Apparatus having a magnetorheological transmission device and a sensor device

Abstract

The invention relates to an apparatus (100) comprising a magnetorheological transmission device (10) having two rotary components (2, 3) that are movable relative to one another. Formed between the rotary components (2, 3) is an encircling gap (4) with a magnetorheological medium (5). A coil device (6) is used to generate a controllable magnetic field in the gap (4). A sensor device (70) is used to sense position information and has two sensor units (7), comprising an active exciter-receiver unit (17) and a passive target unit (27). One sensor unit (7) is arranged on one rotary component (2, 3) and the other sensor unit (7) is arranged on the other rotary component (2, 3). The gap (4) extends at least partially between the sensor units (7).

Description

[0001] Device with a magnetorheological

[0002] transmission device and a sensor device

[0003] The invention relates to a device with at least one magnetorheological transmission device with at least two rotary components movable relative to one another and with at least one sensor device for detecting position information.

[0004] Such devices can be used in a variety of ways, for example as a steering input device for specifying a steering movement according to the steer-by-wire concept or as a haptic control button. As a rule, the device should be able to transmit high torques while simultaneously exhibiting the lowest possible base torque. Furthermore, it is often required that the device be structurally simple and require little installation space. The connection to supply and control lines should also be as simple and reliable as possible.

[0005] Sensor technology plays an important role in the targeted and rapid control of such devices, detecting position information and, for example, the angle of rotation of the rotating components. However, their structural integration often presents considerable difficulties, as the available installation space is usually very limited. Furthermore, the magnetic field of the electrical coil device used to influence the magnetorheological medium regularly interferes with sensors that also generate or detect a magnetic field.

[0006] It is therefore the object of the present invention to provide an improved device which particularly advantageously meets the previously discussed requirements and has a reliable and inexpensive sensor system for detecting position information.

[0007] This object is achieved by a device having the features of claim 1. Preferred developments of the invention are the subject of the subclaims. Further advantages and features of the present invention will become apparent from the general description and the description of the exemplary embodiments.

[0008] The device according to the invention comprises at least one magnetorheological transmission device. The transmission device comprises at least two relatively movable (rotatable) rotary components. At least one circumferential gap is formed between the rotary components. A magnetorheological medium is arranged at least partially in the gap. The device comprises at least one electrical coil device for generating a controllable magnetic field in the gap. In particular, the magnetic field serves to influence the medium in order to adjust the rotational resistance of the rotary components. The device comprises at least one sensor device for detecting (rotational) position information of at least one of the rotary components. The sensor device has at least two sensor units, comprising an active excitation-receiver unit and a passive target unit.In this case, one sensor unit (in particular the excitation-receiver unit) is arranged and, in particular, fastened to one rotating component, and the other sensor unit (in particular the target unit) is arranged and, in particular, fastened to the other rotating component. The gap extends at least partially between the sensor units. In particular, the electric and / or magnetic fields emanating from the sensor units must therefore pass through the gap.

[0009] The device according to the invention offers many advantages. A significant advantage is the special arrangement of the sensor units relative to the rotating components of the transmission device, so that the gap runs between the sensor units. This enables a particularly compact and, at the same time, structurally inexpensive integration of the sensor device into the transmission device. Overall, the invention can implement the previously discussed requirements particularly advantageously.

[0010] Preferably, at least one of the sensor units is arranged at least partially in the gap. At least one of the sensor units can extend at least partially into the gap. At least one of the sensor units can define the gap, at least in sections, in the manner of a wall. In particular, such embodiments are provided for both sensor units.

[0011] It is preferred and advantageous that the magnetorheological medium is arranged at least partially between the sensor units. In particular, electrical and / or magnetic fields emanating from the sensor units (which are transmitted for the purpose of detecting position information) must thereby pass through the medium. The applicant reserves the right to claim a device according to the preamble of claim 1, which is characterized in that the magnetorheological medium is arranged at least partially between the sensor units. This enables a particularly advantageous integration of the sensor device into the transmission device. Surprisingly, it has been shown that the magnetorheological medium does not adversely affect the induction of eddy currents or fields between the sensor units.

[0012] It is also preferred and advantageous for at least one of the sensor units to be at least partially surrounded by the medium (in contact). It is also possible for both sensor units to be at least partially surrounded by the medium (in contact). In particular, the medium at least touches the target unit. Surprisingly, contact with the magnetorheological medium does not adversely affect the signal transmission (of the magnetic fields) between the sensor units.

[0013] In particular, the gap is not divided into two gap zones by a seal or the like, so that the medium would be in one gap zone and the other gap zone would run between the sensor units. In particular, the medium is not shielded from the sensor units by a seal arranged in the gap. This enables a particularly low basic torque, because such a seal would undesirably increase the basic torque. The direct contact of the at least one sensor unit with the medium or the omission of the seal therefore enables particularly smooth rotation of the rotating components. It is fundamentally possible and, in certain embodiments, advantageous to provide a seal which keeps the medium out of the gap between the sensor units. A contactless seal, for example a magnetic seal, can be provided.

[0014] In particular, at least one of the sensor units is connected in a rotationally fixed manner to the rotating component on which the respective sensor unit is arranged. In particular, both sensor units are each connected in a rotationally fixed manner to their associated rotating component. In particular, the sensor units are rotatably mounted relative to one another. In particular, the mounting is achieved by each being attached to one of the rotating components.

[0015] The sensor units are preferably each arranged on an axial end face of their associated rotary component. In particular, the sensor units are arranged on facing end faces. In particular, the gap extends at least partially between the axial end faces of the rotary components.

[0016] In particular, at least one of the sensor units is arranged on a component structure of its associated rotary component that directly delimits the gap. In particular, both sensor units are arranged in this manner. For example, such component structures are the core described below and / or the cover unit described below.

[0017] It is preferred and advantageous for at least one of the sensor units to be arranged on a component structure of its associated rotating component that is magnetically and / or electrically conductive. In particular, this is a component structure through which the controllable magnetic field of the coil device flows when the medium is specifically influenced by the coil device. For example, such a component structure is a core and / or a ring unit or the like.

[0018] In an advantageous development, at least one of the sensor units is at least partially integrally connected to its associated rotating component. The applicant reserves the right to claim a device according to the preamble of claim 1, which is characterized in that at least one of the sensor units is at least partially integrally connected to its associated rotating component. In particular, the target unit is at least partially (preferably its rotor geometry) integrally connected to the rotating component and preferably to its core and / or cover unit.

[0019] In particular, the rotary components are arranged coaxially to one another at least in sections. In particular, one rotary component is arranged radially on the inside and one rotary component is arranged radially on the outside. In particular, the gap runs circumferentially between the inner and the outer rotary component. In particular, the gap also runs on at least one axial end face between the rotary components. In particular, the radially outer rotary component extends at least in sections around the radially inner rotary component. In particular, a core of the radially inner rotary component is completely enclosed by the radially outer rotary component. In particular, one rotary component is stationary. In particular, the other rotary component is rotatably mounted (on the stationary rotary component) such that it can be rotated relative to the stationary rotary component. In particular, the supply lines and / or control lines run through the stationary rotary component.

[0020] It is possible and advantageous for the sensor device to comprise at least one correction device or to be operatively connected to such a device. The correction device is particularly suitable and designed to perform a compensation method using at least one algorithm and preferably to at least partially (automatically) compensate for an off-axis deviation and / or a TIIT deviation.

[0021] Possible manufacturing and / or assembly inaccuracies that could result in the exciter-receiver unit and the target unit and / or the rotating components not being arranged coaxially, i.e. eccentrically (so-called off-axis deviation), to one another, can be taken into account by adapting the measurement signals recorded by the sensor device, e.g. a current curve and / or voltage curve, as part of a compensation process. Such compensation processes or offset compensation processes are sufficiently well known. For example, the sensor device can automatically compensate for this deviation. Sensor devices of this type are available on the market. On the other hand, compensation of the measured values ​​in an evaluation logic that is independent of the sensor device is also conceivable and possible. Other deviations, such as an inclination of the exciter-receiver unit to the target unit (so-calledTi lt deviation) can be compensated by compensation methods.

[0022] In particular, the radially outer rotary component has at least one cover unit. In particular, the cover unit covers the radially inner rotary component and, in particular, its core axially at the front end. Preferably, the cover unit also closes the gap axially at the front end. The cover unit can have at least one (central) through-bore through which the other (inner) rotary component extends.

[0023] In an advantageous embodiment, one of the sensor units is at least partially arranged on the cover unit and preferably fastened thereto. This provides a structurally simple and particularly space-saving housing for the sensor unit. The cover unit is made, in particular, of a magnetically and / or electrically non-conductive material. However, the cover unit can also be magnetically and / or electrically conductive. In this case, a shielding component and / or at least one separation joint is preferably arranged between the cover unit and the target unit.

[0024] The radially outer rotary component in particular has a ring unit. In particular, the ring unit covers the radially inner rotary component. In particular, the ring unit provides at least one cylindrical receiving space for the radially inner rotary component. In particular, the receiving space is axially closed at the end by the cover unit. In particular, the ring unit is designed to be magnetically and / or electrically conductive. In particular, the cover unit is fastened to the ring unit. It is possible for the cover unit and the ring unit to be connected to one another in one piece. In particular, the controllable magnetic field of the coil device flows through the ring unit when the medium is specifically influenced by the coil device.

[0025] It is possible and advantageous for the radially inner rotary component to have a magnetically and / or electrically conductive core. In a particularly advantageous development, one of the sensor units is arranged on the core. In particular, the controllable magnetic field of the coil device flows through the core when the medium is specifically influenced by the coil device. In particular, the gap runs circumferentially around the core and along at least one axial end face of the core. In particular, the sensor unit is arranged on an axial end face of the core. In particular, the end face faces the gap and / or a cover unit of the other rotary component.

[0026] The magnetically conductive component structures of the rotating components, and in particular the core and / or the ring unit, can be equipped with a contour that extends into the gap. This contour preferably results in a gap height that can be varied in the circumferential direction. The contour can, for example, be designed as a star contour or the like.

[0027] The target unit preferably has at least one (relief-like) rotor geometry or is designed as such. In particular, the rotor geometry encodes relative and / or absolute position information. The encoding is carried out in particular by defined zones with different induction effects on the exciter-receiver unit and / or with different conductivity.

[0028] In particular, the zones are distributed in the circumferential direction of the rotor geometry.

[0029] For example, zones that are located closer to the exciter-receiver unit and / or that are more conductive can alternate with zones that are farther from the exciter-receiver unit and / or that are less conductive. The zones are, in particular, part of a relief structure. The zones can be formed or distributed symmetrically and / or asymmetrically. Asymmetry is used, in particular, to detect absolute position information.

[0030] For example, the rotor geometry is wing-like and / or star-shaped. In particular, the rotor geometry is arranged coaxially to the rotational axis of the sensor units or rotating components. In particular, the rotor geometry is magnetic and / or electrically conductive. In particular, the rotor geometry consists of a metallic material.

[0031] The rotor geometry is preferably arranged in the gap. Preferably, the rotor geometry is completely covered by the medium. Information regarding the magnetorheological medium refers in particular to a properly filled and operational transmission device. In particular, the rotor geometry faces the gap and / or the exciter-receiver unit.

[0032] The rotor geometry preferably has at least one relief structure. The relief structure particularly comprises elevations and depressions. The elevations and depressions are particularly arranged in a defined distribution in the circumferential direction or in the intended direction of rotation. It is preferred and advantageous for the depressions to be filled with the medium or with air. In particular, the relief structure is at least partially filled with the medium. In particular, at least one elevation and / or depression differs from the other elevations or depressions, so that at least one item of absolute position information can be encoded.

[0033] In a preferred and advantageous embodiment, the rotor geometry is at least partially connected in one piece with the core or the cover unit. In particular, the rotor geometry is incorporated into the core or the cover unit. In particular, the rotor geometry is formed from fine pieces of material with the core or the cover unit. In particular, the rotor geometry represents an integral component of the core or the cover unit. For example, the rotor geometry is formed on an axial end face of the core. Preferably, the one-piece connection comprises at least the relief structure of the rotor geometry.

[0034] In particular, the rotor geometry is manufactured by removing material from one of the rotating components, preferably from the core or the cover unit. The rotor geometry can also be manufactured by material deposition, for example, by an additive manufacturing process. The rotor geometry can also be formed together with its associated rotating component, for example, by a casting process.

[0035] It is possible and advantageous for the rotor geometry to have at least one separation joint to counteract the propagation of the induced eddy currents into the core.

[0036] In particular, the at least one separation joint is arranged on an axial side of the rotor geometry facing the core. In particular, the separation joint is designed to be circumferential. In particular, the separation joint can also be referred to as an annular groove or undercut. The separation joint is preferably at least partially filled with the medium. However, the separation joint can also be filled with air or a shielding medium. In particular, the separation joint is connected to the gap or is part of the gap. The separation joint is preferred when the rotor geometry is formed integrally with the core or another conductive component structure. However, the separation joint can also be provided when the rotor geometry is attached as a separate component.

[0037] In particular, the separation joint is wider than the part of the rotor geometry separated by the separation joint. At least two or a plurality of separation joints can also be provided. For example, the individual elevations can be at least partially equipped with a separation joint. It is possible for the elevations to be narrower on their axial side facing the core than on their axial side facing the exciter-receiver unit.

[0038] In an advantageous embodiment, the target unit (as a separate component) is attached to the cover unit or to the core. Preferably, a magnetic and / or electrically non-conductive shielding component is arranged between the rotor geometry and the core or between the rotor geometry and the cover unit. This enables uncomplicated and reliable assembly of the rotor geometry and simultaneously prevents the uncontrolled propagation of induced eddy currents. For example, the shielding component is designed as a disk made of a non-conductive material.

[0039] If the rotor geometry is arranged on the cover unit, it is preferably located on an inner side of the cover unit facing the gap. It is also possible for the rotor geometry to be arranged on an outer side of the cover unit facing away from the gap. In this case, the cover unit is particularly permeable to the fields transmitted between the sensor units.

[0040] It is preferred and advantageous for the exciter-receiver unit to be arranged on the same rotating component as the electrical coil device. This enables common cable routing. In particular, the exciter-receiver unit and / or the electrical coil device are arranged on the stationary rotating component. In particular, the target unit is arranged on the same rotating component as the electrical coil device. In particular, the target unit is arranged on the rotatable rotating component.

[0041] In particular, the exciter-receiver unit has at least one exciter coil (primary coil) and at least one receiver coil (secondary coil). In particular, the exciter coil is designed to induce eddy currents in the target unit. In particular, a magnetic and / or electric field can be induced in the receiver coil by means of the eddy currents induced in the target unit. In particular, this field depends on a rotational position (angular position) of the target unit (relative to the exciter-receiver unit). In particular, the field induced in the receiver coil provides position information about the absolute or relative position of the target unit and the rotational component coupled to it to the exciter-receiver unit.

[0042] The excitation coil and the receiver coil are preferably located at least partially in a common plane. In particular, the excitation coil and the receiver coil are arranged on a common interconnection board, for example, a circuit board. In particular, the excitation coil and the receiver coil are connected in a rotationally fixed manner. In particular, the excitation coil and the receiver coil are arranged coaxially.

[0043] It is possible for the exciter-receiver unit to be partially integrally connected to its rotating component. For example, at least one coil carrier for the exciter coil and / or the receiver coil is incorporated into the rotating component.

[0044] In all embodiments, it is particularly preferred and advantageous for the magnetorheological medium to be in the form of a powder. In particular, the powder is absorbed in a gas, preferably in air.

[0045] In particular, the magnetorheological medium comprises magnetically responsive (magnetizable) particles and gas as a filling medium. In particular, the magnetically responsive particles are suspended in air. In particular, the magnetorheological medium is formed as a powder. With such a magnetorheological medium, the invention presented here enables a particularly low fundamental moment. Alternatively, it is conceivable and possible for the magnetorheological medium to comprise magnetizable particles and a carrier fluid, such as oil, water, or alcohol.

[0046] It is particularly preferred that the magnetizable particles (in each case) consist predominantly of carbonyl iron powder or derivatives thereof. Other magnetically responsive particles are also possible. The magnetizable particles can have coatings to protect against abrasion and / or corrosion and / or additional components to make the magnetically responsive particles more durable, abrasion-resistant, and / or more lubricious during operation. The magnetorheological medium can, for example, comprise a graphite additive.

[0047] In particular, one rotary component (in particular the inner rotary component) penetrates the other rotary component (in particular the outer rotary component) on one axial side. It is possible for one (inner) rotary component to penetrate the other (outer) rotary component on both opposite axial sides. In other words, one (inner) rotary component protrudes beyond the other (outer) rotary component in the axial direction on one side or on both sides. As a result, the transmission device can be integrated between two components in the axial direction and serve, for example, as a clutch. The components can be, for example, a steering input device and a motor. The device can comprise such components.

[0048] In particular, at least one shaft seal, e.g., at least one O-ring, is arranged between the rotating components in the region of the at least one penetration. The shaft seal serves, in particular, to seal the active gap to prevent the magnetorheological medium from escaping.

[0049] It is possible for the sensor device to be arranged on the axial side on which the at least one penetration is arranged. In particular, at least one sensor unit is then also penetrated by the rotary component. In particular, the sensor unit which is arranged on the rotary component which is penetrated by the other rotary component is also penetrated by the rotary component. In an advantageous embodiment, the sensor unit is then equipped with a (central) through-bore. In particular, the sensor unit is circular in shape. In particular, the at least one shaft seal is arranged between the penetrated sensor unit and the other sensor unit. The sensor device can also be arranged on the axial side on which no penetration is arranged.

[0050] One rotary component (in particular the inner rotary component) may comprise a shaft. In particular, the other rotary component (in particular the outer rotary component) is mounted on the shaft, thus providing relative rotatability. The shaft may have at least one (central) supply channel in which supply lines for energy and / or signal transmission can be arranged. The supply channel may be formed, for example, as a bore (branch bore or through bore). The shaft may be formed as a hollow shaft.

[0051] In particular, the exciter-receiver unit induces eddy currents in the target unit. In particular, the eddy currents in turn induce a magnetic and / or electric field in the exciter-receiver unit. In particular, the field induced in the exciter-receiver unit depends on a position of the target unit relative to the exciter-receiver unit. In particular, the field induced in the exciter-receiver unit provides absolute and / or relative position information about the position of the target unit. Since the target unit is preferably arranged (rotationally fixed) on one of the rotary components, position information for at least one of the rotary components can thus also be determined. The sensor device is in particular an inductive rotary encoder. In particular, the sensor device is not a Hall sensor.

[0052] The position information can be relative or absolute. The position information can describe the position of one rotary component relative to the other rotary component. The position information can also describe the absolute position of at least one rotary component. It is also possible for the position information to describe a direction of rotation and / or speed and / or acceleration and / or other movement information. Where the gap runs between the sensor units, it extends (with respect to its main plane) in particular transversely to the axis of rotation of the rotary components and / or transversely to the axis of rotation of the sensor units (or in the radial direction).

[0053] The sensor units are in particular arranged adjacent (but spaced apart) from one another. In particular, the spacing is at least the width of the gap between the sensor units. In particular, a spacing between the sensor units is no more than ten times and preferably no more than five times the width of the gap extending between the sensor units. In particular, the sensor units are spaced apart from one another at least by the gap and also by the medium and optionally by at least one shielding component.

[0054] In particular, the sensor units are arranged axially one behind the other. In particular, the axes of rotation of the rotary components and the sensor units are identical. In particular, the sensor units and the rotary components are arranged coaxially to one another. In particular, the sensor units are located at least partially radially within the outer rotary component. In particular, the rotor geometry is arranged radially within the outer rotary component. In particular, the outer rotary component also encloses at least one of the sensor units in the axial direction.

[0055] In particular, the transmission of power or torque can be specifically varied using the transmission device. In particular, the transmission of power or torque between the rotating components can be adjusted by means of the coil device and its magnetic field in the gap (also called the effective gap). In particular, this also results in a change in the resistance to movement (braking effect) for the rotatability of the rotating components. The transmission device can be used as a coupling device or as a braking device. The rotating components then serve in particular as coupling components or braking components and can be referred to as such. The torque can also be referred to as the braking torque or coupling torque.

[0056] The device can be designed as a steering input device for inputting a steering movement according to the steer-by-wire concept or as an operating device for adjusting operating states by means of rotary movements and / or linear movements (which are converted into rotary movements). The transmission device can be used as a braking device and / or as a clutch.

[0057] In the context of the present invention, a magnetically non-conductive material is understood to mean, in particular, a material with a permeability number of less than ten, and in particular less than two, and for example, one or less than one. Magnetically conductive materials are understood here to mean, in particular, materials with a permeability number greater than ten and preferably ferromagnetic materials. The magnetic conductivity is the "relative magnetic permeability," which is also simply called "magnetic permeability."

[0058] Further advantages and features of the present invention will become apparent from the embodiments which are explained below with reference to the accompanying figures.

[0059] Showing:

[0060] Figure 1 is a purely schematic representation of a device according to the invention in a perspective view;

[0061] Figure 2 shows the device of Fig. 1 in a sectioned

[0062] side view ;

[0063] Figure 3 shows the device in a plane along the line AA of the

[0064] Fig. 2 sectional view;

[0065] Figure 4 shows the device in a sectional view along the line BB of Figure 2;

[0066] Figure 5 is a purely schematic representation of a device according to the invention in a sectional side view;

[0067] Figure 6 shows a further purely schematic representation of a device according to the invention in a sectional side view; and

[0068] Figure 7 is a purely schematic representation of a device according to the invention in a sectional side view.

[0069] Figure 1 shows a device 100 according to the invention with a magnetorheological transmission device 1 with two rotary components 2, 3 and a sensor device 70 (not visible here) for detecting position information of the rotary components 2, 3. The dimensions or ratios here and in the other figures are purely schematic and, in particular, not drawn to scale for reasons of visibility.

[0070] The device 100 here is, for example, an operating device. For this purpose, the radially outer rotary component 3 is designed, for example, as a rotary knob (or thumb roller). The rotary knob can also be coupled to the radially inner rotary component 2. The transmission device 1 generates, for example, haptic feedback while the rotary knob is rotated to adjust operating states.

[0071] However, the device 100 can also be designed, for example, as a steering input device based on the steer-by-wire principle. The transmission device 1 then serves, for example, as an actuator for a steering unit of a vehicle or in a steering wheel of a game controller.

[0072] Figure 2 shows an example of the internal structure of device 100. A gap 4 is formed between the rotating components 2, 3, in which a magnetorheological medium 5 is arranged. A seal 15 is provided to seal the gap 4 from the outside. A magnetic field is generated via a coil device 6 attached to the outer rotating component 3. The magnetic field influences the medium 5, so that the mobility of the rotating components 2, 3 is subjected to a targeted torque.

[0073] The inner rotary component 2 comprises a magnetically conductive core 22, which is integrally connected to a shaft 32. The shaft 32 is rotatably mounted on the radially outer rotary component 3 by means of a bearing 52. The radially outer rotary component 3 is stationary here, while the radially inner rotary component 2 is rotatable. The rotary component 3 is attached, for example, to a support structure (not shown).

[0074] The radially outer rotating component 3 comprises a magnetically conductive ring unit 33, on which the coil device 6 is received. The ring unit 33 is cylindrical and stepped on its radial inner side so that the core 22 can be rotatably received therein. An end plate 43 is attached to one axial end face of the ring unit 33, and a cover unit 23 is attached to the other axial end face.

[0075] The core 22 and the ring unit 33 are stepped here, resulting in two gap sections 14, 24 with different diameters for the gap 4. When the coil device 6 is active, its magnetic field passes through the core 22 and the ring unit 33, as well as through the gap 4 and the medium 5 located therein, creating a closed magnetic circuit (shown here in dashed lines).

[0076] The core 22 is provided here with a circumferential contour. This results in a different gap height in the circumferential direction, which can be clearly seen in Figure 4. In the example shown here, the core 22 is provided with a star contour 62. The star contour 62 has a sequence of elevations and depressions over the circumference. The elevations projecting into the gap 4 can be referred to as magnetic field concentrators. The magnetic field generated by the coil device 6 preferably runs over those areas of the gap 4 which have a smaller gap width (thus the magnetic field runs in the area of ​​the magnetic field concentrators). This means that particularly high torques or braking torques can be provided despite the compact dimensions.

[0077] The sensor device 70 is shown in more detail in Figures 2 and 3 and is equipped as an inductive rotary encoder with two sensor units 7. One sensor unit 7 is an active exciter-receiver unit 17 with an exciter coil 47 and a receiver coil 57. The exciter coil 47 and the receiver coil 57 are arranged in one plane here and fastened to a wiring board 67 and, for example, a circuit board. The exciter-receiver unit 17 is arranged here on an axial end face of the cover unit 23 facing away from the gap 4.

[0078] The other sensor unit 7 is a passive target unit 27 with a conductive rotor geometry 270. As can be clearly seen in Figure 3, the rotor geometry 270 has a relief structure 271 with elevations 272 and depressions 273. The rotor geometry 270 is, purely by way of example, wing-like in this case, with the elevations 272 corresponding, so to speak, to the wings. The elevations 272 are formed asymmetrically or distributed asymmetrically here. As a result, the rotor geometry 270 can encode absolute position information.

[0079] During operation of the sensor device 70, eddy currents are induced in the target unit 27 by the excitation coil 47. The excitation coil 47 is supplied with a frequency of between 2 and 5 MHz, for example. The eddy currents of the target unit 27, in turn, cause a magnetic field in the receiver coil 57, whereby the receiver coil 57 supplies a current waveform or a voltage waveform. From these signals, the position information and, for example, the angular position of the target unit 27 are determined. The shape of the signal is determined by the rotor geometry 270. In the example shown here, the sensor units 7 are spaced apart from one another by a few millimeters to less than 1 mm.

[0080] The invention presented here offers a particularly compact, integrated sensor device 70, which at the same time enables very precise and reproducible acquisition of position information. For this purpose, the target unit 27 is fastened to the core 22 in a rotationally fixed manner. The target unit 27 is located on an axial end face of the core 22. The target unit 27 protrudes into the gap 4 with its rotor geometry 270. In the area of ​​the target unit 27, the gap 4 runs in a radial direction with respect to its main plane, or transversely to the axis of rotation of the rotating components. In other words, a radially running gap section 34 is present in the area of ​​the sensor units 7. In the gap section 34, the gap 4 is thus delimited by the target unit 27 in the sense of a wall. On the opposite side, the gap 4 is delimited by the cover unit 23.

[0081] It is generally known that electrically conductive materials in the immediate vicinity of the target unit 27 or materials conductively connected to the rotor can significantly distort the detected signals in inductive encoders. Electrically conductive materials between the excitation-receiver unit 17 and the target unit 27 are considered particularly critical.

[0082] Surprisingly, experiments have shown that the medium 5, which has excellent magnetic conductivity (but poor electrical conductivity), does not negatively affect the function of the sensor device 70 when located in the gap 4 between the sensor units 7. This finding is in stark contrast to the expectation that the medium 5 would severely distort or even render the measurements impossible.

[0083] This allows the gap 4 to be filled with the medium 5 in such a way that the medium 5 is also located between the sensor units 7. This forces the eddy currents or fields that interact between the sensor units 7 to pass through the gap 4 and the magnetorheological medium 5 located therein. A seal, which would undesirably increase the base torque due to friction between the rotating components 2, 3, can thus be dispensed with. This further improves the integration of the sensor units 7 without having to accept any loss in sensor quality.

[0084] To decouple the rotor geometry 270 from the core 22 with respect to the induced eddy currents, a shielding component 37 is provided. This shielding component consists of an electrically and / or magnetically non-conductive material and runs between the rotor geometry 270 and the core 22.

[0085] The cover unit 23 is made of a material permeable to the fields or eddy currents, such as plastic. Thus, the arrangement of the exciter-receiver unit 17 on an outer side of the cover unit 23 facing away from the target unit 27 does not cause any signal interference.

[0086] The sensor device 70 can be equipped with a correction device which can carry out a compensation process and, for example, compensate for an off-axis deviation and / or a tilt deviation.

[0087] Figure 5 shows an embodiment of the previously described device 100, in which the target unit 27 is integrally connected (materially integral) to the radially inner rotary component 2. For this purpose, the rotor geometry 270 was incorporated directly into the material of the core 22 and, for example, milled.

[0088] To counteract the propagation of induced eddy currents into core 22, rotor geometry 270 is equipped with a circumferential separation joint 274. Medium 5 is also located in separation joint 274. Alternatively or additionally, air or a shielding material can be arranged in separation joint 274.

[0089] Figure 6 shows an embodiment of the device 100 in which the radially inner rotary component 2 is stationary. For this purpose, the inner rotary component 2 here has an axle 42, which is, for example, integrally connected to the core 22. The axle 42 is attached to a suitable support structure. The radially outer rotary component 3 is rotatably mounted on the axle 42 via the bearing 52.

[0090] The electrical coil device 6 and the exciter-receiver unit 17 are arranged here on the inner rotating component 2. The shaft 42 is equipped with a supply channel 16 for their supply lines. The supply channel 16 has channel arms 26, which extend through the core 22 to the coil device 6 and the exciter-receiver unit 17, respectively.

[0091] The exciter-receiver unit 17 is embedded in the core 22 at an axial end face. The exciter coil 47 and the receiver coil 57, as well as the interconnection plate 67, are covered by a cover 77 opposite the gap 4. The cover 77 is made, for example, of plastic or another material suitable for electromagnetic interactions. This eliminates the need for additional shielding between the rotor geometry 270 and the cover unit 23.

[0092] The target unit 27 is arranged here on the cover unit 23 of the radially outer rotating component 3. For example, the target unit 27 with its rotor geometry 270 is made of a metallic material, while the cover unit 23 here is made of a plastic. In the embodiment shown here, the target unit 27 with its rotor geometry 270 is also located directly in the gap 4 and is in contact with the medium 5 located therein. The electromagnetic interactions between the sensor units 7 must pass through the cover 77 and the gap 4 as well as the medium 5 located therein.

[0093] Figure 7 shows a variant of the device 100 described with reference to Figure 5, in which the inner rotary component 2 penetrates the outer rotary component 3 on both axial sides. A penetration is formed here as a through-bore in the cover unit 23.

[0094] An O-ring or other suitable type of shaft seal 25 is arranged between the shaft 32 and the cover unit 23. The shaft 32 is designed here as a hollow shaft 32a. The exciter-receiver unit 17 is designed here as a circular ring and has a central bore through which the shaft 32 extends. The target unit 27 is formed integrally with the shaft 32. However, it is also possible for the target unit 27 to be a separate component (as shown, for example, in Figures 2 or 6).

[0095] This variant can be arranged particularly advantageously in the axial direction between two components, such as a steering input device and a motor of a force feedback actuator. By providing the sensor device 70 in the device 100, an additional sensor device at another location in such an arrangement can preferably be dispensed with. List of reference symbols:

[0096] 1 transmission device 37 shielding component

[0097] 2 rotary component 42 axis

[0098] 3 Turning component 43 Face plate

[0099] 4 Gap 47 Excitation coil

[0100] 5 Medium 52 Lager

[0101] 6 Coil device 57 Receiver coil

[0102] 7 Sensor unit 62 star contour

[0103] 14 gap section 67 circuit board

[0104] 15 Seal 70 Sensor device

[0105] 16 Supply channel 77 Cover

[0106] 17 Exciter-receiver unit 100 device

[0107] 22 core 270 rotor geometry

[0108] 23 Lid unit 271 Relief structure

[0109] 24 gap section 272 elevations

[0110] 25 Shaft seal 273 Recess

[0111] 26 Cana noise 274 Separation gap

[0112] 27 Target unit

[0113] 32 Wave

[0114] 32a hollow shaft

[0115] 33 ring unit

[0116] 34 split section

Claims

Claims:

1. Device (100) comprising at least one magnetorheological transmission device (1) with at least two rotary components (2, 3) which are movable relative to one another, wherein at least one circumferential gap (4) is formed between the rotary components (2, 3) and wherein a magnetorheological medium (5) is arranged in the gap (4), and comprising at least one electrical coil device (6) for generating a controllable magnetic field in the gap (4) and comprising at least one sensor device (70) for detecting position information of at least one of the rotary components (2, 3), wherein the sensor device (70) has two sensor units (7), comprising an active exciter-receiver unit (17) and a passive target unit (27), characterized in that one sensor unit (7) is mounted on one rotary component (2, 3) and the other sensor unit (7) is mounted on the other rotary component (2,3) and that the gap (4) runs at least partially between the sensor units (7)., 2. Device (100) according to the preceding claim, wherein at least one of the sensor units (7) is arranged at least partially in the gap (4).

3. Device (100) according to one of the preceding claims or according to the preamble of claim 1, wherein the medium (5) is arranged at least in sections between the sensor units (7), so that electrical or magnetic fields emanating from the sensor units (7) must pass through the medium (5).

4. Device (100) according to one of the preceding claims, wherein at least one of the sensor units (7) is at least partially surrounded by the medium (5).

5. Device (100) according to one of the preceding claims, wherein at least one of the sensor units (7) is rotationally connected to the rotary component (2, 3) on which the respective sensor unit (7) is arranged.

6. Device (100) according to one of the preceding claims, wherein the sensor units (7) are each arranged on an axial end face of their associated rotary component (2, 3).

7. Device (100) according to one of the preceding claims, wherein at least one of the sensor units (7) is arranged on such a component structure of its associated rotary component (2, 3) which directly delimits the gap (4).

8. Device (100) according to one of the preceding claims, wherein at least one of the sensor units (7) is arranged on such a component structure of its associated rotary component (2, 3) which is magnetically and / or electrically conductive and through which the controllable magnetic field of the coil device (6) flows when the medium (5) is specifically influenced by the coil device (6).

9. Device (100) according to one of the preceding claims or according to the preamble of claim 1, wherein at least one of the sensor units (7) is at least partially integrally connected to its associated rotary component (2, 3).

10. Device (100) according to one of the preceding claims, wherein the rotary components (2, 3) are arranged at least partially coaxially to one another and wherein the radially outer rotary component (2, 3) has a cover unit (23) which axially covers the radially inner rotary component (2, 3) on the end face and wherein one of the sensor units (7) is arranged at least partially on the cover unit (23).

11. Device (100) according to one of the preceding claims, wherein the rotary components (2, 3) are at least partially are arranged coaxially to one another and wherein the radially inner rotary component (2, 3) has a magnetically and / or electrically conductive core (22) and wherein one of the sensor units (7) is arranged on the core (22).

12. Device (100) according to one of the preceding claims, wherein the target unit (27) has at least one rotor geometry (270) or is designed as such and wherein the rotor geometry (270) encodes relative and / or absolute position information.

13. Device (100) according to the preceding claim, wherein the rotor geometry (270) is arranged in the gap (4) and is preferably completely covered by the medium (5).

14. Device (100) according to one of the two preceding claims, wherein the rotor geometry (270) has at least one relief structure (271) with elevations (272) and depressions (273) distributed in a defined manner in the circumferential direction and wherein the depressions (273) are filled with the medium (5) or with air.

15. Device (100) according to one of the three preceding claims and claim 10 or 11, wherein the rotor geometry (270) is integrally connected to the core (22) or the cover unit (23).

16. Device (100) according to one of the four preceding claims and claim 10 or 11, wherein the rotor geometry (270) is produced by removing material from one of the rotary components (2, 3) and preferably from the core (22) or the cover unit (23).

17. Device (100) according to one of the five preceding claims and claim 11, wherein the rotor geometry (270) has at least one separation joint (274) on its axial side facing the core (22) in order to counteract a propagation of the induced eddy currents into the core (22).

18. Device (100) according to one of the six preceding claims and claim 10 or 11, wherein the target unit (27) is attached as a separate component to the core (22) or to the cover unit (23) and wherein a magnetically and / or electrically non-conductive shielding component (37) is arranged between the rotor geometry (270) and the core (22) or between the rotor geometry (270) and the cover unit (23).

19. Device (100) according to one of the seven preceding claims and claim 10, wherein the rotor geometry (270) is arranged on an inner side facing the gap (4) or on an outer side of the cover unit (23) facing away from the gap (4).

20. Device (100) according to one of the preceding claims, wherein the exciter-receiver unit (17) is arranged on the rotary component (2, 3) on which the electrical coil device (6) is also arranged.

21. Device (100) according to one of the preceding claims, wherein the exciter-receiver unit (17) comprises an exciter coil (47) and a receiver coil (57), and wherein the exciter coil (47) serves to induce eddy currents in the target unit (27), and wherein a field can be induced in the receiver coil (57) by means of the eddy currents induced in the target unit (27), which field is dependent on a rotational position of the target unit (27) relative to the exciter-receiver unit (17).

22. Device (100) according to the preceding claim, wherein the excitation coil (47) and the receiver coil (57) lie at least partially in a common plane and are preferably arranged on a common circuit board (67).

23. Device (100) according to one of the preceding claims, wherein the magnetorheological medium (5) is a powder is trained.

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