field lines form depending on the distance between the rolling elements 11 and the brake components 2, 3. The rolling element 11 is made of a ferromagnetic material, e.g., in this case ST 37 (S235). The steel type ST 37 has a magnetic permeability ur of approximately 2000 (in the relevant range). The field lines (magnetic circuit) pass through the rolling element and concentrate in the rolling element. At the radial entry and exit surface of the field lines on the rolling element, there is a high magnetic flux density in the channel or gap 5. The inhomogeneous and strong field there leads to a local and strong cross-linking of the magnetically polarizable particles 19 (magnetic interlinking).The rotational movement of the rolling element 11 toward the wedge forming in the magnetorheological fluid greatly increases the effect, and the potential braking or clutch torque is increased dramatically, far beyond the amount that can normally be generated in the magnetorheological fluid. Preferably, the rolling elements 11 and the brake components 2, 3 are made at least partially of ferromagnetic material, which is why the magnetic flux density increases the smaller the distance between the rotating element 11 and the brake components 2, 3. This creates a substantially wedge-shaped region 16 in the medium, in which the gradient of the magnetic field increases sharply toward the acute angle 16a at the contact point or the region of the smallest distance.

[0150] Despite the distance between the rolling element 11 and the brake components 2, 3, the relative speed of the surfaces can cause the rolling element 11 to rotate. This rotational movement is possible both with and without an active magnetic field 8.

[0151] If the magnetorheological braking device 1 is exposed to a magnetic field 8 of a Figure 2 not shown electrical coil 26a (see ZB Figure 3 ), the individual particles 19 of the magnetorheological fluid 6 link up along the field lines of the magnetic field 8. It should be noted that the Figure 2 The vectors drawn in only a rough schematic representation of the field line region relevant to influencing the MRF. The field lines essentially enter channel 5 perpendicular to the surfaces of the ferromagnetic components and do not necessarily run in a straight line, especially in the acute-angled region 16a.

[0152] At the same time, some material on the circumference of the rolling element 11 is set into rotation by the magnetorheological fluid, so that an acute-angled region 16a is formed between the braking component 3 and the rolling element 11. On the other side, an identical acute-angled region 10 is created between the rolling element 11 and the braking component 2. The acute-angled regions 10 can, for example, have a wedge shape 16 in the case of cylindrically designed rolling elements 11. Due to the wedge shape 16, further rotation of the rolling element 11 is hindered, so that the effect of the magnetic field on the magnetorheological fluid is intensified, since the acting magnetic field within the acute-angled region 16a results in a stronger cohesion of the medium 6 there. This increases the effect of the magnetorheological fluid in the accumulated pile (the chain formation in the fluid and thus the cohesion or viscosity), which promotes further rotation orMovement of the rotating body 11 is made more difficult.

[0153] Due to the wedge shape 16 (particle accumulation), significantly greater forces or moments can be transmitted than would be possible with a comparable structure that only uses the shear movement without a wedge effect.

[0154] The forces directly transmitted by the applied magnetic field represent only a small portion of the forces that can be transmitted by the device. The magnetic field can be used to control the wedging and thus the mechanical force amplification. The mechanical amplification of the magnetorheological effect can be so extensive that force transmission is possible even after the applied magnetic field has been switched off, once the particles have been wedged together.

[0155] It has been found that the wedge effect of the acute-angled regions 16 results in a considerably greater effect of a magnetic field 8 of a certain strength. This effect can be amplified many times over. In one specific case, the relative speed of two braking components 2 and 3 was influenced approximately ten times as strongly as in the prior art with MRF couplings based on the shear principle, in which a magnetorheological fluid is arranged between two surfaces moving relative to one another and is subjected to the shear forces of the surfaces moving relative to one another. The possible amplification here through the wedge effect depends on various factors. If necessary, it can be further enhanced by a greater surface roughness of the rolling elements 11.It is also possible that outwardly projecting projections are provided on the outer surface of the rolling elements 11, which can lead to an even stronger wedge formation.

[0156] The wedge effect is distributed over the rolling element 11 and components 2 or 3.

[0157] Figure 3 shows a section through a haptic operating device 100 with a magnetorheological braking device 1 having two braking components 2 and 3. The first braking component 2 and the second braking component 3 extend essentially in an axial direction 20.

[0158] The first brake component 2 is arranged here inside the second brake component 3 and is designed as a stator unit 22, which is surrounded by the rotor unit 23 rotatable around it. The stator unit 22 has a stator shaft or shaft 22b and a stator body 22a. The stator body 22a is held in a form-fitting and / or force-fitting manner by a support body 50. The support body 50 can be fastened, for example, to an external console or to a device. The support body 50 is usually fastened in a rotationally fixed manner. Here, the first or inner brake component 2 is connected in a rotationally fixed manner to the support body 50. For this purpose, the shaft 22b of the stator unit 22 is received on the support body 50 in a rotationally fixed manner. The second brake component 3 is received thereon so as to be continuously rotatable relative to the first brake component 2.

[0159] The second or outer brake component 3 is elongated and has the brake body 3a. The outer brake component 3 here forms a rotor unit 23 rotatable about the stator unit 22, in which the magnetically conductive brake body 3a forms the magnetically conductive rotor body 23b. The operating part 101 is coupled to the rotor body 23b or is formed thereby, so that a rotational movement of the operating part 101 is converted into a rotational movement of the rotor body 23b or directly causes it. A covering 49 can be arranged on the operating part 101, which is then actually touched during operation. For this purpose, a larger and possibly very narrow wheel or, for example, a mouse wheel can also be applied.

[0160] The second and outer brake component 3 is rotatably mounted on the support body 50 by the bearing device 30. The bearing device 30 here comprises a first bearing unit 112 and a second bearing unit 118. The inner brake component 2 is mounted on the support body 50 in a rotationally fixed and, if necessary, axially displaceable manner. Forces in a global radial direction 122 can be supported by the bearing device 30 at the bearing units 112, 118 of the bearing device 30, while the first brake component 2 is axially displaceable relative to the second brake component 3.

[0161] Between the brake components 2 and 3, a closed chamber or brake chamber 110 is formed, which is filled with MRF and sealed to the outside by a seal 10. The seal 10 reliably seals the interior and has a seal base 10a and a seal lip 10b. The seal base 10a lies radially inwardly parallel to the stator shaft 22b. The seal lip 10b lies radially outwardly against the inner circumference of the brake body 3a of the outer brake component 3. The brake component 3 has a cylindrical inner diameter on the rotor body, which radially delimits the brake chamber 110 to the outside. The seal lip 10b abuts the cylindrical inner wall at an angle from the inside. The seal 10 has an approximately U- or V-shaped cross-section. The "U" or "V" is open towards the interior of the brake chamber 110. This reinforces the sealing effect from the inside.

[0162] This design is very advantageous. No high stresses occur in the contact section 2b of the stator unit 22 with the seal base 10a. Therefore, a cost-effective material such as a plastic can be selected for the stator shaft 22b. The stator unit can thus be manufactured, for example, in one piece or, in particular, in multiple parts using an injection molding process. The stator shaft does not need to be particularly hard to prevent wear, since no frictional, abrasive contact movement of the seal 10 occurs on the stator shaft 22b. It is not necessary to apply a sleeve made of a more resistant material such as metal to the stator shaft. Since no sliding relative movement of a sealing lip occurs on the stator shaft, no protection against the mechanical action of a sealing lip on the inner brake component 2 is required.

[0163] The outer brake component 3, or the brake body 3a of the outer brake component 3, is designed to be magnetically conductive. The magnetic field 8 of the magnetic field source 26 is conducted through the magnetically conductive brake body 3a and is therefore made of a material that is considerably more resistant to abrasion than the shaft of the inner brake component 2. If necessary, the magnetically conductive brake body 3a can also have an additional hardening or hardening coating on the inside in the contact area 3b with the sealing lip 10b (or even completely). However, the material properties of the magnetically conductive material of the brake body 3a, such as steel, are usually sufficient to ensure sufficient stability.Although a low base torque for rotating the operating part 101 is essential in these applications, it has been found that the design with the sealing lip 10b facing radially outwards, which is inherently less favorable in terms of friction, leads to better results overall than a reversed design. This is despite the friction torque being greater due to the larger circumference of the friction surface and the larger diameter. This is due to the simplified design and also the reduction in the number of parts and the reduced installation space. Overall, an extremely compact design is possible, which has only a minimal base torque and a very high maximum braking torque. The particularly compact design allows the dimensions to be reduced even further, which also allows the base torque to be reduced again. This was an unexpected result.

[0164] The first brake component 2 has a stator body 22a and a core 21 received thereon. The windings of an electrical coil 26a are wound around the core 21. The individual windings of the electrical coil 26a can protrude outwardly beyond the cylindrical stator body 22a, as shown in Fig. 4b shown. However, it is also possible that the turns of the electrical coil 26a do not protrude.

[0165] Radially, between the outer wall of the first brake component 2 and the inner wall of the outer brake body 3a, there is a gap 5, which here is essentially designed as a hollow cylindrical gap. Several transmission components 11, which here are designed as rolling elements, are arranged in the gap. The rolling elements 11 are designed as cylindrical rolling elements and have an outer diameter that is slightly smaller than the gap width of the gap 5. The gap 5 is also filled with a magnetorheological medium.

[0166] For example, an O-ring or similar element filled with air or another gas can be arranged in one area of ​​the gap to provide volume compensation during temperature fluctuations. This also creates a reservoir in case magnetorheological fluid or medium escapes from the interior to the outside during operation. The stator body can move axially here to provide automatic temperature compensation and a reservoir for MRF.

[0167] The (usable) gap length of the gap 5 is here greater than the length of the rolling elements 11. Here, the electrical coil 26a is also longer in the axial direction 20 than the length of the rolling elements 11.

[0168] The core 21 can be seen inside the electrical coil 26a. The stator body 22a has a radially enlarged receptacle. A cable duct 35 extends downward through the shaft 22b. Cables 45 for connecting the electrical coil 26a and, if necessary, sensor lines are routed out there. A control device 27 can be provided or assigned in the base of the shaft 22b or at other suitable locations – even externally – to provide demand-based control.

[0169] The braking chamber 110 is designed to be closed to the outside. The closed chamber 110 comprises the volume 114, which is essentially completely filled with the magnetorheological medium 6.

[0170] A change in the volume of the magnetorheological medium 6 leads to a relative axial displacement of the first braking component 2 to the second braking component 3.

[0171] In case the first braking component 2 is fixed, the second braking component 3 will be in the orientation of Figure 3 shifted to the right. This increases the volume 114 of the closed chamber 110. In particular, a volume change of the magnetorheological medium 6 caused by a temperature increase can be compensated for. The function of the magnetic field source 26 is not affected by this. In the event of a volume decrease, which can be caused by temperature or a leak, the second braking component 3 is shifted to the left.

[0172] During displacement, ambient pressure practically always prevails within the magnetorheological brake component 1. This primarily prevents additional stress on the seal 10. With a compensation device using a gas bladder, however, the interior is always pressurized, resulting in greater leakage and increased friction due to the required improved sealing.

[0173] Figure 4a shows another haptic operating device 100 in section with a similar magnetorheological braking device 1. The transverse grooves 32 are visible, in which the electrical coil 26a is wound at the axial ends of the core 21. In the axial direction, a sealing compound 28 is provided at both ends. In the area of ​​the cable feedthrough 35, a separate seal is provided, for example, via the O-ring or the like shown. There, no relative movement occurs on the O-ring.

[0174] It is also possible for individual rolling elements distributed over part of the circumference to be designed as magnetically non-conductive transmission components. Preferably, all rolling elements are made of magnetically conductive material, such as steel.

[0175] A length or height 23c of the operating part 101 or of the rotor body 23 of the second brake component 3 in the axial direction 20 is preferably between 5 mm and 90 mm. It is possible and in Fig. 4aIt is shown that a separate sleeve 23a is attached to the end of the brake body 3a with the stator shaft 22b, which extends the brake body 3a. Such a sleeve 23a does not have to be made of a magnetically conductive material and preferably does not consist of one here. Such a sleeve 23a increases the axial distance of the electrical coil 26a and the magnetically conductive brake body 3a from the sensor device 70, thus achieving even better magnetic decoupling of the measurement results.

[0176] The sensor device 70 serves to detect an angular position of the two brake components 2, 3 relative to each other, see the enlarged detail in Fig. 4abottom right. Detection is performed using a magnetic ring unit 71 and a magnetic field sensor 72. The sensor device 70 is connected to the second brake component 3 via a decoupling device 78. The decoupling device 78 magnetically decouples the sensor device. The sensor device 70 further comprises a shielding device 75, which here comprises several shielding bodies 76 and surrounds the magnetic ring unit 71 on three sides. A separating unit 77 is provided between the magnetic ring unit and the shielding device 75. The separating unit 77 additionally shields the magnetic ring unit 71. As a result, the volume spanned by the magnetic ring unit 71 is largely shielded from magnetic influences of the electrical coil 26a or other magnetic fields.

[0177] A coating 49 can be applied to the outside of the second brake component 3, so that the external appearance of the rotary knob 23 is essentially determined by the surface of the coating 49.

[0178] The material of the brake body 3a or the rotor body 23b is magnetically conductive and serves to close the magnetic circuit. A wall thickness 23d of the rotor body 23b is preferably at least half the diameter of the rolling elements 11.

[0179] It is preferable to construct the core 21 and the stator shaft 22b in two parts. The separation preferably runs along the Figure 4adrawn center line, resulting in a left and right (core) half. The two core halves can be spaced from each other by a magnetically non-conductive element (e.g. seal). Preferably, the potting compound volume 28 is then part of the core half(s), resulting in a semicircular element with a circumferential groove on the separating surface for the electric coil. Furthermore, the stator body 22a is preferably also separated into two halves. One half of the stator body 22a can also form a part with a core half (be designed as a single piece), or a core half can be designed as a single piece with a complete receiving unit.

[0180] Here, the haptic operating device 100 is mounted on one side with the magnetorheological braking device 1. The second braking component 3 is mounted only at the first end of the closed braking chamber 110. The mounting is carried out on the outside of the outer braking component 3 with a bearing device 30.

[0181] When the volume within the closed brake chamber changes, the first brake component 2 can move slightly back and forth. Here, it is again assumed that the first brake component 2 does not rotate and is mounted for axial displacement. Advantageously, the system operates practically always at ambient pressure within the given range of motion. Additional stress on the seal 10 is prevented.

[0182] Figures 4b and 4c show various schematic cross sections of the magnetorheological braking device 1, which in the embodiment according to Figure 4aand can also be used in other embodiments.

[0183] The inner brake component 2 is stationary and is surrounded by the continuously rotating brake component 3. The second brake component 3 has a magnetically conductive brake body 3a that rotates around the first brake component and is hollow and cylindrical on the inside. The gap 5 extending circumferentially between the first and second brake components 2, 3 is clearly visible. Here, the gap 5 is at least partially and in particular completely filled with a magnetorheological medium 6.

[0184] The first brake component 2 has the core 21 made of a magnetically conductive material, which extends in the axial direction 20, and an electrical coil 26a wound around the core 21 in the axial direction 20 and defines a coil plane 26c. The magnetic field 8 of the electrical coil 26 extends transversely to the axial direction 20 through the first brake component 2 or the core 21.

[0185] It is clearly evident that a maximum outer diameter 26b of the electrical coil 26a in a radial direction 26d within the coil plane 26c is greater than a minimum outer diameter 21b of the core 21 in a radial direction 25 transverse and, for example, perpendicular to the coil plane 26c.

[0186] The rolling elements 11 are each arranged only in angular segments 61, 62 and cannot rotate completely around the core 21, since the electrical coil 26a protrudes into the gap 5 or channel and thus prevents complete rotation.

[0187] This means there is less space available for the rolling elements 11.

[0188] This leads to an even higher concentration of the magnetic field 8. In Figure 4b Three magnetic field lines are shown as examples.

[0189] In Figure 4c The rolling elements 11 are not mounted on a cylindrical outer surface of the core 21, but rather on receptacles 63 specifically adapted to the contour of the rolling elements 11, in which the rolling elements 11 are preferably mounted and guided with some clearance. The transition of the magnetic field 8 into the rolling elements 11 is advantageous because more transmission surface is available between the core 21 or the outer surface 64 of the receptacles 63 and the rolling elements 11.

[0190] The cross section is Fig. 4cpreferably only in the axial end regions, so that the cylindrical rolling elements 11 are guided at the ends by the receptacles 63 and are held in a defined circumferential direction. The core is then formed over the central section, as shown in Fig. 4b .

[0191] In any case, the electrical coil 26a is arranged outside the angular segments 61 and 62. There are no rolling elements 11 outside the angular segments 61 and 62.

[0192] Designs are also possible in which rolling elements 11 are completely omitted. The cores 21 then have outwardly projecting transmission components 11, which extend radially outward from the base body 33. The maximum outer diameter 26a of the coil 26 is larger than the minimum core diameter 21b. The radial extent of the gap 5 varies around the circumference. At the outer ends of the transmission components 11, there is only a small gap dimension 65, while a radial distance 66 between the braking component 2 and the braking component 3 is considerably larger at other locations.

[0193] In all embodiments, a "horizontal or axial coil" is preferably used, in which the electrical coil 26a is wound around the core 21 in the axial direction 20 and again has a maximum radial coil diameter 26b that is larger than a minimum core diameter 21b of the core 21. Then, the rolling elements 11 or transmission elements are not arranged over the entire circumference.

[0194] Preferably, each embodiment includes a sensor device 70 for detecting an angular position of the haptic operating device 100. The magnetic field sensor 72 is preferably integrated in or on the shaft 22b or the first brake component 2.

[0195] The stator unit 22 is designed in two parts. This simplifies the installation of the electrical cables, and in particular the sensor cable 73, within the first brake component 2. The cables can be routed through the open cable entry 35.

[0196] The Figure 5a shows a haptic operating device 100, which can be used on various device components 200 and, among other things, in a computer mouse 103. The haptic operating device 100 comprises a rotatable operating part 101 with a rotor unit 23. Operation is performed by rotating the rotor unit 23.

[0197] The rotor unit 23 is rotatably mounted about a stator unit 22. The stator unit 22 comprises a stator body 22a and a stator shaft 22b. The rotational axis of the rotor unit 23 is shown in dash-dotted lines. The rotational axis also corresponds to an axial center axis of the stator unit 22 and the rotor unit 23.

[0198] The stator unit 22 is attached to a support body 50. The support body 50 can, for example, be a mouse body 103a of the computer mouse 103 of the Fig. 1c Various mouse buttons 103b and 103c can be formed on the mouse body 103a, e.g., to the left and right of the mouse wheel 106.

[0199] The rotational movement or rotatability of the rotor unit 23 around the stator unit 22 can be selectively decelerated by means of a magnetorheologically designed braking device 1. The braking device 1 generates a magnetic field with a magnetic field source 26 (not shown in detail here) and, for example, an electric coil 26a, which acts on a magnetorheological medium (MR fluid) as the braking medium. This leads to a local and strong cross-linking of magnetically polarizable particles and to an increase in the transferable shear stress in the braking medium.

[0200] The braking device 1 thus enables targeted deceleration (braking) and even complete blocking (high braking torque) of the rotary movement. Thus, the braking device 1 can provide haptic feedback during the rotary movement of the rotor unit 23, for example, through a correspondingly perceptible ratchet (ripple) or through dynamically adjustable stops. In order to monitor the rotary position of the rotor unit 23 and to be able to use it to control the braking device 1, a sensor device 70 (see FIG. Fig. 4a ) is provided.

[0201] The braking medium is contained in a brake chamber 110 sealed to the outside. The brake chamber 110 is bounded here by the rotor unit 23 and the stator unit 22.

[0202] The rotor unit 23 is held (only) on the support body 50 (to dissipate the reaction torque generated by braking). This allows the axial dimensions of the operating device 100 to be significantly reduced, which is of great advantage, for example, for installation in a computer mouse 103 or a vehicle steering wheel. Furthermore, a bearing for the rotor unit 23 that is independent of the stator unit 22 is provided here. This allows the bearing forces and pressure loads when turning with a finger to be dissipated directly into the support body 50, bypassing the stator unit 22. The stator unit only sees the reaction torque and no bearing or radial forces, which allows the stator shaft 22b to be dimensioned thinner and thus more space-saving. Overall, this results in a particularly compact and robust, as well as haptically precise, operation.

[0203] To support the rotor unit 23, a bearing device 30 with a bearing unit 112 and a further bearing unit 118 is provided. The rotor unit 23 is mounted or supported radially outwardly on the support body 50 via the bearing units 112, 118. For this purpose, the bearing units 112, 118 are arranged here on the radial outer side of the rotor unit 23.

[0204] In the area of ​​the additional bearing unit 118, travel stops 44 are arranged on the rotor unit 23. This allows axial displacement of the rotor unit 23 by a defined distance. The travel stops 44 can also be arranged in such a way that axial mobility is blocked.

[0205] If axial mobility of the rotor unit 23 relative to the support body 50 is undesirable, one or both bearing units 112, 118 can also be designed as fixed bearings. For example, the additional bearing unit 118 can be designed as a fixed bearing.

[0206] To enable or compensate for temperature-related or leakage-related volume changes of the brake medium in the brake chamber 110, the volume of the brake chamber 110 can be adjusted. For this purpose, the rotor unit 23 and the stator unit 22 are designed to be axially displaceable relative to one another. The movement for such volume compensation 39 is indicated here by a double arrow.

[0207] During volume compensation 39, the stator shaft 22 is pushed out of the braking chamber 110 or pushed into the chamber. For this purpose, the stator shaft 22b is mounted axially displaceably on the support body 50. However, so that the deceleration torque can be dissipated into the support body 50 during a deceleration of the rotational movement, the stator shaft 22b is also connected to the support body 50 in a rotationally fixed manner.

[0208] The Figure 5b shows a further development of the previously presented haptic operating device 100 from Fig. 5aHere, the stator unit 22 is attached to the support body 50 by a shaft holder 14. The shaft holder 14 is arranged axially displaceably on the support body 50. The stator unit 22, however, is attached to the shaft holder 14 in a rotationally fixed and axially immovable manner.

[0209] As a result, the stator unit 22 moves together with the shaft holder 14 relative to the support body 50 during volume compensation. Due to the shaft holder 14 and its correspondingly large radius, the axial movement can be supported over a larger area (large surfaces; large distances), resulting overall in improved axial guidance and alignment.

[0210] The shaft holder 14 here partially surrounds the outer side of the rotor unit 23 with a section 14a. The bearing unit 112 is arranged on the shaft holder 14, so that the rotor unit 23 is mounted on the support body 50 via the shaft holder 14. This also improves the bearing and axial displaceability as well as the alignment of the components.

[0211] The haptic operating device 100 here comprises an alignment device 7 for aligning the axial center axis of the stator unit 22 relative to the axial center axis or the rotational axis of the rotor unit 23. For the alignment device 7, the shaft holder 14 is designed to be axially symmetrical. As a result, the section 14a of the shaft holder 14, which radially surrounds the rotor unit 23 and on which the bearing unit 112 is also arranged, and a section 14b of the shaft holder 14 have a common axial center axis. Section 14b serves here to secure the stator shaft 22b.

[0212] As a result, the shaft holder 14 enables a precise concentric alignment of the rotor unit 23 and the stator unit 22 and is simultaneously aligned with the support body 50. For example, such an alignment device 7 can be provided by designing the shaft holder 14 as a turned part with a larger central bore for the section 14a and a smaller central bore for the section 14b.

[0213] The Figure 5c shows the related to the Figure 5bThe operating device 100 presented here features an expanded alignment device 7, which achieves even more precise alignment of the stator shaft 22b on or in the shaft holder 14. For this purpose, the stator shaft 22b comprises a conical alignment section 7a. The alignment section 7a is arranged in a corresponding conical alignment part 7b of the shaft holder 14 and, for example, a conical recess. This ensures that the stator unit 22 is optimally aligned (free of play, concentric) when assembled with the shaft holder 14.

[0214] The stator shaft 22b can also be aligned in the shaft holder 14 using a conical collet. Additionally or alternatively, the stator shaft 22b can be screwed into the shaft holder 14 or otherwise fixed in a force-fitting or form-fitting manner. A material-to-material fixation, e.g., by (ultrasonic) welding or gluing, is also possible.

[0215] In the Figure 5dis the one related to the Figure 5c The operating device 100 presented here is shown with an alternative arrangement of the shaft holder 14 and the rotor unit 23. The shaft holder, with its section 14b, encompasses a radial outer side of the rotor unit 23, designed as an extension 37. Such a configuration offers, in addition to the previously discussed advantages, particularly small radial dimensions.

[0216] Here, both bearing units 112, 118 are arranged directly on the support body 50. Alternatively or additionally, a bearing can also be provided on the extension 37.

[0217] In the Figure 5e is the one related to the Figure 5a The operating device 100 presented here is shown with an alternative bearing arrangement. Here, the rotor unit 23 has an extension in the form of an axle stub 119 at one axial end, on which the bearing unit 118 is arranged. Depending on the available installation space, this configuration has advantages.

[0218] With reference to the Figures 6 to 12 A further exemplary embodiment of the haptic operating device 100 will now be described, as it can be used particularly advantageously in various device components 200. For example, it can be used on a computer mouse 103 or a thumb roller 102.

[0219] The support body 50 is designed here in such a way that sufficient space is available to equip the rotor unit 23 with a circumferential ring or the like for, for example, a mouse wheel 106.

[0220] In the Figure 6The haptic operating device 100 is shown in perspective. The stator unit 22 is essentially concealed by other components. Only an electronic unit (PCB and connector) 29 of the braking device 1 is visible. The shaft holder 14 is attached or clipped to the support body 50. In the illustration shown here, only the bearing unit 112 of the bearing device 30 is visible. The additional bearing unit 118 is arranged behind the rotor unit 23 and is not visible.

[0221] The Figure 7 shows the support body 50 of the operating device 100 of the Figure 6The support body 50 is designed here as a one-piece molded part, for example, made of plastic. The bearing units 112, 118 and their receiving areas are clearly visible here. One or more plain bearings or roller bearings, for example, can be arranged in such receiving areas. The receiving areas can also at least partially provide the respective bearing unit 112, 118 themselves.

[0222] The Figure 8 shows a partially sectioned top view of the haptic operating device 100 of the Figure 6 To provide the mouse wheel 106, the rotor unit 23 is equipped with a roughly sketched circumferential ring. In the sectioned section, the conical alignment section 7 of the stator shaft 22b and the associated alignment part 7b in the shaft holder 14 are clearly visible.

[0223] The seal 10 for sealing the brake chamber 110 has an approximately V-shaped cross-section and rests against the stator body with one leg of the "V," namely the seal base 10a. The other leg rests radially on the inner circumference of the magnetically conductive brake body 3b of the outer brake component 3 and seals the brake chamber 110 to the outside via the sealing lip 10b. This allows for a very compact brake chamber 110 and brake device 1. The brake device 1 requires only an extremely small installation volume. The required quantity of magnetorheological medium is also particularly small, which reduces costs.

[0224] The magnetic field of the magnetic field source 26 is closed via the magnetorheological brake body 3a, which is essentially generated by the electrical coil 26a and passes through the radially circumferential gap 5 between the inner brake component 2 and the outer brake component 3.

[0225] A significant advantage of the illustrated internal structure is that the sensor device 70 is arranged axially and radially far away from the electrical coil 26a and the other components of the magnetic circuit, and in particular also from the outer brake body 3a of the outer brake component 3. This significantly reduces the intensity of changing stray fields in the region of the sensor device 70. The sensor device 70 comprises a magnetic field sensor 72 and detects a rotation angle of the rotor unit 23 relative to the stator unit 22. By reducing local magnetic stray fields, the accuracy of the angle determination can be significantly improved.

[0226] If the magnetically conductive outer brake body 3a of the outer brake component 3 is guided further axially toward the sensor device 70, the magnetic fields occurring therein, which change rapidly and repeatedly during operation, have a negative effect on the accuracy. This design significantly increases the accuracy in a simple manner.

[0227] A further and significant improvement in measurement accuracy is achieved by the shielding device 75 and the decoupling device 78. The shielding device 75 extends circumferentially and in cross-section approximately C- or U-shaped around the magnetic ring unit 71, which here has a south pole and a north pole at opposite radial locations. The orientation of the magnetic field on the stator shaft 22b is measured. The lower the influence of external magnetic fields or the magnetic field of the magnetic field source 26, the more accurately the measurement can be made and thus the braking device 1 can be controlled.

[0228] In a simple case, the shielding device 75 comprises several shielding bodies 76 and separating units 77, which together form the shielding device 75. In a specific example, two lateral disc rings and a cylindrical sleeve form three matching shielding bodies that fit tightly against one another and ensure reliable external shielding. The magnetic ring unit 71 is accommodated inside the surrounding profile and is held at a distance from the magnetically conductive shielding bodies 76 by one or more separating units 77. This largely shields the magnetic ring unit 71 and the magnetic field sensor 72 from external magnetic fields.

[0229] The type and arrangement of the seal 10, which rests with the sealing lip 10b on the outside against the inner circumference of the rotor body 23b or the outer brake body 3a, also contributes significantly to the improvement in measuring accuracy and the simplicity of the structure.

[0230] In the Figure 9 The stator unit 22 is shown together with the shaft holder 14. The rotor unit 23 is not shown here for clarity. The core 21 is visible. Next to it, a receptacle or shaped element 22c for guiding the transmission component or rotating body 11 can be seen, which is formed laterally next to the core.

[0231] In the Figure 10 The shaft holder 14 is shown alone. The alignment device 7 with the alignment section 7a of the stator shaft 22b and the alignment part 7b in the shaft holder 14 is clearly visible here. Also clearly visible here is the radially inner receiving area of ​​the shaft holder for the bearing point 112. For example, one or two or more bearing points of the bearing unit 112 can be located there.

[0232] The shaft holder 14 is equipped here with a pin 34 to enable a rotationally fixed connection to the support body 50 (the reaction torque is dissipated via this). The shaft holder 14 also has two grooves 40 in the receiving area for the stator shaft 22b. The grooves 40 serve to rotationally fixedly receive the stator shaft 22b. For this purpose, the stator shaft 22b has two corresponding elevations 41 which engage in the grooves 40. In addition, the shaft holder 14 has adhesive grooves 42 for receiving or distributing an adhesive. The adhesive is used to bond the stator shaft 22b to the shaft holder 14.

[0233] Figure 11 shows a section through a haptic operating device 100, showing the inner brake component 2 and the outer brake component 3, the seal 10, the operating part 101, and the electrical coil 26a. The shaft holder 14 is also visible.

[0234] Figure 12shows a view of the stator unit 22 and the shaft holder 14, whereby the rotor unit 23 is not visible.

[0235] Figures 13a to 13d illustrate different haptic modes when operating the haptic control device 100.

[0236] Figure 13a shows a purely schematic representation of a grid of the movement range when rotating the control part 101, wherein the mobility is influenced by the magnetorheological braking device and a direction-dependent idle is provided.

[0237] The haptic operating device 100 is embodied here as a mouse wheel 106 or includes one. A haptic mode describes one possible embodiment of a method for controlling the operating part 101.

[0238] In the haptic mode shown here, the mouse wheel 106 operates in a direction-dependent manner depending on the movement 809 within the movement range 812. If the control element 101, embodied here as the mouse wheel 106, is rotated to the left, the braking device 1 generates a rotation-angle-dependent detent 810 with stop points 811, which the user perceives as surmountable resistance when rotating. If the mouse wheel 106 is moved to the right, a freewheel 829 occurs, in which the control element 101 can rotate freely. This allows the user to receive direct feedback about their input. The haptic mode is also referred to as press and lock 816.

[0239] Another haptic mode of the process is in Figure 13bAfter a linear movement of the mouse wheel 103, the mobility of the control element 101 is completely blocked by the magnetorheological braking device 1. This effectively prevents an unintentional parallel input by the user. The force at the stop point 121 is so great that it is practically impossible for the user to overcome.

[0240] In Figure 13c Another haptic mode is shown. The grid 120 in the movement range 128 is changed depending on the speed 124 or acceleration 124. When the user rotates the control element 101 quickly, the distance between two adjacent grid points 121 changes depending on the speed. In the illustrated movement 17, the distance between the stop points 121, which the user perceives during rotation, decreases with increasing speed.

[0241] In Figure 13dA further embodiment of the method is shown. The operating element 101 can rotate freely, thus providing an endless range of motion 128. In the present case, individual stop points 121 of the grid 120 are skipped (grid points 125) when the operating element 101 is subject to high acceleration. A speed-dependent grid within the range of motion of the operating element is provided by the magnetorheological braking device.

[0242] The range of motion 128 of a control unit 101 can be varied and, in particular, adjustable depending on the haptic mode. This advantageously allows adaptation of the mobility and haptic feedback to the individual needs of a user or depending on a specific use or program.

[0243] Figure 13eshows the possible use when starting a program or operating a device such as a radio. The control unit 101 can initially be turned with little resistance, e.g. minimally - or in other cases practically not at all. The required torque then increases steeply or suddenly up to threshold 230. After threshold 230 is overcome, a device is started or switched on, for example. The rotational resistance drops to a relative minimum torque 231. Immediately after this, the function of the control unit 101 is changed. As the control is turned further, the volume is changed, for example. Here, the required torque is increased linearly according to the gradient 232. It is also possible that the progression is not linear. It is also possible that, from a certain position (volume, sensitivity, brightness of a light), a steeper gradient is set or the required torque is suddenly increased by a certain amount. For example,A vehicle can also be started using a haptic control device (e.g., a thumbwheel / roller in the steering wheel). Turning the control element 101 (e.g., a wheel or rotary knob) generates a threshold. Once the threshold is exceeded, a function is started, e.g., as when the ignition key is turned to the first position. The rotational resistance then decreases to a smaller or minimal torque. Continuing to turn the key switches to the on mode or preheating in diesel engines. The resistance constantly increases. Further turning starts the engine, just like with a conventional ignition key.

[0244] This function can be adapted to any application, for example, when answering a telephone. First, the user answers the call by turning the rotary knob above a certain torque threshold. After that, the torque decreases, and the user can increase the volume by continuing to turn it or decrease it by counter-turning. When hanging up the phone, the same thing happens in reverse. The same applies to the radio: to turn it on, the thumbwheel is turned above a certain threshold, after which the volume is increased; the resistance increases with the volume.

[0245] The preferably low-alloy steel can retain a residual magnetic field. The steel is preferably demagnetized regularly or as needed (e.g., by a special alternating field).

[0246] The preferred material for the components through which the magnetic field flows is FeSi3P (silicon steel) or a similar material.

[0247] In all cases, voice or sound control can be implemented. Voice control allows adaptive control of the braking system.

[0248] The control can also be supported by artificial intelligence (deep learning / machine learning) to further adapt and improve the haptic functions to the user.

[0249] If the rotating unit is not rotating, i.e., the angle is constant, the current is preferably continuously reduced over time. The current can also be varied depending on the speed (the angular speed of the rotating unit). List of reference symbols: 1 Magnetorheological braking system 22b Stator shaft, shaft 22c Form element 2 Brake component 23 Rotor unit, rotary knob 2b Contact section 23a sleeve 3 Brake component 23b rotor body 3a brake body 23c Height 3b Contact area 23d Wall thickness 5 gap, channel, brake gap 25 radial direction 5a Gap width 26 Magnetic field source 6 medium 26a Sink 7 Alignment device 26b maximum diameter 7a Alignment section 26c Coil level 7b Alignment part 26d radial direction to 26c 8 field, magnetic field 27 Control device 9 free space 28 Potting compound 10 seal 29 Electronics unit 10a Sealing base 30 Storage facility 10b sealing lip 32 transverse groove 11 Transmission components, rolling elements, rotating elements 34 cones 35 Cable entry 12 axis of rotation 37 appendage 14 Shaft holder 39 Volume compensation 14a Section 40 Nut 14b Section 41 Survey 15 cylinder, sphere 42 Adhesive groove 16 wedge shape 43 User interface 16a acute-angled area 44 Path boundary 17 Direction of relative movement 45 Cable 49 coating 18 Direction of relative movement 50 Supporting body, console 61 Angle segment 19 magnetic particles 62 Angle segment 20 axial direction 63 Recording for 11 21 core 64 outer surface 21b minimum diameter 65 radial gap 22 Stator unit 66 radial distance 22a Stator body 67 Inner surface of 23b 70 Sensor device 110 Brake chamber, closed chamber 71 Magnetic ring unit 72 Magnetic field sensor 112 Storage unit first storage location 73 Sensor cable 75 Shielding device 114 Volume of 110 76 Shielding body 118 Storage unit, second storage location 77 Separation unit 78 Decoupling device 119 axle stub 100 Haptic control device 120 Rasterization 121 Anchor point 101 Control head, control unit 122 radial direction (global) 102 Thumb roller 123 Directional dependence 103 computer mouse 124 speed-dependent, acceleration-dependent 103a Mouse body 103b Mouse button 125 Skip 103c Mouse button 126 Press and block 104 joystick 127 Idle, freely rotatable 105 Gamepad 128 Range of motion 106 Mouse wheel 200 Device component

Claims

1. A haptic operating device (100) with a rotatable operating member (101), at least one magnetic field source (26) and at least one magnetorheological braking device (1) for braking a rotary motion of the operating member (101), wherein the magnetorheological braking device (1) comprises at least two brake components (2, 3) rotatable relative to one another, one of which is coupled with the rotatable operating member (101), wherein the second brake component (3) as the outer brake component (3) surrounds the first brake component (2) as the inner brake component (2) at least in sections, and wherein between the two brake components (2, 3) a magnetorheological braking chamber (110) provided with a magnetorheological medium (6) is configured, which comprises at least one gap (5), wherein the inner brake component (2) extends in the axial direction (20), and wherein the inner brake component (2) is configured as a stator unit (22) and the outer brake component (3), as a rotor unit (23), and wherein the outer brake component (3) is rotatably supported on a supporting body (50) by way of at least one bearing unit (112, 118), characterized in that the at least one bearing unit (112, 118) provides at least one fixed bearing for blocking the axial movability of the outer brake component (3), and that the bearing unit (112, 118) acts as a support of the outer brake component (3) independently of the inner brake component (2).

2. The haptic operating device (100) according to claim 1, wherein the outer brake component (3) comprises an outer brake body (3a), which comprises a cylindrical inner surface (67) at least in sections, and wherein at least one transmission component (11) is disposed on at least one angle segment (61, 62) of the outer periphery of the core (21) between the core (21) and the cylindrical inner surface of the outer brake body (3a), and wherein the core (21) configured on the angle segment (61, 62) and / or mold elements (22c) configured laterally adjacent to the core (21) on the stator unit (22), comprise at least one takeup (63) adapted to the shape of the transmission components (11), and wherein the outer surface (64) of the core (21) is configured cylindrically over the angle segment (61, 62).

3. The haptic operating device (100) according to any of the preceding claims, wherein the magnetorheological braking chamber is sealed (110) by at least one seal (10), and wherein the seal (10) comprises a sealing base (10a) connected with the inner brake component (2) and a sealing lip (3b) contacting the outer brake component (3), and wherein the gap (5) can be exposed to a magnetic field (8) of the magnetic field source (26), and wherein the magnetic field passes through the gap (5) and is guided through a magnetically conductive, outer brake body (3a) of the outer brake component (3), and wherein the outer brake component (3) is configured more abrasion-resistant in a contact area (3b) with the sealing lip (10b) than is the inner brake component (2) in a contact portion (2b) with the sealing base (10a).

4. The haptic operating device (100) according to any of the preceding claims, comprising at least one user interface (43), one operating panel, one display, one touch-sensitive display with or without haptic feedback, and wherein the operating member (101) is configured on the outer brake component (3) and is e.g. configured as a rotary part (13), rotary knob (23), mouse wheel (106) or rotary dial.

5. The haptic operating device (100) according to any of the preceding claims, wherein the operating member (101) comprises the outer brake body (3a) of a magnetically conducting material and provides an outer ring (14a) for the magnetic field, and wherein at least one radial wall thickness (23d) of the outer brake body (3a) is at least half the size of the gap width (5a) of the gap (5) and / or the diameter (11a) of the transmission component (11).

6. The haptic operating device (100) according to any of the preceding claims, wherein the outer brake component (3) is supported radially outwardly on the supporting body (50) by means of the bearing unit (112), and wherein the bearing unit (112) is disposed on the radially outwardly face of the outer brake component (3), and wherein the outer brake component (3) is at least partially disposed between the bearing unit (112) and the inner brake component (2).

7. The haptic operating device (100) according to any of the preceding claims, wherein the bearing unit (112) radially surrounds the outer brake component (3) partially only, and wherein the bearing unit (112) radially surrounds the outer brake component (3) in a form-fit, so that the outer brake component (3) cannot detach from the bearing unit (112) in the radial direction, and wherein the outer brake component (3) is supported on the supporting body (50) only with a radial part section of the circumference.

8. The haptic operating device (100) according to any of the preceding claims, wherein the outer brake component (3) is not supported on the inner brake component (2) and preferably only on the supporting body (50), and / or wherein the at least one bearing unit (112) is provided with at least one travel limit (44) for the axial movability of the outer brake component (3) in at least one direction.

9. The haptic operating device (100) according to any of the preceding claims, wherein the shaft (22b) of the inner brake component (2) is disposed on the supporting body (50) by means of at least one shaft holder (14), and wherein the stator unit (22) is non-rotatably disposed on the shaft holder (14), and wherein the shaft holder (14) is axially displaceably disposed on the supporting body (50), and wherein the shaft holder (14) radially surrounds the outer brake component (3) at least in sections.

10. The haptic operating device (100) according to any of the preceding claims, wherein the inner brake component (2) is fastened to the supporting body (50) on one side only, and is in particular fastened to the supporting body (50) only at an end portion of the shaft (22b).

11. The haptic operating device (100) according to any of the preceding claims, comprising at least one alignment device (7) for aligning the axial center axis of the inner brake component (2), in particular of a shaft (22b), relative to the axial center axis respectively rotation axis of the outer brake component (3), wherein at least the shaft (22b) of the inner brake component (2) can be aligned by the shaft holder (14) by means of the alignment device (7), wherein to this end, the shaft (22b) comprises at least one conical alignment section (7a) , which is disposed in and / or on a corresponding conical alignment portion (7b) of the shaft holder (14), and wherein the shaft holder (14) can be aligned to the supporting body (50) and / or the outer brake component (3), to the shaft holder (14), by means of the alignment device (7).

12. The haptic operating device (1) according to the preceding claim, wherein the shaft holder (14) is at least partially configured axially symmetrical, so that the axial center axis of a section (14a) of the shaft holder (14), which radially surrounds the outer brake component (3), and the axial center axis of a section (14b) of the shaft holder (14), to which the inner brake component (2) is fastened, are disposed in parallel and in particular overlapping, and / or wherein the outer brake component (3) is rotatably supported on a section (14a) of the shaft holder (14), which radially surrounds the outer brake component (3).

13. The haptic operating device (100) according to any of the preceding claims, wherein a section (14a) of the shaft holder (14), which radially surrounds the outer brake component (3), is disposed, and preferably disposed non-rotatably with its outside surface at least partially in the supporting body (50), and / or wherein a deceleration torque building up in the case of the rotary motion of the outer brake component (3) decelerating, can be discharged by way of the inner brake component (2) into the supporting body (50), and / or wherein in the scope of operation, a compressive load applied on the outer brake component (3) can be discharged at least via the bearing unit (112), bypassing the inner brake component (2) in the supporting body (50).