Apparatus having a magnetorheological brake device

Abstract

Proposed is an apparatus (100) having a magnetorheological brake device (1) with at least two brake components (2, 3), wherein the two brake components (2, 3) are continuously rotatable relative to one another, wherein a first brake component (2) extends in the axial direction (20) and wherein the second brake component (3) comprises a hollow casing part (13) which extends around the first brake component (2), wherein an encircling gap (5a) which is filled at least partially with a magnetorheological medium (6) is formed between the first and the second brake component (2, 3) and has at least one working gap (5) which extends in the axial direction between the brake components (2, 3). An electrical coil (26) is assigned to the brake components (2, 3), and the first brake component comprises a core (21) which extends in the axial direction (20) and which is made of a magnetically conductive material. The working gap has a variable gap height (5b) in the axial direction (20) between the brake components (2, 3).

Description

[0001] Inventus

[0002] Device with a magnetorheological braking system

[0003] The present invention relates to a device with a magnetorheological braking system comprising at least two braking components, wherein the two braking components are continuously rotatable relative to each other, wherein a first braking component extends in the axial direction and wherein the second braking component comprises a hollow shell extending around the first braking component, wherein a circumferential gap, at least partially filled with a magnetorheological medium, is formed between the first and the second braking component, with at least one effective gap extending in the axial direction between the braking components.

[0004] The object of the present invention is to provide a device with a magnetorheological braking system which functions better or is more durable than is the case in the prior art. In particular, it is advantageous if the function can be reliably guaranteed over a longer period of time.

[0005] This problem is solved by a device with a magnetorheological braking system having the features of claim 1. Preferred embodiments of the invention are the subject of the dependent claims. Further advantages and features of the magnetorheological braking system will become apparent from the general description and the description of the exemplary embodiments and the figures.

[0006] A device according to the invention comprises (at least) a magnetorheological braking device with at least two braking components, wherein the two braking components are continuously rotatable relative to each other. A first braking component extends in the axial direction, and the second braking component comprises a hollow outer shell extending around the first braking component. Between the first and the second braking component, a circumferential gap is formed, at least partially filled with a magnetorheological medium, with at least one effective gap extending in the axial direction between the braking components. Preferably, at least one electrical coil is associated with the braking components. The first braking component particularly comprises a core extending in the axial direction made of a magnetically conductive material.The effective gap has a variable gap height between the brake components in the axial direction.

[0007] The invention has many advantages. A significant advantage is that the variable gap height creates an inhomogeneous magnetic field in the axial direction. The magnetic field lines emerging from the inner braking component exhibit a (slight) axial component at the changing gap height. This reliably prevents increasing amounts of magnetorheological medium from being drawn into the working gap at the ends in areas of very high magnetic field gradient, and ensures that a larger proportion of magnetorheological medium and, for example, powder is drawn into the working gap. This results in a more homogeneous distribution of the particle concentration and thus prevents local overloading and overheating of the magnetorheological medium.Analyses of prior art magnetorheological braking systems have shown that, in isolated cases, discoloration of the brake component surfaces has occurred due to elevated temperatures. While this does not impair the function itself, it can lead to increased maintenance requirements and necessitate earlier replacement of the magnetorheological medium. By precisely dimensioning the effective gap and ensuring a specific gap height profile in the axial direction, Inventus can guarantee unchanged function over a significantly longer period with little or no maintenance. This delays the deterioration of braking performance and extends the service life.

[0008] In particular, the core comprises a base body. The base body can be formed in one piece. The core can also be composed of two or more parts. Preferably, the effective gap between the brake components has a variable gap height at substantially all points around its circumference (or over its entire circumference) in the axial direction. This means that there is preferably no substantial circumferential point where the effective gap has a constant gap height over its axial length. Preferably, at least one brake component adjacent to the effective gap is rotationally symmetrical in the region of the effective gap.

[0009] In particular, a constriction is formed that is narrow in the axial direction. The constriction can, in particular, be linear. The constriction is preferably no wider in the axial direction than half, and especially one-third or one-quarter, of the axial width of an effective gap.

[0010] In preferred embodiments of all configurations, the effective gap has a constriction in an axially central or more central region, resulting in a smaller (or minimal) gap height. Preferably, the gap height is greater near (or at) at least one axial end (than at the constriction). Particularly, the respective gap heights are greater near (or at) both axial ends than at the constriction. The gap heights at the axial ends can be the same or different. It is particularly preferred that exactly one constriction is formed in the effective gap between the axial ends.

[0011] A narrowing with a smaller and, in particular, minimal gap height can be provided in the middle (central area).

[0012] A larger gap height is provided, in particular at at least one axial end of the Inventus.

[0013] Preferably, the gap height at the effective gap increases monotonically in at least one axial direction from the constriction. This means that, viewed from the constriction, the gap height no longer decreases in this direction, but increases continuously and may remain constant in certain sections. The gap height profile can be conical, tapered, or convex. The slope of the gap height along the axial direction is always (almost everywhere) at least 0 and greater than 0 over considerable portions. Therefore, a stepped gap height profile is also possible, in which the gap height remains constant for certain sections and then increases by one step. It is preferred that s, the length of a step in the axial direction, is greater than s, the height of a step.

[0014] In particular, the profile of the gap height in the axial direction is strictly monotonic (in the mathematical sense).

[0015] In particular, the inner braking component in the area of ​​the effective gap is at least partially conical. Several conical sections or areas can adjoin or merge into one another, resulting in an overall monotonous or strictly monotonous gap height from the constriction in the effective gap.

[0016] Preferably, at least one braking component runs in a curved or stepped manner (overall) along the effective gap in the axial direction, whereby sharp or rounded corners may be formed between individual areas or segments. This results in an effective gap with a variable gap height in the axial direction.

[0017] A plurality of stepped sections or areas arranged in a row can also result in a convex or curved shape with a variable gap height in the axial direction.

[0018] The gap height in the axial direction of Inventus is preferably continuous. Finely graduated steps also form a continuous profile, for example, if a continuous "staircase" is formed up to the narrowing point, and the gap height then increases again after the narrowing point.

[0019] In all embodiments, it is preferred that the effective gap is asymmetrical in the axial direction with respect to the constriction. This means that the slope is steeper on one axial side towards the constriction than on the other axial side of the constriction. The term "constriction" preferably refers to the (radially) narrowest point.

[0020] This is particularly advantageous if the housing of the device—or more generally, the design of the brake components with respect to the effective gap and its surroundings—is not completely symmetrical. Or if the magnetic field is not symmetrical for other reasons. In such cases, different conditions may prevail at both axial ends, making an asymmetrical design more advantageous.

[0021] Preferably, the effective gap widens faster in an axial direction than in the opposite direction with respect to the constriction.

[0022] In particular, the distance from the constriction to one end of the effective gap is less than half the distance to the other end of the effective gap. The (axial) end of the effective gap is defined as a point where the radial height of the effective gap is at least twice, three times, four times, five times, or ten times the height of the constriction (excluding any depressions).

[0023] Preferably, the inner braking component has a larger diameter at the narrow point (and especially in a central area) of the effective gap than (closer to) the axial ends of the effective gap.

[0024] Preferably, the minimum gap height of the effective gap in Inventus is at least 10%, at least 25%, or at least 50% lower in at least a central axial region than in an end region. A minimum gap height of the effective gap in a central third of the axial width of the effective gap is at least 10%, at least 25%, or at least 50% lower than a minimum gap height of the effective gap in an axial end region.

[0025] Another device according to the application comprises a magnetorheological braking device with at least two braking components, wherein the two braking components are continuously rotatable relative to each other. A first braking component extends in the axial direction, and the second braking component comprises a hollow outer shell extending around the first braking component. Between the first and the second braking component, a circumferential gap is formed, at least partially filled with a magnetorheological medium, with at least one effective gap extending in the axial direction between the braking components. Preferably, at least one electrical coil is associated with the braking components. In particular, the first braking component comprises a core extending in the axial direction made of a magnetically conductive material.In this design, radially outward-extending depressions are formed at the effective gap on an inner wall of the casing section. These depressions extend further outward, in particular, than the inner wall. This results in a circumferential effective gap with a variable gap height.

[0026] Preferably, the inner wall of the shell part is (essentially or completely) cylindrical between two adjacent recesses spaced apart circumferentially. Particularly preferably, the shell part is first manufactured with at least a partially cylindrical (or conical) inner wall. Subsequently, in these embodiments and further developments, several axially extending recesses are formed on the inner wall of the shell part, distributed circumferentially. Each recess has a radial depth and a circumferential width and extends, in particular, only in the axial direction. A cylindrical segment is formed between two recesses. The cylindrical segment is preferably longer circumferentially than the circumferential width of the recess.

[0027] In any case, the depressions form storage spaces for (unused) magnetorheological medium, so that a continuous supply of magnetorheological medium is enabled.

[0028] In preferred further developments, a gap height that is variable in the axial direction is present in the area of ​​a cylinder section, and radially extending recesses are formed on the inner wall of the shell part.

[0029] In such designs, radially extending recesses are formed on the effective gap on an inner wall of the shell part s, which extend radially further outwards than the inner wall, so that an effective gap with variable gap height is formed circumferentially.

[0030] A significant advantage is that recesses can be flexibly incorporated and adapted to specific needs. In particular, these recesses can be subsequently added to a previously cylindrical inner wall of the casing. This always results in a circumferential effective gap with a gap height that varies in the circumferential direction.

[0031] In all configurations and further developments, one of the brake components forms a rotor and the other a stator. A stationary holder may be included. Preferably, the stator is non-rotatably connected to the holder. Inventus

[0032] In particular, a plurality of recesses are incorporated into or present in the shell part. Preferably, the recesses are arranged regularly on the inner circumference of the shell part. Preferably, a periodic profile of the gap height is implemented.

[0033] In particular, at least one recess is designed as a hollow section. A recess can be designed as (or like) a milled surface. Preferably, a ball end mill is used. This results in correspondingly rounded contours at the axial ends, both axially and circumferentially.

[0034] In all embodiments, it is preferred that at least two (axially) spaced-apart effective gaps are included. A variable gap height can be provided for both effective gaps. In particular, a curved path of at least one braking component can be provided for both effective gaps.

[0035] It is preferred that at least the outer casing has radially outwardly projecting recesses at at least two effective slots. Preferably, the (two) effective slots have different radial distances from the axis of rotation. This allows different torques to be generated at the different effective slots. This, in particular, simplifies assembly.

[0036] Preferably, the recesses at the two (or more) effective gaps have different angular distances in the circumferential direction.

[0037] Preferably, at least a significant portion of the recesses (or almost all or all recesses) are identical (at least in cross-section). The axial length of the recesses is preferably the same for the recesses of a single effective gap. The axial length of the recesses may differ between the two effective gaps. Inventus

[0038] In particular, at least one recess (or practically all recesses) is wider in the axial direction than a braking area (the area of ​​the effective gap through which the majority of the magnetic field passes) of the inner braking component. The braking area of ​​the inner braking component can have a disc shape. In other words, the braking area of ​​the inner braking component can form a cylindrical section. A rotationally symmetrical and axially curved profile is possible and particularly preferred.

[0039] Preferably, at least one recess (on the inner circumference of the outer brake component) extends further in the axial direction than in the circumferential direction. The ratio is particularly greater than two or three and can exceed four or five, or even be greater.

[0040] Preferably, at least one recess (on the inner circumference of the outer brake component) extends further in the circumferential direction than it is deep in the radial direction. The ratio can be greater than 1.5, or even greater than two or three.

[0041] In preferred embodiments, the recesses at the axial ends are rounded. This is advantageous for the magnetic field path and also for manufacturing.

[0042] In particular, the outer shell has (at least) a cylindrical inner surface in sections. Specifically, the outer shell is, in the area of ​​at least one or each effective gap, fundamentally cylindrical with recesses formed therein.

[0043] Preferably, an inner braking area of ​​the inner braking component (of one or each effective gap), and in particular at least a large part of the inner braking component, is smoother than an outer braking area of ​​the outer braking component of the corresponding effective gap. This prevents the adhesion of a magnetorheological medium to the inner Inventus

[0044] The brake component is largely avoided, preferably being designed as a rotor.

[0045] In particular, at least one, and especially the inner, brake component, and most preferably the rotor, is coated with a coating.

[0046] It is preferred that (in the effective gap) the surface roughness of one (and in particular the inner) braking component is significantly lower than the surface roughness of the other (and in particular the outer) braking component. It is especially preferred that the surface roughness of the rotor is significantly lower than the surface roughness of the stator.

[0047] In advantageous embodiments, the surface of the rotor is as smooth as possible everywhere and, in particular, has no holes, screw heads, protruding parts, etc.

[0048] It is preferred that at least one of the brake components, and in particular the stator, is part of a housing.

[0049] The housing comprises at least one side cover, which consists (at least substantially) of a magnetically non-conductive material. The cover preferably has a closable filling opening for filling the gap with a magnetorheological medium. In particular, a closure unit for closing the filling opening consists (substantially or completely) of a magnetically non-conductive material such as aluminum or the like.

[0050] In all embodiments and further developments, the magnetorheological medium is particularly preferably formed by a magnetorheological powder. Preferably, a "dry" powder is used without the use of liquid. The powder and a gas mixture (e.g., air) then fill the gap.

[0051] It is also possible that the magnetorheological medium comprises an inventus magnetorheological fluid. In this case, the magnetorheological medium consists of a liquid and magnetorheological particles incorporated within it, for example, mineral or synthetic oil.

[0052] In all embodiments, it is preferred that the electrical coil is wound in the axial direction and / or in the radial direction.

[0053] In another embodiment of the device according to the application, it comprises a magnetorheological braking device with at least two braking components, wherein the two braking components are continuously rotatable relative to each other. A first braking component extends in the axial direction. The second braking component comprises a hollow outer shell extending around the first braking component. Between the first and the second braking component, a circumferential gap is formed, at least partially filled with a magnetorheological medium, with at least one effective gap extending in the axial direction between the braking components. At least one electrical coil is associated with the braking components. The first braking component comprises a core extending in the axial direction, made of a magnetically conductive material. The core particularly comprises a base body.The effective gap has at least two effective gap sections where the radial gap height between the brake components differs significantly.

[0054] In simple terms, a device according to the invention preferably provides an MR powder actuator with a variable gap height in the axial direction and / or milled recesses in the housing. An effective gap is formed whose gap height varies along the axial direction and / or circumference. No protrusions from the inner rotor or on the stator are provided. In simple cases, the recesses can be milled. Inventus

[0055] It has been shown that the areas at the edge of the effective gap, i.e., where the rotor (core) or a braking component is axially limited, are subjected to particularly high stress. A great deal of energy is transferred into the housing material in these areas. The magnetorheological medium, and especially magnetorheological powder, also experiences a high energy input there. It can overheat and be impaired or even destroyed. This is a consequence of the excessively strong magnetic field or the excessively strong magnetic field gradient.

[0056] This problem is preferably solved by shaping the radial surface of the core in the effective gap in a curved (or stepped or chamfered) manner from the outer ends of the effective gap towards the center. This means that the gap diameter is smaller in the center or at a narrow point of the effective gap than at the outer edges. This reduces the magnetic field gradient and distributes it across the entire effective gap.

[0057] In a simulation, this can be seen by the fact that the magnetic field varies slowly across the effective gap.

[0058] Preferably, a brake component, and in particular the rotor of the device (or actuator), is coated with a coating that preferably has a particularly low surface roughness (and in particular lower than the surface roughness of the other brake component or the stator). This ensures that the powder slides off the rotor and adheres to the stator. It is also advantageous that the surface of the rotor is almost entirely, and preferably as smooth as possible, and has, for example, no holes, screw heads, protruding parts, etc.

[0059] The filling screws, which close the filling opening after the actuator has been filled with the magnetic powder, should preferably not be magnetically conductive, provided the Inventus

[0060] The filling openings on the side lids are made of aluminum. Otherwise, the magnetic field would also flow across the side and could potentially put significant stress on the surface there. Aluminum, for example, can be used as a material.

[0061] The figures show:

[0062] Figures aa-lf show schematic three-dimensional views of devices with a magnetorheological braking device;

[0063] Figure 2 shows a cross-section of another device or

[0064] Device component with a magnetorheological braking device;

[0065] Figures 3a and 3b show schematic cutaway perspective views of another device;

[0066] Figure 4 shows a cross-section of the device with a magnetorheological braking device according to Figure 3b;

[0067] Figure 5a shows an enlarged detail from Figure 4 with the magnetic field strength indicated;

[0068] Figures 5b, 5c show the course of the gap height and the magnetic field strength in the axial direction;

[0069] Figure 5d shows an enlarged view of an effective gap of the

[0070] Device according to Fig. 4; and

[0071] Figure 5e shows an enlarged view of another effective gap.

[0072] Figures aa to lf show several device components 200 according to the invention, in which the device 1 with the magnetorheological braking device 100 can be used.

[0073] Figure 1a shows a haptic control knob 101. The control knob is attached via the console 50. The control knob 101 is operated via the sheath part 13 or sleeve part 13e. The Inventus

[0074] Benut zerschnitt stelle 43 can also be used to transmit information.

[0075] Figure 1b shows the device component 200 as a thumb roller 102 with a haptic control. The thumb roller 102 is preferably used, for example, in steering wheels. However, the thumb roller is not limited to this application. Depending on the installation situation, the thumb roller 102 can generally also be used with any other finger.

[0076] In Figure 1c, the device component 200 according to the invention is implemented as a computer mouse 103. The haptic control device is housed in the mouse wheel 106. The magnetorheological braking device 100 can be used to control haptic feedback.

[0077] Figure 11 shows a steering wheel for a steer-by-wire application. The steering wheel 107 can be used to steer a motor vehicle. The device 1 with the magnetorheological braking system controls the force or torque required to operate the steering wheel in order to turn it. It is possible for a torque of a few Nm up to 30 Nm or more to be required to turn the steering wheel 107. This allows for realistic operation even under difficult conditions.

[0078] Figure 1 shows a joystick 104 as a haptic control device in which a magnetorheological braking device 100 is housed. 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, see Figure 11.

[0079] In these embodiments, the magnetorheological braking device 100 has a shell part 13 or rotating part 13 or sleeve part 13e, which is rotatably mounted. The torque required to rotate the shell part 13 or rotating part 13 is adjustable. Inventus

[0080] A user interface 43 can be arranged on the upper side of the device 1. Such a user interface 43 can, for example, be configured as a display device or as a touch-sensitive input device (touchpad, motion and gesture control, image recognition, etc.).

[0081] A haptic control device 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 equipment.

[0082] Figure 2 shows a section of a device component 200 according to the invention, including a magnetorheological braking device 100 according to the invention. The transverse grooves 32 are visible, in which the electrical coil 26 of the magnetic device 26a is wound at the axial ends of the core 21. The electrical coil 26 is wound axially on a plane in the direction of the axis 12 (axis of rotation) and essentially generates a magnetic field in the radial direction. A potting compound 28 can be provided at both ends in the axial direction. In the area of ​​the cable entry 35 along the axis 12, a separate seal 38 can be provided, for example, via the O-ring shown or the like.

[0083] The effective gap 5 is formed between the inner wall of the casing part 13 as the outer braking component 3 and the outer wall of the rotor 2a as the inner braking component 2. Here, the gap 5 is filled with a magnetorheological powder as the magnetorheological medium 6 and a gas mixture. It is also possible to use a magnetorheological fluid in which magnetorheological particles are suspended in a liquid.

[0084] A length 13c of the effective gap 5 extends over more than half the axial length of the shell part 13. The space between the inner wall of the shell part 13 and the outer wall Inventus of the rotor 2a is filled to more than 50% with a magnetorheological powder. A smaller portion of this powder is located within the effective gap. The larger portion forms a reservoir and increases wear resistance, as the powder (the particles) in the effective gap area is replaced over time (regularly and spontaneously). The gap design contributes to this process. The gap is curved in the axial direction. This results in axial components in the forces acting on the individual particles. Particles are drawn into the gap from the surrounding environment. This significantly promotes mixing and extends the service life.

[0085] On the outside of the second brake component 3, a cover 49 can be attached, so that the external appearance of the rotary knob 23 is essentially determined by the surface of the cover 49.

[0086] The material of the sleeve part 13e or of the entire sheath part 13 is magnetically conductive and serves to close the magnetic circuit. A wall thickness 13d, between the outer diameter 13b and the inner diameter 13a, of the sleeve part 13e is dimensioned such that the required magnetic field can pass through.

[0087] The diameter 36a of the receptacle 36 is preferably considerably larger than the diameter 37a of the cylindrical running surface 37. This reduces friction at the seal 38. Furthermore, standardized bearings can be used.

[0088] Here, the haptic control unit with the magnetorheological braking device 100 is supported on one side. The second braking component 3 is only supported at the first end 111 of the closed chamber 110 at an end section 121 of the first braking component 2; that is, the second braking component 3 is supported only at the first bearing point 112 by the bearing 30. If the volume 114 within the closed chamber 110 changes, the second braking component 3 can move slightly back and forth. It is again assumed that the first braking component 2 is fixed. In this case, it is possible for part of the diameter of the first braking component 2 to extend or retract at the first bearing point 112. The volume 114 of the closed chamber 110 changes. Within the given range of motion, the system is advantageous practically always at ambient pressure. Additional stress on the seal 38 is prevented.When using powder as a magnetorheological medium, practically no pressure difference arises even with temperature fluctuations.

[0089] Figures 3a and 3b show schematic and sectioned perspective views of another device 100.

[0090] Figure 4 shows a cross-section of the device with a magnetorheological braking device according to Figure 3b.

[0091] The device comprises a magnetorheological braking device 1 with two braking components that are continuously rotatable relative to each other. Both braking components 2, 3 extend in the axial direction 20. The second braking component comprises a hollow outer shell 13 extending around the first braking component 2. A circumferential gap, partially filled with a magnetorheological medium 6, is formed between the first and second braking components 2, 3, with an effective gap 5 extending in the axial direction between the braking components 2, 3.

[0092] Here, two separate or spaced-apart effective gap sections or effective gaps 5c, 5d are formed at the gap 5. An electrical coil 26 is provided between the braking components 2, 3, which is located between the two effective gaps 5c, 5d, so that the generated magnetic field passes through both effective gaps 5c, 5d.

[0093] The first brake component comprises a core 21 extending in the axial direction 20, made of a magnetically conductive material. Inventus

[0094] Both effective gaps 5c, 5d between the brake components 2, 3 exhibit a variable gap height 5b in the axial direction 20. The gap height is smallest in a central region of the effective gaps 5c, 5d and increases towards the axial ends. As a result, the magnetic field weakens towards the axial ends of each effective gap 5c, 5d.

[0095] The housing 7 comprises an (inner) housing part 7a and an (outer) housing part 7b. A narrow bridge 7c limits the gap 5 at the electrical coil 26. A small portion of the magnetic field is short-circuited by the bridge 7c. However, since the bridge 7c is very thin, the loss is very small.

[0096] A seal 9a on the cover 9 provides an external seal. A seal 38 is provided between the cover 9 and the inner brake component 2. The inner brake component 2 forms the rotor 2a, and the outer brake component 3 forms the stator 3a. A cavity 5a is formed axially between the rotor disk 2b and the cover. This cavity is typically at least partially filled with a magnetorheological medium and is ineffective or non-functional within the meaning of the invention. The cover 9 preferably consists of a magnetically non-conductive material, so that the cavity 5a is largely free of a magnetic field. A seal 9a seals the cover 9.

[0097] In Fig. 4, a termination 45 is provided at the top. On the right-hand side, a sensor connection 73 is provided, to which the sensor line 70 is connected. A magnetic field sensor 72 detects the magnetic field of a magnetic ring unit 71.

[0098] The interior can be filled via a filling opening 10. A sealing unit 11 closes the opening.

[0099] The effective gaps 5c and 5d are located at different radial heights. The housing section 7d of the housing 7 overlaps or limits the effective gap 5d.

[0100] In the mantle part 13, the Inventus is located above the cylindrical inner circumference.

[0101] Brake component 3 has regularly formed recesses 14, which are, for example, milled into the surface. The recesses project axially beyond the effective gaps 5c and 5d. While the recesses 14 at the effective gap 5c extend over an axial width 14c, the effective gap 5c is narrower and extends over the width 2c of the rotor disk 2b at the effective gap 5c. The magnetic field 8 is shown schematically.

[0102] The rotor disk 2b is rotationally symmetrical in the areas of the effective gaps 5c, 5d and is curved in the axial direction 20. This results in a smaller gap height in the central areas of the effective gaps than at the axial ends of the effective gaps 5c, 5d. Consequently, the gap height varies axially along the cylindrical sections of the inner circumference of the shell part 13.

[0103] Figure 5a shows an enlarged detail from Figure 4 with a highly schematic representation of the magnetic field strength. The size of the arrows represents the strength of the magnetic field. The larger the arrow, the higher the magnetic flux density or magnetic field strength. The magnetic field strength decreases with increasing distance from the center of the effective gaps 5c, 5d.

[0104] The electrical coil 26 is mounted axially between the operating gaps 5c, 5d which are arranged radially at different heights.

[0105] Figures 5b and 5c show the axial profile of the gap height and the magnetic field strength. The gap height 15 narrows towards the constriction E from both axial sides. Correspondingly, the magnetic field strength 18 increases towards the center and towards the constriction E.

[0106] Figure 5d shows an enlarged view of an effective gap 5d of the device according to Fig. 4. Magnetic particles 19, in this case in the form of a magnetorheological powder 19, are present in the effective gap 5d. At the constriction E in an axially more central region, Inventus

[0107] 20a the smallest gap height si is present, while at a

[0108] At end 20b or both ends 20b, 20c, or the end region, the gap height s2 is more than twice as large. Here, the gap height 5b at the effective gap 5 increases in the axial direction 20 from the constriction E in both axial directions. It can be seen that the inner braking component 2 at the effective gap 5 is curved and continuous in the axial direction. The path is symmetrical in the axial direction with respect to the constriction E.

[0109] Figure 5e shows an enlarged view of another effective gap 5d, in which the gap height is asymmetrical along the axial length. The distance al from the constriction E to the left axial end of the effective gap 5d (or 5c) is considerably smaller than the (axial) distance a2 to the other axial end. Consequently, the magnetic field is correspondingly inhomogeneous.

[0110] In the embodiments according to Figure 5d and Figure 5e, the inner brake component has a larger diameter at the constriction E and in particular in a middle / central area of ​​the effective gap 5 than in an outer area (closer) to the axial ends of the effective gap 5.

[0111] Inventus

[0112] Reference symbol list:

[0113] 1 Device 20b axial end

[0114] 2 Brake component 20c axial end

[0115] 2a Rotor 21 Core

[0116] 2b Rotor disc 23 Rotary knob

[0117] 2 c Width 26 Coil

[0118] 3 Brake component 26a Magnetic device

[0119] 3a Stator 30 Bearing

[0120] 4 holders, mounting 32 cross groove

[0121] 5 Effective gap 36a Outer diameter ser

[0122] 5a Cavity, gap 38 Seal

[0123] 5b Gap height 43 Use cutting interface

[0124] 5 c Effective gap (upper) 45 Connection s

[0125] 5d Effective gap (lower) 50 console

[0126] 6 Medium 70 Sensor device

[0127] 7 Housing 71 Magnetic ring unit

[0128] 7a Housing part (inner) 72 Magnetic field sensor

[0129] 7b Housing part (outer) 73 Sensor cable, connection s

[0130] 7 c Bridge 100 Magnetorheological

[0131] 7d Housing section Brake device

[0132] 8 Field, magnetic field 101 Control head

[0133] 9 lids 102 thumb rollers

[0134] 9a Seal 103 Computer mouse

[0135] 10 Filling opening 104 Joystick

[0136] 11 Locking unit 105 Gamepad

[0137] 12 axis 106 mouse wheel

[0138] 13. Casing part, rotating part 107. Steering wheel (steer-by-wire)

[0139] 13a Inner diameter 200 Device component

[0140] 13b Outer diameter ser al distance

[0141] 13c height a2 distance

[0142] 13d wall thickness sl gap height

[0143] 13e Sleeve part s2 Gap height

[0144] 14 Deepening E Narrow point

[0145] 14 cm width

[0146] 15 gap height

[0147] 18 Magnetic field strength

[0148] 19 magnetic particles ,

[0149] powder

[0150] 20 axial direction

[0151] 20a middle / central area

Claims

Inventus Claims:

1. Device (100) with a magnetorheological braking device (1) having at least two braking components (2, 3), wherein the two braking components (2, 3) are continuously rotatable relative to each other, wherein a first braking component (2) extends in the axial direction (20) and wherein the second braking component (3) comprises a hollow shell part (13) extending around the first braking component (2), wherein a circumferential gap, at least partially filled with a magnetorheological medium (6), is formed between the first and the second braking component (2, 3), with at least one effective gap (5) extending in the axial direction between the braking components (2, 3), wherein at least one electrical coil (26) is associated with the braking components (2, 3), and wherein the first braking component comprises a core (21) extending in the axial direction (20) made of a magnetically conductive material, characterized in thatthat the effective gap between the brake components (2, 3) in the axial direction (20) has a variable gap height (5b).

2. Device (100) according to the preceding claim, wherein the effective gap (5) has a constriction with a smaller gap height (sl) in an axially more central region (20a) and wherein the gap height (s2) is greater closer to at least one axial end (20b, 20c).

3. Device (100) according to the preceding claim, wherein the gap height (5b) at the effective gap (5) increases monotonically in the axial direction (20) from the constriction (E) in at least one axial direction (20).

4. Device (100) according to one of the two preceding claims, wherein at least one brake component (2, 3) is attached to Inventus runs curved or stepped in the axial direction (20) of the effective gap (5).

5. Device (100) according to one of the preceding claims, wherein the gap height (5) is continuous in the axial direction.

6. Device (100) according to one of the preceding claims, wherein the effective gap (5) is asymmetrically designed with respect to the constriction (E) in the axial direction (20).

7. Device (100) according to one of the preceding claims, wherein the effective gap (5) widens faster in an axial direction (20) than in the opposite direction with respect to the constriction (E).

8. Device (100) according to one of the two preceding claims, wherein a distance (al) of the constriction (E) to one end of the effective gap (5) is less than half as large as a distance (a2) to the other end of the effective gap (5) .

9. Device (100) according to one of the preceding claims, wherein the inner brake component has a larger diameter at the constriction (E) (and in particular in a middle / central area) of the effective gap (5) than (closer to) the axial ends of the effective gap (5).

10. Device (100) according to one of the preceding claims, wherein a minimum gap height (sl) of the effective gap (5) in at least one central axial region (20a) is at least 10% or at least 25% or at least 50% lower than in an end region.

11. Device (100) according to one of the preceding claims, wherein a minimum gap height (sl) of the effective gap (5) is located in a middle third of the axial width of the effective gap (5) Inventus is at least 10% or at least 25% or at least 50% lower than a minimum gap height (sl) of the effective gap (5) in an axial end region (20b, 20c).

12. Device (100) according to one of the preceding claims or according to the preamble of claim 1, wherein radially extending recesses (14) (radially further outwards than the inner wall) are formed on the effective gap (5) on an inner wall of the jacket part (13), so that a circumferential effective gap (5) with variable gap height (5b) is obtained.

13. Device (100) according to the preceding claim, wherein at least one recess (14) is designed as a recess and e.g. as a milling.

14. Device (100) according to one of the preceding claims, comprising at least two spaced-apart working gaps (5c, 5d).

15. Device (100) according to the preceding claim, wherein at least the outer shell part (13) has radially outwardly projecting recesses (14) at at least two active gaps (5c, 5d).

16. Device (100) according to one of the two preceding claims, wherein the working gaps (5c, 5d) have a different radial distance from the axis of rotation (12).

17. Device (100) according to one of the two preceding claims, wherein the recesses (14) are located at two effective gaps (5c, 5d) have different angular distances in the circumferential direction.

18. Device (100) according to one of the preceding claims Inventus wherein at least one recess is wider in the axial direction than the braking area (the “disc”) of the inner braking component and / or wherein at least one recess extends further in the axial direction than in the circumferential direction and / or wherein at least one recess extends further in the circumferential direction than it is deep in the radial direction.

19. Device (100) according to one of the preceding claims, wherein the jacket part (13) has a cylindrical inner surface in sections and wherein the recesses at the axial ends are rounded.

20. Device (100) according to one of the preceding claims, wherein one of the brake components and in particular the stator (3a) is part of a housing (7) and wherein the housing (7) comprises at least one side cover (9) made of a non-magnetically conductive material and wherein a surface of the rotor is as smooth as possible everywhere and in particular has no holes, screw heads and protruding parts etc.

21. Device (100) according to the preceding claim, wherein a closable filling opening (10) for filling the gap with a magnetorheological medium is formed on the lid (9) and wherein a closure unit (11) for closing the filling opening (10) consists of a magnetically non-conductive material such as aluminium or the like.

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