Assembly having a magnetorheological brake device
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2026-02-05
- Publication Date
- 2026-08-13
Smart Images
Figure EP2026053097_13082026_PF_FP_ABST
Abstract
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 movable relative to each other and define an axial direction. A gap filled with a magnetorheological medium is formed between the first and the second braking component. The gap is at least partially exposed to a magnetic field of a magnetic device in order to effect a braking effect on the relative movement of the two braking components relative to each other.
[0004] Various devices are known in the prior art in which a controllable magnetorheological braking device is used to selectively and / or controllably brake a rotary or linear movement of two parts relative to each other.
[0005] EP 2 616 704 Bl discloses a magnetorheological transmission device comprising two coupling components with a channel between them containing a magnetorheological fluid with magnetically polarizable particles. A magnetic field generation device serves to generate a magnetic field in the channel. Rotating bodies are arranged in the channel, creating an acute-angled section during braking, which can increase the braking force. A potential disadvantage is that, depending on the material, the oil used as a carrier fluid for the magnetorheological particles may change its properties during operation depending on the temperature or over time. Furthermore, the low-viscosity FluidInventus
[0006] The fluid may leak from the channel, requiring the installation of a permanently functioning seal. This can increase the base friction.
[0007] It is therefore the object of the present invention to provide a device with a magnetorheological braking device which may even have improved properties.
[0008] This problem is solved by a device having the features of claim 1. Preferred embodiments of the invention are the subject of the dependent claims. Further advantages and features of the present invention will become apparent from the general description and the description of the exemplary embodiments.
[0009] An apparatus according to the invention comprises at least one magnetorheological braking device with at least two braking components. The two braking components are movable relative to each other. The two braking components preferably define an axial direction. At least one gap, at least partially filled with a magnetorheological medium and, in particular, (dry) magnetorheological particles, is formed between the first braking component and the second braking component. The gap comprises at least one effective gap section extending between the braking components. The effective gap section is exposed to a magnetic field, preferably from a controllable magnetic device, in order to effect a braking effect on the relative movement of the two braking components relative to each other. Rotatable transmission components are arranged in the gap, and in particular in the effective gap section, to amplify the braking effect (by means of a wedge effect).A holding device with at least one component holder is included for the (defined) reception and guidance of the transmission components. The transmission components are designed (essentially) rotationally symmetrical about an axis of rotation, at least in the effective gap section. The Inventus.
[0010] Transmission components are preferably mounted on the component holder in a defined manner.
[0011] Preferably, the wall of the transmission component has several different distances to a surface (at least ) of one of the brake components in the effective gap section along the axis of rotation in the effective gap section and perpendicular to the axis of rotation.
[0012] The device according to the invention has many advantages. A significant advantage is that the rotating transmission components, due to the wedge effect created therein, allow for a considerable increase in braking force or braking torque. In particular, when a magnetorheological powder is used as the magnetorheological medium, this results in increased efficiency (higher maximum torque per unit volume). If magnetorheological powder, which consists of (dry) magnetorheological particles, is used, aging (or chemical change) of a carrier medium is neither expected nor a concern. Furthermore, no sealing (liquid sealing) of the effective gap section or the gap is necessary to prevent the escape of a liquid carrier medium. Magnetorheological particles are magnetically polarizable particles, for example, made of carbonyl iron.The size or diameter of the particles varies in the range from lpm to 50pm.
[0013] In preferred embodiments, magnetically polarizable particles with a typical diameter of less than 10 pm are used, with 90% having a diameter of up to 9 pm.
[0014] In particular, the brake components extend in the axial direction. Likewise, the gap preferably extends in the axial direction. Preferably, the effective gap section extends in the axial direction between the brake components. The gap Inventus
[0015] In the case of rotatable brake components, it can be cylindrical, for example, and extend around a brake component in the axial direction.
[0016] In preferred embodiments, several (separate) groups of transmission components are arranged in the gap or in the active gap section. A group of transmission components is understood to be, in particular, two or more transmission components that belong together and are recognizably arranged (separately) as a group. Preferably, a group comprises at least two (adjacent and, in particular, closely adjacent) transmission components.
[0017] Preferably, two adjacent transmission components of the same group rotate in opposite directions when the braking components move relative to each other. When the two braking components move relative to each other, the transmission components are set into a rotational motion. The relatively closely spaced transmission components of a group then ensure that they rotate in opposite directions. This intensifies the wedge effect and the wedging of the magnetorheological particles in the acute-angled areas, thus resulting in a higher braking force or torque overall. This significantly enhances the effect and its performance, even though fewer transmission components are used.
[0018] Preferably, the minimum distance between two groups of transmission components is significantly greater than the distance between two transmission components within the same group. This means that the individual groups of transmission elements are spatially separated from each other. Within a group, the transmission components are each spaced closer together than they are to the next group.
[0019] Preferably, the minimum distance between two groups of transmission components is greater than half the diameter (or radius) of a transmission component. Particularly preferred is a distance between two groups greater than two-thirds of the diameter of a transmission component or greater than the diameter of a transmission component. This reduces the influence on the magnetic field strength between two groups of transmission components, allowing each to operate at its full effectiveness.
[0020] Preferably, at least one transmission component has at least one base body that is rotationally symmetrical at least in sections. Preferably, at least one transmission component has at least one base body that is cylindrical, barrel-shaped, conical, egg-shaped, or spherical at least in sections. It is also possible for a transmission component to have a conical or frustoconical base body.
[0021] Mixed forms are also possible, such that one end of a transmission component is cylindrically shaped, while the other end has a hemispherical shape and, if necessary, a conical shape in a middle area.
[0022] It is also possible to have mixtures, i.e., differently shaped transmission components arranged in one device.
[0023] In all embodiments, it is preferred that the length of at least one transmission component (in the axial direction) is greater than the diameter of the transmission component.
[0024] Transmission components that are cylindrical and extend over a greater length than the diameter of the transmission component can generate high braking effects.
[0025] In all embodiments, it is particularly preferred that the gap contains (magnetorheological) powder particles as the magnetorheological medium. This means, in particular, that a pure Inventus is used as the magnetorheological medium.
[0026] Only powders or magnetorheological particles are used. No oil or other fluid is used as a carrier material. A gas, such as ambient air, is preferably used as the filling medium. A special gas or gas mixture can also be used as the filling medium.
[0027] The magnetorheological medium can also contain very small particles. These particles can have a (typical, minimum, or average) diameter ranging from 10 nanometers to several micrometers. The particles contained in the magnetorheological medium of a device according to the application are preferably of essentially the same size and preferably have a maximum diameter that differs from each other by no more than one order of magnitude for at least one-third or one-half of their length. In a magnetic field, the particles form (magnetic) chains that increase the shear stresses or the viscosity ("toughness"). This strengthens the chained particles as long as no pressure force is applied that is large enough to break the chains.
[0028] Preferably, the gap height between the braking components is greater than the diameter of the transmission components plus ten, twenty, thirty, forty, or fifty times the typical diameter of the powder particles. This means that many powder particles must interlock or wedge themselves together to generate a significant increase in braking force or braking torque. Such a design considerably increases reliability.
[0029] If the gap height between the brake components is greater than the diameter of the transmission components plus forty or fifty times a typical diameter of the powder particles, particularly reliable operation is achieved. It has been found that in some situations, smaller gap heights result in insufficient or no reliable operation without Inventus.
[0030] Further resolvable blockages may occur, requiring maintenance or repair. Surprisingly, increasing the gap height can maintain the achievable braking effect and eliminate the risk of blockage.
[0031] A particularly positive aspect is that complete blockage caused by interlocking particles is avoided. Surprisingly, it has been found that a larger free distance between the surface of a transmission component and the adjacent surface of the braking component leads to improved functionality. If the free distances add up to more than twenty times, or even better, thirty times the typical particle diameter, impermissible blockage can be reliably prevented entirely. The controllability of the braking system is maintained, and a significant increase in braking power is achieved through this wedge effect. The effectiveness can be further enhanced with the other measures described previously.
[0032] In preferred embodiments, at least one transmission component is (at least temporarily) inclined or tilted relative to the axial direction, or (slightly) tiltable, or (at least temporarily) tilted or pivoted to generate higher braking forces. In particular, the transmission component is permanently (definedly) inclined. Preferably, at least two transmission components (at least of a group) are inclined in the same direction, and in particular in opposite directions, at least temporarily, or are also tilted or tiltable. Then it is preferred that an (axial) end of one transmission component can bear against a braking component and an (axially opposite) end of the other transmission component bears against the other braking component. This allows for a particularly effective braking effect. This is related to the magnetic field distribution through the two Inventus components.
[0033] Transmission components together. This type of magnetic field leads to a particularly strong (reversible) wedging.
[0034] A holding device comprising at least one component holder for (preferably defined) receiving, guiding, and / or storing the transmission components is particularly preferred. Even with defined receiving, a defined clearance is possible. "Defined" in the context of the application means that no completely random alignment occurs. The transmission components are preferably received within certain predetermined limits.
[0035] In particular, the transmission components are designed or arranged rotationally symmetrically about a (particularly preferably defined or predefined) axis of rotation, at least in the effective gap section, and are defined on the component holder.
[0036] The transmission component is preferably mounted on a surface of one of the brake components in the effective gap section, both along the axis of rotation and perpendicular to the axis of rotation. In preferred further embodiments, at least a portion of the transmission components is guided by (at least) a component holder. A component holder allows for more precise positioning of the individual transmission components of a group of transmission components and of the individual transmission components as a whole on the magnetorheological braking device. The transmission component can have stub shafts at its ends or guide elements at its ends or in its central region.
[0037] It is possible that the component holder can allow a defined relative movement on the guide, for example to allow a defined tilting relative to the axial direction or the longitudinal axis of the transmission components.
[0038] to enable. Preferably, storage takes place in such a way that no movement in the sense of tilting is possible.
[0039] In the transmission component, it is preferred that a distance at one axial position along the longitudinal direction of the transmission component is greater than a distance at another axial position. The change in the (radial) distance to the surface of a brake component can be continuous, resulting in a continuous change over a significant portion of the axial length of the transmission component. Preferably, there are at least 3, 4, 5, or more different distances or axial positions in the direction of the axis of rotation of the transmission component, where the radial distance (perpendicular to the axis of rotation) has changed by more than 10% in each case.
[0040] The design can be symmetrical about the axial center of the transmission component.
[0041] It is possible that at least two adjacent transmission components are installed in opposite orientations. This cancels out the axial forces overall.
[0042] Preferably, a rotation axis is aligned obliquely to the surface of one of the brake components.
[0043] In particular, within the effective gap section, the wall of the transmission component exhibits different distances to a surface of at least one of the braking components of the effective gap section at various longitudinal points along the axis of rotation. These distances are determined, in particular, perpendicular to the axis of rotation between the wall of the transmission component and the surface of the braking component. In such configurations, a basic body of the transmission component can, for example, have the shape of a cylinder, a cone, or an egg shape, with stepped variants also being possible.
[0044] where a multitude of steps in the surface approximately form a corresponding basic shape.
[0045] Alternatively, the wall of the transmission component along the axis of rotation in the effective gap section can be aligned at least sectionally (or entirely) (at a defined angle) obliquely to the surface of the effective gap section (at the or at least one braking component), resulting in a gap height that changes over (a large part of) the length of the transmission component.
[0046] In principle, the wall of the transmission component and / or a surface of a brake component can be inclined to the respective other surface in the effective gap section.
[0047] For example, the axis of rotation of the transmission component can be oriented at a defined angle to the surface of the effective gap section of the brake component. The transmission components are rotationally symmetrical, at least within the effective gap section, and an outer wall is curved or stepped. This includes, for example, convex and egg-shaped designs.
[0048] In a simple embodiment, the surface of at least one braking component in the effective gap section is, for example, cylindrical. The wall of the transmission components is then, for example, conical or convex, or cylindrical with an oblique orientation relative to a surface of at least one braking component in the effective gap section. In another simple embodiment, the opposite is true: the wall of the transmission components is, for example, cylindrical, and the surface of at least one braking component in the effective gap section is conical or convex. In both simple embodiments (and hybrid forms, etc.), locally oblique orientations result between the (local) wall of the transmission component and the (local) surface of the Inventus.
[0049] Braking component. The effective gap section (where the magnetic field acts and the transmission component is located) then has variable gap heights in the axial direction.
[0050] Preferably, the transmission components are designed to be elongated or stretched, such as cylinders, cones or even eggs.
[0051] The transmission components can also be short in the direction of the axis of rotation, such as cylindrical disks. In this case, the length in the direction of the axis of rotation can be shorter than both the minimum and maximum diameters. The transmission components are generally not perfectly spherical.
[0052] The transmission components are particularly preferably mounted at bearing points on a component holder (a holding device).
[0053] The holding device preferably includes transport openings for directing magnetorheological medium to the transmission component. Such a transport opening can also be referred to as a transport recess or transport window. The transport opening may, but need not, be completely closed. The transport opening can, for example, also form a type of groove or be designed as a cutout.
[0054] Preferably, the transport openings are designed separately from the storage locations and are specifically assigned to them.
[0055] In advantageous embodiments, the component holder comprises (at least) a guiding element which is assigned to a (specific) transport opening in order to guide magnetorheological medium to a transmission component.
[0056] Preferably, the component holder has a ring element with several bearing points formed on it and (separately formed) transport openings, wherein transmission components are defined and / or stored at the bearing points.
[0057] In particular, a transport opening is formed between each of the two bearing points in order to direct magnetorheological medium to the transmission component.
[0058] In all embodiments, the guiding element preferably comprises at least one guiding surface or two or more guiding surfaces. A guiding surface preferably directs magnetorheological medium to a transmission component. Particularly preferred are two or more guiding surfaces, each directing magnetorheological medium to the transmission component in both directions of rotation.
[0059] In preferred embodiments, the braking device comprises two (adjacent and separate) slots, between which, for example, an electrical coil is arranged (centrally). Then, a slot can be formed on one side and the other (axial) side of the coil, in which transmission components and a magnetorheological medium are arranged.
[0060] It should be noted here that the transmission components are (generally) magnetically conductive. The magnetic field generated by the magnetic device (electric coil and / or a magnet) passes through the respective gap between the two braking components on both sides of the electric coil and is preferably closed in each of the two braking components. The magnetic field can also close over a different surface, so that only one effective gap may be present.
[0061] In preferred embodiments, the transmission components comprise mostly or all of two roller sections and a guide section. It is possible that one roller section is arranged in each of the two slots. The roller sections are connected to each other by the guide section, which is guided in the component holder.
[0062] It is also possible for at least some of the transmission components to be mounted on a component holder. Mounting refers to more precise guidance of the transmission components. The transmission component may comprise at least one roller section and at least one guide axis. For example, the transmission component may comprise at least one roller section and two axle stubs. The axle stubs can protrude from the ends of the roller section and, for example, each be received and mounted in a component holder. This allows for particularly precise mounting and guidance of the transmission components on the component holder. This can reduce or completely prevent any undesirable tilting of the transmission components.
[0063] Preferably, a transmission component is supported at both axial ends by bearing points on component holders. In particular, one bearing point at one axial end is arranged radially further outwards than at the other axial end.
[0064] Tests have shown that a certain degree of free movement of the transmission components can be advantageous. The transmission components then position themselves within certain limits. Furthermore, the probability of, for example, temporary jamming can be reduced if the transmission components have some play.
[0065] It is preferred that the guide or bearing points for the transmission components are formed radially further outwards on one component holder than on the other component holder.
[0066] Guide points have more play than bearing points. It is also possible that the guide or bearing points for the transmission components on a component holder are arranged at different radial heights. For example, the guide or bearing points on a component holder can be arranged alternately further in and further out.
[0067] It is possible, for example, that two are arranged further inwards and then two further outwards. Other configurations are also possible.
[0068] It is possible for a holding device to comprise two axially spaced component holders. The component holders can be connected to each other (at least nearly rotationally fixed) via connecting elements. The two component holders can, for example, also be arranged to pivot relative to each other in the circumferential direction by a certain angle. It is particularly preferred that the component holders are coupled to each other in a rotationally fixed manner. It is possible that the bearing points for supporting the transmission components or the guide points for guiding them are arranged at an angle. In this case, the axes of symmetry (axes of rotation) of the transmission components are inclined to the axial direction. Generally, the term "guide point" can be replaced by the term "bearing point" and vice versa.
[0069] Particularly preferably, at least one component holder has a ring with a plurality of bearing points formed thereon, wherein a transport opening for magnetorheological medium and, in particular, particles is formed between two circumferentially arranged and, for example, immediately adjacent bearing points. This enables or better ensures the transport of magnetorheological medium / powder to the transmission component.
[0070] In all embodiments, it is preferred that the magnetic device comprises at least one remanent magnet.
[0071] A remanent magnet is a magnet whose magnetization can be selectively adjusted as needed, for example, by an electric coil. The magnetization can be increased or decreased by targeted pulses. AlNiCo is a particularly suitable material for such a remanent magnet. The magnetic field strength of the remanent magnet can then be adjusted to a desired level (magnetic field strength or magnetic flux density). Additionally, the set baseline magnetic field strength can be further modified by the coil and temporarily increased or decreased. The magnetization (polarization) can also be completely eliminated, so that no magnetic field is present. Alternatively, a permanent magnet can be used, either alone or in addition to the remanent magnet.
[0072] In all configurations, it is possible for the two brake components to be designed to be linearly displaceable relative to each other.
[0073] In preferred embodiments, the second brake component extends around the first brake component and comprises a hollow outer shell. The first and second brake components are then preferably pivotable relative to each other and, in particular, continuously rotatable. The gap then extends (radially completely) around the first brake component. The axial direction is then defined by the axis of rotation or axis of symmetry.
[0074] Preferably, at least one electrical coil is associated, and the first braking component particularly has a core extending in the axial direction made of a magnetically conductive material. In all embodiments, it is preferred that one of the braking components forms a rotor and the other braking component a stator.
[0075] In all configurations, the magnetorheological braking device is electronically controlled, in particular by a control device (especially a controller or a computer).
[0076] In all embodiments, the magnetorheological braking device is electronically controlled, in particular by a control unit (especially a controller or a computer). The device preferably includes at least one (angle) sensor device that can measure the rotation, angular position, or relative position of the two braking components. Such a sensor device can be a Hall sensor in combination with a magnetic ring attached to one of the braking components. Alternatively or additionally, the sensor device can include an inductive sensor or another suitable sensor. The signal from this sensor device is processed by the control unit, and the current of the magnetic device (coil) can be adjusted accordingly to obtain the desired torque.
[0077] In all its configurations, the device with the magnetorheological braking system can be used as a rotation brake or damper in a computer mouse, a medical robot, or any robot in general. For example, the device can be used in a joint of a (humanoid) robot arm. It can also be used in a piano key or a keyboard in general. Furthermore, it can be used in a joystick, for example, to brake the pivot axes.
[0078] For example, the device can be used as an emergency stop on a drill. It can also be used on a building door. Inventus
[0079] The device can also be used in the automotive sector, for example as a force feedback unit and / or end stop in a steer-by-wire steering wheel. It can also be used on a motorcycle stand or steering lock. Furthermore, it can be used on an adaptive (by-wire) accelerator, clutch, or brake pedal. It can also be integrated into a vehicle door. Another possibility is its use as a failsafe brake for the actuator of an active rear-wheel steering system. Such a system can, for example, brake / block the adjustment (free movement without power) if a fault occurs, such as during a power failure. It can also be used as a magnetorheological brake for "180° Corner Modules"—when vehicles return to a straight-ahead position (blocking wheel rotation). Finally, the device can be used in, designed as, or incorporate an adaptive roll stabilizer.In the roll stabilizer, the magnetorheological braking device pivotally connects two rods. Specifically, the roll stabilizer pivotally connects the left and right wheels and interposed torsion bars.
[0080] In all configurations and further developments, a holding device, or in particular the component holders, provides a type of cage for the transmission components. It has proven very beneficial if the component holders can rotate along with the drive, similar to a ball cage in a ball bearing. A ball cage rotates at approximately half the speed. This is also advantageous for the component holders here, increasing the possible and reproducible braking performance and improving constant and continuous power and torque build-up.
[0081] It is also advantageous if the transmission components can rotate (relative to the component holder). This is improved if the holding device or the component holders also rotate. The torque builds up reliably.
[0082] and more consistent torque curves result when the transmission components can rotate.
[0083] It is advantageous if enough (and especially a large quantity) of magnetorheological particles (powder) reach the transmission components. For this purpose, it is advantageous if the powder is supplied from some kind of powder reservoir.
[0084] The powder is preferably arranged in significant quantities upstream of the transmission component to enable particularly effective wedge formation. Powder placed to the side is generally less important.
[0085] It is advantageous if the shape of the component holders is designed in such a way that magnetorheological particles are supplied. It is particularly advantageous if magnetorheological particles are supplied in both directions of rotation, regardless of the direction in which the actuator is rotated.
[0086] A suitably designed component holder shape (“cage shape”) directs more magnetorheological particles and, for example, powder to the transfer components or rotating bodies. For this purpose, it is advantageous to provide transport openings, for example, in the form of indentations on the ring. Additionally or alternatively, guide elements can be provided. The guide elements can include guide surfaces. Thus, similar to rotor shrouds, angled areas can be formed on the component holders, which transport, for example, powder towards the transfer components, particularly in both directions of rotation.
[0087] Preferably, each transmission component is individually mounted. This results in a clearly defined system overall and can improve torque build-up and release behavior. Inventus
[0088] It is also possible to arrange several transmission components side by side.
[0089] In all configurations, a suitable distance is maintained between the component holders and the components, both radially and axially. If the distance is too small, the component holder rotates at the same speed as the rotor, preventing optimal torque build-up. If the distance is too large, the movement of the component holder can be undefined, and excessive powder can accumulate between the holder and the component holder, which is also suboptimal.
[0090] A gap size of 0.3 mm to about 0.5 mm (especially + / -20%) is preferred.
[0091] The transmission components can be arranged at a defined tilt. They can be tilted in both directions (horizontally and vertically) to improve the magnetic flux. Additionally, varying the gap height of each transmission component can positively influence the release behavior (torque reduction after energization) and the torque build-up (during energization). Controlled tilting of the transmission components can be ensured by individual bearings for each component.
[0092] It is preferable that the transmission components do not rest directly against the component holder, as powder can accumulate and become stuck there. This can impede the rotation of the transmission components and negatively affect torque generation and the release behavior.
[0093] The transmission components can also be conically shaped to achieve a similar or identical effect to a tilt. Alternatively, the stator or rotor can also be partially conically shaped. It is also possible that the Inventus
[0094] Transmission components are designed with a "convex" shape. For example, a stepped or curved surface is possible. Other shapes are also possible.
[0095] The transmission components can be made of different materials, e.g., they can be magnetically conductive to varying degrees, or partially non-conductive.
[0096] In all embodiments, it is preferred that the walls of the brake components and / or the surfaces of the transmission component are designed or constructed to increase friction, at least in certain areas of the effective gap. For this purpose, the corresponding contact surfaces or surfaces and walls can be, for example, rough and / or porous.
[0097] In particular, the component holder(s) are mounted in a rotatable manner. This allows the component holder(s) to rotate.
[0098] The transmission components are preferably mounted rotatably, such that they rotate at a speed determined by the relative speed between the transmission component and the brake components according to the rolling condition. A (particularly small) slip may occur. The slip is preferably less than 50% and particularly less than 30%, 20%, or 10%.
[0099] In particular, the component holder is mounted in such a way that the component holder is carried along by the movement of the transmission component and rotates (easily) at a resulting speed.
[0100] In preferred embodiments and further developments, magnetorheological particles (active medium and in particular powder) are arranged in an acute-angled area, which preferably has a wedge shape.
[0101] The magnetorheological particles are present. In particular, they are practically always located (in the direction of motion) upstream of the rotating or rotatable transmission components, specifically between the transmission component and the braking components. In other words, magnetorheological particles are present in an acute-angled region, with a supply of these particles located upstream of the rotatable transmission components, between the transmission component and the braking components.
[0102] Preferably, the magnetic particles in the gap between the transmission component and the braking components form a particle region that precedes the relative direction of motion, so that the transmission element continuously engages with the existing particles as it rolls. Under current, an acute-angled region forms (along the magnetic field lines), which in particular has a wedge shape.
[0103] The invention can also be used in cars with rear-axle steering. These systems typically use electric motors with gearboxes, spindles, or toothed belts to adjust the rear axle. The problem with a power failure or malfunction is that the wheels could turn on their own, potentially leading to an accident. The described magnetorheological braking device takes over in such cases, acting as a "lifeline" and preventing uncontrolled steering.
[0104] If the device with the braking system (actuator) is moved in one direction for a longer period and at a higher speed (angular velocity of the braking components relative to each other) without current being supplied to the magnetic field device (without a magnetic field) or with low current (low field strengths), it can happen that when subsequently a stronger current is applied (higher field strengths in the magnetic circuit), the torque is not always the same when moving in the same direction of rotation.
[0105] The braking torque can be applied reliably, as before. One reason for this could be that, when using powder, the amount of powder in the effective gap section was previously reduced and, for example, displaced laterally. This could result in less magnetorheological medium being present in the effective gap section. One possible solution is to change the direction of rotation before (briefly) applying the current again. This will ensure that the braking torque is generated stably and reliably.
[0106] Further features, properties, materials used, and preferred embodiments can be realized as described in EP 2 616 704 Bl. Reference is made in full to the content of Figures 1 to 23 and Claims 1 to 15 and the associated description.
[0107] Further advantages and features of the present invention will become apparent from the description of the exemplary embodiments, which are explained below with reference to the accompanying figures.
[0108] It shows:
[0109] Fig. 1a - 1lb schematic three-dimensional views of devices with a magnetorheological braking device;
[0110] Fig. 2 shows a cross-section of another device with a magnetorheological braking device;
[0111] Fig. 3 - 7 schematic detail enlargements of a device according to the invention;
[0112] Fig. 8 shows a component holder and a transmission component of the device according to Figure 2;
[0113] Fig. 9 shows another embodiment of a transmission component for a device according to the invention; Inventus
[0114] Fig. 10 shows a perspective detail view of two component holders and a transmission component;
[0115] Fig. 11 schematic representations of transmission components;
[0116] Fig. 12+13 schematic representations of component holders and transmission components;
[0117] Fig. 14 shows a roll stabilizer with a
[0118] magnetorheological braking device;
[0119] Figs. 15a-15c schematic views of devices comprising a pedal assembly with a pedal;
[0120] Figs. 16a-16c schematic views of a device comprising a steering device with a steering unit;
[0121] Figs. 17a-17e schematic views of a device comprising an operating device;
[0122] Fig. 18a-18b schematic views of a device comprising a stand assembly of a two-wheeler;
[0123] Figs. 19a-19b schematic views of a two-wheeler with a steering device and a magnetorheological braking device;
[0124] Fig. 20 shows a schematic view of a door device with a magnetorheological braking device;
[0125] Figs. 21a-21c schematic views of a device with a robot component; and
[0126] Fig. 22 shows a schematic cutaway view of a device with a rolling bearing assembly and Inventus.
[0127] an integrated magnetorheological braking system.
[0128] Figures a1 and b1b show devices 100 according to the invention, which can be used separately or as device components 200.
[0129] Figure 1a shows a device 100 with a magnetorheological braking device 1, which has two braking components 2, 3. The braking components 2, 3 are pivotable relative to each other via bearings 4 and are generally mounted for continuous rotation. The interior is sealed to the outside by a seal 22. A magnetorheological medium 6 is arranged in the gap 5 in the interior. Preferably, the magnetorheological medium 6 comprises magnetic particles and can, in particular, be in the form of a powder.
[0130] A field or magnetic field 8 is provided by a magnetic device. The magnetic device preferably comprises at least one electrical coil 26, with which a precisely controlled magnetic field is generated. The magnetic field 8 passes through the gap 5 on both sides of the coil 26. The coil 26 is wound around the inner brake component 3 and is supplied with energy via a power connection. In this embodiment, the leads are fed through the cavity in the inner brake component 3.
[0131] On the right side of coil 26, as shown in Figure 1a, several transmission components 11 are arranged distributed around the circumference of the gap 5. Each transmission component 11 is rotatably arranged about a rotation axis 12 in the gap 5. The transmission components 11 are mounted on a holding device with two component holders 35a and 35b. The component holders 35a and 35b rotatably support each transmission component 11. For this purpose, each transmission component 11 can have a stub axle at each axial end, or a separate axle section can be provided.
[0132] The transmission components 11 are guided by the components to provide defined and rotatable mounting for the transmission components 11. The component holders 35a, 35b are particularly preferably rotatably mounted (in total) between the brake components 2, 3. In this configuration, the component holders 35a, 35b may rotate at approximately half the rotational speed during operation. More precisely, the component holders 35a, 35b rotate at the average rotational speed of the two brake components. If one of the brake components is stationary and the other rotates at a certain speed, it is preferred that the component holders 35a, 35b move at half the rotational speed of the rotating brake component. It is also possible for stub axles to be formed or arranged on the mounting device or the component holders 35a, 35b, which project into or are inserted into a through hole or blind hole in the transmission components 11.
[0133] The transmission components 11 are each rotationally symmetrical and cause a specifically controllable increase in the braking effect in the gap 5 .
[0134] On the left side of the coil 26, a circumferential flange is formed on the inner brake component 3. This flange forms part of the gap 5 radially to the other brake component 2. The flange of the brake component 3 can be disc-shaped, resulting in a cylindrical gap section. Alternatively, the flange may have a star-shaped contour radially outward, for example, in the form of a gear. This results in a circumferential contour with varying radial gap heights. The individual teeth of a star contour can be pointed, rounded, or, for example, wavy. Other shapes are also possible. It is also possible that transmission elements 11 are arranged on the left side.
[0135] It can be symmetrical or similarly shaped in the axial direction.
[0136] Figure 1b shows another embodiment of a device 100 or device component 200, in which the electrical coil 26 is attached to the brake component 2, which is on the outside. Power is also supplied via this connection. A seal 22 seals the interior from the outside, and bearings 4 provide support.
[0137] The device 100 can also be used in the form of a control knob, which is mounted on a console, for example in a car. The control knob contains a magnetorheological braking device 1. A user interface, for example, can be provided on the surface. The sleeve part forms the rotary knob and is coupled to one of the two brake components 2, 3, which are rotatable relative to each other.
[0138] The device can also be used on a control roller or thumb roller as a device 100, wherein a magnetorheological braking device 1 is installed inside the control roller to selectively influence the rotational movement of the thumb roller. It can also be used on a computer mouse to control the rotational movements of a mouse wheel.
[0139] It is also possible to use it on a steering wheel (steer-by-wire), whereby the rotational movement of the steering wheel is specifically changed or influenced via the magnetorheological braking device 1.
[0140] The invention can also be used on a joystick 104 as a device component 200 or device 100, wherein a magnetorheological braking device 1 is also used inside to selectively dampen or decelerate the movement.
[0141] It is also possible to use it with a gamepad or other device, whereby several magnetorheological innovations
[0142] Braking devices 1 may be installed to selectively brake corresponding movements of individual components.
[0143] Figure 2 shows a device 100 with a magnetorheological braking device 1 in a section, wherein the two braking components 2, 3 are rotatably arranged relative to each other. A central axis of rotation extends in the axial direction 20. Here, one braking component 2 is arranged radially inside, surrounded radially further out by the other braking component 3.
[0144] A gap 5 (more precisely, two axially spaced gaps 5) is arranged between the two brake components 2 and 3. The gap 5 extends completely around the entire circumference. Thus, the effective gap section 5c is formed entirely by the gap 5. Several transmission components 11 are arranged circumferentially within the gap 5.
[0145] The transmission components 11 are each arranged in several groups 30, which are arranged separately from each other.
[0146] Here, each group 30 comprises exactly two transmission components 11. It is also possible to arrange three or more transmission components adjacent to each other. Any other number is also possible. The essential point here is that each pair of transmission components 30 is spaced further apart than the individual transmission components 11 within a group 30. This allows the transmission components 11 within a group 30 to influence each other. However, the transmission components 11 of different groups 30 do not influence each other. This enables a higher braking force while simultaneously preventing a complete blockage of the rotational movement.
[0147] It is advantageous to provide exactly two transmission components 11 in each group 30. This maximizes the effect and allows for a particularly high number of groups on the circumference.
[0148] To secure the relative position of the individual transmission components in the respective groups 30 relative to each other, a component holder 35 is used, which is more clearly visible in Figure 4.
[0149] Figure 2 shows the magnetic device 28, which in this embodiment comprises the electrical coil 26 and optionally a remanent magnet 29. A core 21 made of magnetically conductive material is provided on the inner brake component 2.
[0150] In Figure 2, transmission components 11 are arranged on both sides of the electrical coil 26 (in the axial direction) in two columns 5 or effective gap sections 5c and 5d, respectively. The transmission components 11 are held by the component holder 35.
[0151] Figure 3 shows a schematic enlargement of two transmission components 11 of a group 30 between the two braking components 2, 3. Magnetorheological particles 19 are present in the gap 5 between the braking components 2, 3. Under the influence of a magnetic field, these particles wedge themselves onto the transmission components 11, particularly in the acute-angled regions 10, thus increasing the braking effect. The effect is described in principle in EP 2 616 704 Bl.
[0152] Figure 4 shows a schematic cross-sectional view, depicting two groups 30 of transmission elements 11. A retaining element 37 of the component holder 35 is shown between each group 30. The Inventus is arranged between the transmission elements of two different groups 30.
[0153] The retaining element 37 ensures that the respective groups 30 remain separated from each other and that only the transmission elements 11 of a single group 30 are arranged in close proximity to one another. This ensures that the transmission elements 11 of a single group 30 rotate in opposite directions to each other when a relative movement of the two brake components 2, 3 occurs. This allows for particularly effective braking.
[0154] As can be seen in Figure 4, a minimum distance 32 between two transmission components 11 is considerably smaller than a minimum distance 31 between two groups 30 of transmission components.
[0155] Here, the distance 31 is considerably larger than the radius or half a diameter 11a of a transmission component 11. The two transmission components 11 of a group can also touch each other.
[0156] The distance 31 between two groups 30 is preferably greater than half the diameter 11a of a transmission component and can also be greater than a full diameter 11a of a transmission component.
[0157] The retaining element 37 essentially acts as a spacer and has a circumferential distance 36. The gap height 5a is dimensioned such that, in particular, at least 10, 20, 30, 40 or 50 particles must wedge themselves against each other in an acute-angled area in order to generate a correspondingly effective braking torque.
[0158] The individual transmission components 11 can be designed as spheres 14 or as cylinders 15. A cylinder 15 then extends perpendicular to the plane of the drawing over a corresponding length, which is preferably greater than the diameter 11a of a transmission component 11.
[0159] Figure 5 shows a schematic side view of a transmission component 11 and a free distance 9 between the associated braking component and the transmission component 11. In the acute-angled region 10, a multitude of magnetorheological particles 19 are depicted, whose typical diameter 19a is much smaller than the free distance 9. This clearly demonstrates that a multitude of particles are required for effective braking and the generation of a wedge effect, and not just two or three individual particles 19. This prevents accidental and unintentional blockages from occurring.
[0160] Figure 6 shows, in the left part of the illustration, a roller or cylinder 15 (cf. Fig. 4) as a transmission component 11, which here is cylindrical and extends over a length 11b. The transmission component 11 in Figure 6 can be tilted or installed at an angle 11g (e.g., approximately 1°) relative to the longitudinal axis 12 in order to achieve a further increase in the braking torque.
[0161] In the right part of Figure 6, a defined installation situation is shown in a highly schematic manner, in which the transmission component 11 has the basic shape of an elongated cylinder, which is more than twice as long as its diameter. The transmission component 11 is rotatably mounted about the axis of rotation 12. The stub axles 11f at the two axial ends 33a and 33b serve for the defined mounting. The mounting is achieved via bearing points 38a and 38b on component holders 35a and 35b, which are not visible in Figure 6 but can be seen, for example, in Figure 10. The transmission component 11 is installed at an angle 11g, so that at the axial position 18a, a distance 16a from the wall 11h to the surface 17 of the brake component 3 results, which is considerably smaller than a distance 16b (perpendicular to the axis of rotation 12) at the axial position 18b. This results in a significant increase in braking effect. Inventus
[0162] This is clearly illustrated in Figure 7, where two transmission components 11 are shown side by side between the brake components 2, 3. The transmission components 11 arranged in the gap 5 are each designed as a cylinder or roller 15 (see Fig. 4).
[0163] The transmission component 11 shown here on the left rests at one end against the wall or surface of the brake component 2, and the other roller or transmission component rests at the other end against the brake component 3.
[0164] The diagram shows, in a highly schematic way, the course of a magnetic field line of magnetic field 8, which extends from the braking component 2 into the transmission component 11 shown on the left, and from there into the other transmission component 11, and finally at the other end from the right transmission component into the other braking component 3. This results in a particularly effective braking effect, since a particularly strong magnetic field occurs due to the respective contact of the two transmission components 11 with the braking components. The magnetic particles 19 present in the wedge regions are particularly effectively networked or linked together.
[0165] Figure 8 shows the component holder 35 with the retaining elements 37 formed thereon. The guide part Ile of a (sometimes multi-part) transmission element 11 is received between two retaining elements 37 (viewed circumferentially). Here, the transmission element 11 comprises two roller parts Ild, which are centrally connected by the (rod-like) guide part Ile. Preferably, the guide part Ile is designed to be magnetically non-conductive.
[0166] It is also possible that the guide element Ile is given a particularly small diameter and is magnetically conductive. Then only a very small part of the Inventus
[0167] The magnetic field is directly "short-circuited" by the guide element Ile, which has little or no effect on the overall effect. The transmission element 11 can then be manufactured as a single piece.
[0168] On the far right of Figure 8 is a schematic perspective representation of the transmission component 11 on the component holder 35.
[0169] Figure 9 shows a variant on the left in which the transmission element 11 has a stub axle 11 at each end, by which the transmission element 11 is rotatably mounted on a correspondingly designed component holder 35. Separate transmission components 11 are then inserted in different columns 5 (5c, 5d), so that a magnetic short circuit is completely avoided. The transmission element 11 can be a single piece or multi-piece (stub axle).
[0170] Figure 9 shows on the right a variant in which the actual roller body of the transmission component 11 has a conical basic shape. However, the profile of the wall 11h is not inclined, but can also be (finely) stepped, resulting in an overall inclined or curved profile on average.
[0171] Figure 10 shows a schematic perspective detail view of two component holders 35 and a transmission component 11 mounted thereon. The transmission component 11 is mounted on bearing points 38 of the component holders 35 via stub axles 11f. The component holders 35 have a ring 40 on which transport openings 41 are formed between the bearing points 38. Magnetorheological medium 6 (and in particular powder particles 19) can be passed through these openings 41 to guide the powder to the transmission components 11. This allows Inventus
[0172] ensured that enough particles 19 are present at the transmission components 11 at all times.
[0173] The transmission components 11 can be configured differently, as shown by way of example in Figure 11. Figure 11 shows schematic representations of transmission components 11, with a cylindrical configuration depicted at the top, which has a roller section 11d and axle stubs 11f at the ends. In the middle of Figure 11, a conical configuration is shown, which also has two axle stubs at the ends. The conical outer surface of the rotating body creates a variable radial distance to the brake components 2, 3 when the axis of rotation 12 of the transmission components 11 is aligned parallel to the axis of rotation of the brake components 2, 3, which is preferred. This generates a deliberately inhomogeneous magnetic field, which provides positive braking characteristics.
[0174] Figure 11 shows a barrel-shaped or bulbous embodiment of the rotationally symmetric rolling element or rotating body at the bottom. Here, the diameter decreases towards both axial ends. This also leads to inhomogeneous magnetic fields in the axial direction and a stronger concentration.
[0175] Figure 12 shows on the left a holding device 33 with two component holders 35a, 35b and transmission components 11 mounted between them. The two component holders 35a, 35b are connected to each other via connecting elements 34. The connection is, in particular, rotationally fixed. A connection that allows a small relative pivoting of the two component holders relative to each other is also possible. However, the component holders can also be equipped without connecting elements 34.
[0176] In the center of Figure 12, one of the two component holders 35a is shown in a side view, and on the right in Figure 12, the other component holder 35b is shown. The bearing points 38a on the component holder 35a are shown in a (larger) Inventus
[0177] The bearing points 38b on the component holder 35b are arranged at a (lower) radial height 39a. This causes the transmission components 11j to be held at an angle. This results in an inhomogeneous magnetic field in the axial direction.
[0178] All bearing points 38 on each component holder 35 can be arranged at the same radial height 39. The radial height on the other component holder 35 is then preferably smaller or larger. It is also possible that the radial height of the bearing points on a component holder 35 varies around the circumference, particularly regularly. This results in a smaller gap height on one axial side and a smaller gap height on the other axial side.
[0179] Figure 13 shows schematic representations of component holders 35 and transmission components 11. The component holders have guide elements 42, each of which has two guide surfaces 42a, 42b. The guide elements 42 are approximately triangular in shape, with one apex of the triangle pointing axially towards the axial center of the transmission components 11. The guide surfaces 42a, 42b ensure that when the component holder is rotated (independent of direction), particles are transported axially from the outside towards the transmission components 11.
[0180] Figure 14 shows a device 100 designed as a roll stabilizer 190. The roll stabilizer 190 comprises a magnetorheological braking device 1 in a configuration as previously described. The roll stabilizer 190 serves in particular to stabilize a vehicle when cornering (rolling motion).
[0181] Passive stabilizers consist simply of a torsion bar. When one wheel compresses during cornering, the stabilizer exerts force on the other wheel. A passive Inventus
[0182] Roll stabilizers have the disadvantage that, for example, when driving over bumps on one side of the road, the body roll can be amplified. Active (with an electric motor) and semi-active (with magnetic dampers) roll stabilizers can counteract this. In such a case, the 190 roll stabilizer can be set to a softer setting, so that little or no force is transferred from one wheel to the other. When cornering, the 190 roll stabilizer can be set to a stiffer setting.
[0183] A magnetorheological braking device 1 (as a magnetorheological rotary actuator) is connected here between the rods or stabilizer rods 191 on both sides. A rotor of the magnetorheological braking device 1 is connected to one side (i.e., one rod 191), and the stator to the other side (i.e., the other rod 191). The rods 191 are in turn coupled at their ends to the wheels or the respective wheel mounts via the mountings 192. The rods 191 are attached to the body via mountings 193. Thus, torsional movement can be dampened. Several units can be connected in series to increase the force, or a gearbox (e.g., a planetary gearbox) can be used additionally.
[0184] The roll stabilizer 190 from Figure 14 can, in particular, be equipped with the braking device 1 from Figure 11b. The braking components 2, 3 are then connected to the rods 191, which in turn are connected to the vehicle via fastenings 192, 193. A rotational movement of the rods 192, 193 about the pivot axis 20a from Figure 11b can be effectively braked. Thus, the braking device 1 effectively provides stabilization.
[0185] Figure 15a shows two schematic perspective views of a device 100 designed as a pedal assembly 110 or comprising a pedal assembly 110. The pedal assembly 110 includes the pedal 111 and a magnetorheological braking device 1 arranged on the axis of rotation. In Fig. 15a, a pedal assembly 110 with a stationary housing is shown on the left.
[0186] shown and to the right of it a pedal assembly 110 with a rotatable housing with the magnetorheological braking device 1.
[0187] The device 100, designed here as pedal assembly 110, is intended in all its embodiments, in particular, for a "brake-by-wire" application, in which an actuation of the pedal 111 is detected and transmitted to a remotely located brake assembly of a vehicle or other device or system (not shown here). In this case, the pedal assembly 110 can be referred to as a brake pedal assembly and the pedal as a brake pedal.
[0188] It is also possible that the pedal assembly 110 is used for a simulation, a computer game, or the like. In that case, no actual braking mechanism for braking a vehicle's wheel needs to be present on the system.
[0189] In any case, pedal 111 is regularly intended to be operated by the foot of an operator. If necessary, it can also be operated by hand or another part of the operator's body.
[0190] The pedal assembly 110 comprises the pedal 111, which is pivotally mounted about the axis of rotation or pivot axis 20a, or a corresponding actuating section serving as a pedal 111. The magnetorheological braking device 1, which has already been described, is arranged on the pivot axis 20a.
[0191] The pedal 111 is generally arranged at one end of an arm assembly 112 which is pivotally mounted about the pivot axis 20a. The arm assembly 112 can, in particular, be designed as a pedal rod. The arm assembly 112 is designed in the manner of a bending rod and is (slightly and) reversibly bent when actuated with typical actuating forces. The Inventus
[0192] The elastically bent arm device 112 then generates a restoring force that is immediately noticeable to the operator.
[0193] The arm assembly 112 is assigned at least one sensor 114, which detects a measure of the actuating force exerted on the pedal in the force direction 117. The arm assembly 112, which is designed, for example, as a pedal rod, is flexible so that it deflects under typical operating loads. The arm assembly 112 is designed to withstand loads such that the loads result in reversible stresses and bending. A bending load generates a restoring force that is perceptible to the user at the pedal 111. The magnitude of the restoring force depends on the deflection and thus on the actuating force.
[0194] Figure 15b shows a schematic side view of the arm assembly 112. A pivoting movement about the pivot axis 20a can be controlled and braked by the magnetorheological braking device 1 (see, for example, Figure 2). When the pedal 111 is actuated, which provides an actuating section 113 of the pedal assembly 110, the arm assembly 112 deflects, as shown schematically in Figures 15b and 15c.
[0195] The arm assembly 112 acts as an elastically flexible bending rod. The arm assembly 112 can also be designed as a bending rod or flexible rod. In any case, the arm assembly 112 is reversibly deformable when (properly) actuated and provides a restoring force or restoring torque. The restoring torque depends on the actuating force.
[0196] A sensor 114 can be permanently attached to a rod, console, or the like and detects a measurement of a distance 115 from a defined point on the arm assembly 112. It is also possible that two coordinated or Inventus
[0197] Adapted sensor parts 114 are attached to the arm assembly 112 and the rod or console 119 to detect a measure of a distance 115. As shown in Fig. 15c, a strain gauge 116 or an angle sensor can also be used as a sensor 114 to detect a measure of deflection and thus a distance 115. The arm assembly has a length 118.
[0198] The pedal is attached directly to the pivot axis 20a on the actuator or the magnetorheological braking device 1. The actuation force is preferably not measured with a force sensor, but rather by measuring the bending moment and using a displacement sensor. However, the use of a force sensor is also conceivable.
[0199] A device or pedal assembly with "brake-by-wire" has no direct physical connection between the pedal and the (vehicle) brakes. Sensors detect when the pedal is pressed, and the brakes are then usually actuated by a motor, e.g., hydraulically or by a pump, or in another way, e.g., via a linear motor, etc.
[0200] In a conventional braking system, the pedal presses on the hydraulic brake hoses. This causes the brake pistons in the disc brake system to press the brake pads against the brake discs. During this process, a counterforce acts on the pedal in conventional braking systems because the hydraulic hoses are slightly stretched under the increased pressure of the applied braking force. This creates a restoring force. With the patented solution, the user can also feel such a restoring force with a brake-by-wire pedal, even though there are no hydraulic hoses and therefore no hydraulic restoring forces present.
[0201] Previous purely passive solutions developed by the applicant could not provide this restoring force, and a return spring for resetting the pedal is generally too weak.
[0202] The solution according to the application enables a new concept. The very high holding torque that can be generated according to the application is very advantageous in this regard.
[0203] The pedal is attached to the pivot axis 20a of the magnetorheological braking device 1. No additional pistons, spindles, etc., are required. The pedal preferably comprises an arm assembly 112 designed as a rod or flexible rod, which can be elastically bent. The force felt by the user from the pedal (brake pedal, clutch pedal, or accelerator pedal) is generated (almost entirely) by the bending moment of the rod. The braking device 1 is locked, the pedal is pressed and bends, thereby exerting a counterforce. A simple return spring can be provided to return the pedal to its original position. However, the return force only needs to be sufficient to return the pedal to its original position and is therefore (practically) imperceptible to the user during normal pedal operation.
[0204] The force that must be applied when bending a rod, or that counteracts the deflection, can be described by the bending stress of a beam.
[0205] As soon as the pedal generates enough opposing force due to the bending, the braking device can release a blockage and the pedal can be depressed further. The braking torque of the braking device 1 is regulated so that the force due to the bending moment remains constant.
[0206] The invention allows for the generation of very high braking torques in all its embodiments. An advantage of a solution according to the application using dry particles (powders) as opposed to an oil-based magnetorheological fluid (MRF) is that no speed dependence of the braking effect was observed when using powder.
[0207] In preferred embodiments and further developments of a device designed as or comprising a pedal assembly 110, the pedal of the pedal assembly can comprise (at least) an arm assembly and (at least) an actuating section. In other words, it is preferred that the pedal assembly comprises an arm assembly and a pedal arranged and, in particular, attached or designed thereon.
[0208] The arm assembly is preferably reversibly deformable and, in particular, elastically deformable. The arm assembly can preferably be designed as a bending rod or comprise one. The arm assembly is, in particular, pivotable about the pivot axis (of the magnetorheological braking device).
[0209] Particularly preferably, at least one sensor is included to detect any deflection of the arm assembly during actuation. The sensor data is used, in particular, to control the magnetorheological braking device.
[0210] Preferably, the sensor detects a measure of distance.
[0211] In particular, the sensor detects a measure of deflection or elastic deformation of the arm assembly. A distance detected by the sensor can be, for example, the distance from a specific point on the arm assembly (or the bending rod) to a fixed point. A strain gauge and / or an angle sensor can also be used. It is also possible for the sensor to comprise two interacting sensor elements, one of which is attached to the arm assembly.
[0212] Additionally, a rotation angle sensor is included in and / or on the magnetorheological braking device to detect relative movement or rotation between the brake components. Inventus
[0213] Preferably, the arm mechanism generates a restoring force under load. This restoring force is particularly noticeable to the user.
[0214] Figures 16a to 16c show three schematic views of a device 100 designed as a steering device 120 or comprising a steering device 120. The steering device 120 comprises a steering unit 121 and a magnetorheological braking device 1. The steering device 120 here forms a device 100 that can be used separately or as a device component 200.
[0215] In particular, the steering device 120 is used in the motor vehicle sector or in the computer sector for games or simulations or the like.
[0216] Figure 16a shows a schematic perspective view of the steering device 120 with a steering unit 121. The steering unit 121 includes a steering wheel 122. The steering unit 121 also includes one of the brake components 2, 3. It is also possible that the steering unit 121 includes only a brake component 3. A steering wheel 122 can then be connected to it as needed.
[0217] The brake component 3 is part of a magnetorheological braking device 1, which is rotatable about a rotary or pivot axis 20a. The magnetorheological braking device 1 comprises a further braking component 2. The magnetorheological braking device 1 of the steering device 120 has already been described in more detail.
[0218] The steering device 120 is specifically designed for a "steer-by-wire" application, in which an actuation of the steering unit 121 is detected and transferred to a remotely located steering arrangement of a vehicle or other device or system (not shown here).
[0219] It is also possible that the steering device 120 is used for a simulation, a computer game, or the like. In that case, no actual steering mechanism for steering a vehicle needs to be present on the system.
[0220] In any case, a steering wheel 122 is preferably provided for operation with at least one hand of an operator.
[0221] Figure 16b shows a schematic cutaway side view of an embodiment of the steering device 120. The steering device 120 comprises a motor 123 for active rotation and / or return. A steering movement about the pivot axis 20a can be controlled and braked by the magnetorheological braking device 1 (see, e.g., Figure 2).
[0222] The steering device 120 can be assigned at least one sensor 125 to detect an angular position of the steering unit 121. The sensor can comprise two or more sensor elements.
[0223] A device 100 or a steering system 120 with "steer-by-wire" has no direct physical connection between the steering wheel 122 and the (vehicle) wheels, and a rotational movement does not directly affect the steering angle, e.g., of the wheels of a vehicle. The steering angle is adjusted via actuators, e.g., by means of a motor, hydraulics, a pump, or in some other way.
[0224] Figures 16b and 16c each show an optional intermediate device 126. Such a device may be present, but is not mandatory. A steering column and / or other components may be arranged between the steering wheel 122 and the actuator.
[0225] A steering lock can be provided. This can be achieved by applying a consistently high braking torque. A consistently high braking torque would prevent the steering of a vehicle on the Inventus.
[0226] Driving on the road would be severely impaired, if steering were even possible at all. The driver would tire very quickly. Therefore, an effective steering lock is provided that cannot be mechanically disengaged. Additionally, an end stop can be created to limit the steering angle.
[0227] This eliminates the need for mechanical angle limiting.
[0228] To reduce or minimize energy consumption, for example during prolonged parking, at least one remanent magnet 29 can be included. The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation. This makes it possible to set the strength of the magnetic field to a maximum value after a vehicle is parked or after the device is switched off, making steering impossible or requiring extremely high forces. This can be done not just once, but for every single steering operation. By means of suitable pulse control of the electrical coil, the (static) magnetic field of the remanent coil 29 can be reduced to a value of zero or near zero when a vehicle or the device is started, and then increased again to a high value or the maximum after the vehicle is parked.
[0229] The motor 123 can be used to reset the steering wheel 122 during normal operation (without activation of the steering lock).
[0230] Figure 16c shows an alternative embodiment of the steering device 120 in section, in which two columns 5 are also provided. The electrical coil 26 is again located between the two columns 5, so that its magnetic field passes through both columns 5 and runs radially inwards through the brake component 3 and radially outwards through the brake component 2. A remanent magnet 29 can also be provided, as in Fig. 16b .Inventus
[0231] In contrast to the embodiment shown in Fig. 16b, the embodiment shown in Fig. 16c includes two different braking gaps 5. To the left of the electrical coil 26, a star contour 24 is formed in the braking gap 5. The gap height varies around the circumference. This can be achieved by the inner braking component 3 having outwardly projecting teeth. Alternatively, the outer braking component 2 can have inwardly projecting teeth, while the inner braking component 3 is cylindrical in the area of the gap 5. In either case, a variable gap height results, which changes periodically around the circumference, as can be seen in section "A".
[0232] In the embodiment shown in Fig. 16c, on the right side of the coil 26, the two brake components 2, 3 are each cylindrical in the area of the gap 5j. Transmission components 11 are arranged in the gap, as shown in section "B". The function was described with reference to Fig.
[0233] 2 described.
[0234] Fig. 16c shows another alternative coupling with a motor 123, which is connected to the brake component 3 via the belt 123 shown with a dashed line.
[0235] A device with a steering mechanism preferably comprises a motor that is coupled or can be coupled to one of the brake components. In particular, the motor can be used to actively rotate the steering unit.
[0236] In all further developments, it is particularly preferred that the steering unit includes one of the brake components. This can mean that the steering unit is directly formed with or connected to one of the brake components. In preferred embodiments, the steering unit includes a steering wheel.
[0237] Preferably, the magnetorheological braking device comprises at least two slits. The two slits serve as braking slits.
[0238] Each gap or braking gap has at least one effective gap section. Preferably, the gaps, or at least two gaps, are spaced apart axially. In preferred embodiments, the electrical coil is mounted axially between the two gaps. The two gaps can be identical. The two gaps can also be different.
[0239] Preferably, a star contour with a variable gap height around the circumference of the gap is formed at one gap. Transmission components can also be provided at both gaps. It is also possible that no transmission components are provided at one gap and that no star contour is formed there.
[0240] It is preferred that at least one remanent magnet is included. The remanent magnet can be made at least partially of AlNiCo. Preferably, the magnetic field strength of the remanent magnet is adjustable with the (or an additional) electrical coil. This makes it possible to activate and / or deactivate a steering lock as needed.
[0241] It is possible and preferred that at least one sensor is included to detect the angular position of the steering unit. The sensor data can be used, in particular, to control the magnetorheological braking system.
[0242] It is possible that the sensor comprises two interacting sensor elements, one of which is connected to, for example, one of the two brake components.
[0243] Figures 17a to 17d show schematic views of a device 100 comprising or designed as an operating device 130 with an operating lever 131 and magnetorheological braking devices 1 integrated therein.
[0244] The operating device 130 forms a device 100 which can be used separately or as a device component 200.
[0245] In particular, the control device 130 can be used in the automotive sector or in computer applications such as games, simulations, or similar applications. For example, the control device 130 can be used as a gearshift lever. In this case, the control lever 131 is not directly connected to the transmission; instead, the movement of the control lever 131 is detected, and a gear change is performed or initiated electronically.
[0246] Figures 17a to 17d show schematic perspective views of the operating device 130 with an operating lever 131.
[0247] The operating device 130 comprises an operating lever 131 and at least one support device 132. The support device 132 can be mounted on or formed on a console. The operating lever 131 is pivotable about a first pivot axis S1 by means of a first pivot bearing device 133 and about a second pivot axis S2 relative to the support device 132 by means of a second pivot bearing device 134.
[0248] It comprises at least one controllable braking device 1 for adjusting the resistance to movement of the operating lever 131. In particular, it comprises two separate braking units 135, 136. Each braking unit 135, 136 can selectively brake a different direction of movement, and in particular, pivoting about a pivot axis. For this purpose, each braking unit 135, 136 preferably has or is formed by a controllable magnetorheological braking device 1. Here, the operating device 130 comprises a two-axis adjustable operating lever 131, the pivoting about axes S1 and S2 of which can be controlled magnetorheologically braked.
[0249] With a first brake unit 135, the resistance to movement of the control lever 131 about the first pivot axis S1 is adjustable, and with a second brake unit 136, the resistance to movement of the control lever 131 about the second pivot axis S2 is adjustable, so that the operating device 130 is set up and intended to replicate at least one pre-adjustable control cam.
[0250] The control pattern can, for example, correspond to a classic shift pattern of a gearbox with four, five, six, seven, or more gears. The type of shift pattern can be modified, particularly during operation. For example, a change may be made depending on the terrain or road on which a motor vehicle is traveling.
[0251] The operating device 130 is particularly intended for a “shift-by-wi re” application, in which an actuation of the operating levers 131 is detected and transferred to a remotely arranged switching arrangement of a vehicle or other device or system, which is not shown here.
[0252] The device does not need to be used on a real motor vehicle, but can also be used for simulation. It is also possible for the control unit 130 to be used for a simulation, a computer game, or the like. In that case, no actual shift mechanism for changing a vehicle's gear needs to be present on the system.
[0253] Figures 17b to 17d show schematic perspective views of one embodiment of the operating device 130. The operating device 130, or the operating lever 131, can be pivoted about three pivot axes SI, S2, and S3. If necessary, the operating lever can be recessed into a console. Inventus
[0254] The operating device 130 can be assigned at least one sensor to detect the angular position of the operating lever 131. The sensor can comprise two or more sensor elements.
[0255] Figure 17e shows various circuit diagrams 138 that can be programmed or preset using a control device not shown here. For example, the circuit diagram shown on the left can be provided with five forward gears and one reverse gear, or the circuit diagram shown in the middle can be provided with four forward gears and one reverse gear. A simpler variant is shown on the right, in which the operating lever is braked so that only a pivoting movement around one pivot axis is possible, so that in one pivoting direction an "upshift" ("+") occurs and in the other direction a "downshift" ("-").
[0256] A device 100 or an operating device 130 with "shift-by-wire" has no direct physical connection to the vehicle's transmission, and a movement does not directly affect the vehicle's transmission. Shifting is performed at the transmission via actuators, e.g., by means of a motor, hydraulics, a pump, or in some other way.
[0257] The return of the operating lever from a deflected position to the neutral position can be achieved in particular by a spring, an electric motor or a magnet.
[0258] An operating lock can be provided. This can be achieved by applying a consistently high braking torque. A consistently high braking torque would severely impair the shifting process of a vehicle on the road, assuming operation were even possible. The driver would tire very quickly. This provides an effective operating lock that cannot be mechanically disengaged.
[0259] To reduce or minimize the energy consumption of an operating lock, e.g., during continuous parking, at least one remanent magnet 29 can be included (see Fig. 2). The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation. This makes it possible to set the strength of the magnetic field to a maximum value after a vehicle is parked or after the device is switched off, making a switching operation impossible or requiring extremely high forces. And this is not just a one-time occurrence, but for every single switching operation. By means of suitable pulse control of the electrical coil 26, the (static) magnetic field of the remanent magnet 29 can be reduced to a value of zero or near zero when a vehicle is started or when the device is started, and increased again to a high value or the maximum after the vehicle is parked.
[0260] Preferably, the operating device comprises a gearshift lever or joystick. In particular, at least two brake units are provided, wherein preferably each brake unit comprises a magnetorheological braking device or is designed as such.
[0261] In all embodiments and further developments, it is particularly preferred that the control lever is connected to a brake component of a brake unit. This can mean that the control lever is directly connected to one of the brake components. In preferred embodiments, the control lever includes a joystick or gearshift lever, or is designed as such. Particularly preferred is the control lever coupled to one brake component of each of two brake units.
[0262] In particular, both brake units are designed as magnetorheological braking devices.
[0263] It is preferred that at least one remanent magnet is included. The remanent magnet can consist at least partially of AlNiCo. Preferably, the magnetic field strength of the remanent magnet is given by Inventus.
[0264] The (or an additional) electrical coil is adjustable. This makes it possible to activate and / or deactivate a lock for operation as needed. It is also possible, and preferred, for each braking unit to include a remanent magnet. This allows different movements of the operating units to be permanently braked or even blocked, either together or separately, without power.
[0265] It is possible and preferred that at least one sensor is included to detect the angular position of the operating lever. The sensor data can then be used, in particular, to control the magnetorheological braking device of at least one brake unit.
[0266] It is possible that the sensor comprises two interacting sensor elements, each of which is connected, for example, to one of the two brake components. Sensors for at least two directions of movement or pivot axes are possible and preferred. In preferred embodiments, the operating device comprises at least one operating lever and at least one support device. The operating lever is pivotable about a first pivot axis and about a second pivot axis relative to the support device by means of a first pivot bearing device and a second pivot bearing device. At least one controllable braking device is included for adjusting the resistance to movement of the operating lever.
[0267] Preferably, a first brake unit is included for controlling the resistance of the operating lever's movement about a first pivot axis. In particular, a second brake unit is adjustable for controlling the resistance of the operating lever's movement about a second pivot axis. In particular, the operating device is configured and designed to replicate at least one pre-adjustable control cam.
[0268] Figures 18a to 18b show schematic side views of a device 100 with a vehicle component 140 on a two-wheeler or motorcycle 145. The vehicle component 140 can be part of the two-wheeler 140 or comprise the entire two-wheeler.
[0269] The vehicle component 140 comprises at least one stand assembly 141. The stand assembly 141 is movable between the folded-in state 146 shown in Figure 18b and the unfolded or extended state 147 shown in Figure 18a. In this movement, the support foot 142 (or feet 142) is pivoted about the pivot axis 20a of the magnetorheological braking device 1. The rotational movement can be selectively controlled and braked.
[0270] However, not only can the rotational movement be slowed down, but braking can also occur in states 146 and 147. This reliably prevents unintentional unfolding and, above all, unwanted folding of the stand assembly 141, which serves primarily as the main stand. This provides additional theft protection.
[0271] The vehicle component 140 forms a device 100 which can be used separately or as a device component 200 for a two-wheeler 145 or a multi-wheeler.
[0272] In particular, the vehicle component 140 according to the invention is used in the motor vehicle sector and preferably in the motorcycle sector.
[0273] Figure 18a shows a schematic side view of a two-wheeler or motorcycle 145 with a vehicle component 140 according to the invention, which includes a stand assembly 141. The stand assembly 141 comprises at least one and preferably two support legs 142. One support leg or the support legs 142 are coupled to one of the brake components 2, 3 of the magnetorheological braking device 1 (see Fig. 2). Inventus
[0274] The brake components 2, 3 are part of a magnetorheological braking device 1, which is rotatable about a rotary or pivot axis 20a. The magnetorheological braking device 1 is described in more detail with reference to the further figures.
[0275] The vehicle component 140 comprises a sensor 144 on the rotatable or fixed part of the stand assembly 141 or on the magnetorheological braking device 1 and can detect an angular position or the state (folded / unfolded) of the stand assembly 141. The sensor 144 can comprise two or more sensor elements.
[0276] Figure 18b shows a schematic side view of the two-wheeler 145 in its ready-to-ride state. The kickstand is in the folded-up position 146.
[0277] A locking mechanism can be provided for the stand. This can be achieved by applying a permanently high braking torque. A permanently high braking torque can severely impair or completely prevent the folding or unfolding of the stand 141. This provides effective theft protection that cannot be mechanically deactivated.
[0278] To reduce or minimize energy consumption, for example during prolonged parking, at least one remanent magnet 29 can be included. The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation. This makes it possible to set the strength of the magnetic field to a maximum value after the bicycle 145 has been parked and the stand 141 has been unfolded, making folding impossible or requiring extremely high forces. And this can be done not just once, but with every single operation. By means of suitable pulse control of the electrical coil, the (static) magnetic field of the remanent magnet 29 (see Fig. 2) can be adjusted back to a certain value.
[0279] The value is reduced from zero or close to zero and then increased again to a high value or the maximum after the vehicle is switched off. The braking torque is maintained even without current being applied to the electrical coil.
[0280] In all advanced training courses, it is particularly preferred that the stand assembly is coupled with one of the brake components. This can mean that one of the brake components is directly integrated into or connected to the stand assembly.
[0281] It is preferred that at least one remanent magnet is included. The remanent magnet can be made at least partially of AlNiCo. Preferably, the magnetic field strength of the remanent magnet is adjustable with the (or an additional) electrical coil. This makes it possible to activate and / or deactivate a control lock for the stand mechanism as needed. This provides improved theft protection.
[0282] It is possible and preferred that at least one sensor is included to detect the angular position of the stand assembly or a base of the stand assembly. The sensor data can be used, in particular, to control the magnetorheological braking device.
[0283] It is possible that the sensor comprises two interacting sensor elements, one of which is connected to, for example, one of the two brake components.
[0284] Figures 19a to 19b show schematic side views of a device 100, which is designed as a motorcycle component 150 on a two-wheeler or motorcycle 155. The motorcycle component 150 can be part of the two-wheeler 155 or can comprise the entire two-wheeler.
[0285] As can be seen in Fig. 19b, the motorcycle component 150 includes at least one steering device 151. During a steering movement, Inventus
[0286] One of the brake components 2, 3 (see Fig. 2) of the magnetorheological braking device 1 is pivoted about the pivot axis 20a. The rotational movement can be selectively controlled and braked by the magnetorheological braking device 1.
[0287] However, it is not only possible to slow down the rotational movement while driving, but also to permanently brake, block, or lock the steering mechanism when stationary. This reliably prevents unwanted steering of the steering device 151, providing additional theft protection.
[0288] The motorcycle component 150 forms a device 100 which can be used separately or as a device component 200 for a two-wheeler 155 or a multi-wheeler.
[0289] In particular, the motorcycle component 150 is used in the motor vehicle sector, and preferably in the motorcycle sector. Especially on vehicles where the handlebars are directly connected to a wheel to be steered.
[0290] Figure 19a shows a schematic side view of a two-wheeled or motorcycle 155 with a motorcycle component 150 according to the invention, which includes a steering device 151.
[0291] The brake components 2, 3 (see Fig. 2) are part of a magnetorheological braking device 1, which is rotatable about a rotary or pivot axis 20a. The magnetorheological braking device 1 is described in more detail with reference to the further figures.
[0292] A sensor 154 can be provided on the motorcycle component 150, either on the rotatable or fixed part of the steering device 151 or on the magnetorheological braking device 1. The sensor can detect an angular position of the steering device 151. The sensor 154 can comprise two or more sensor elements.
[0293] Figure 19b shows a schematic top view of the motorcycle component 150.
[0294] A locking mechanism for the steering system can be provided. This can be achieved by applying a consistently high braking torque. A consistently high braking torque can severely impair or completely prevent the steering system 151 from pivoting. This provides effective theft protection that cannot be mechanically deactivated.
[0295] To reduce or minimize energy consumption, for example during prolonged parking, at least one remanent magnet 29 (see Fig. 2) can be included. The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation. This makes it possible to set the strength of the magnetic field to a maximum value after the two-wheeler 155 has been parked and the steering mechanism 151 has been in any position, making movement of the steering mechanism impossible or requiring extremely high forces. This can be done not just once, but for every single operation. By means of suitable pulse control of the electrical coil, the (static) magnetic field of the remanent magnet 29 (see Fig. 2) can be reduced again to a value of zero or close to zero and increased again to a high value or the maximum after parking. The braking torque is maintained without energizing the electrical coil.
[0296] Figure 20 shows a schematic view of a device 100 that includes or is configured as a door assembly 160. The door assembly 160 is arranged on a wall 166 of a building. The door assembly 160 can be part of a building door 165 or it can comprise the entire door.
[0297] The door device 160 comprises at least one door component 161. For example, a pivoting movement of the door leaf 162 is slowed down by a magnetorheological braking device 1. (Inventus)
[0298] A door damper can be used that has or is designed as a magnetorheological braking device 1. The braking components 2, 3 (see Fig. 2) of the magnetorheological braking device 1 are pivotable about a pivot axis 20a. The braking components 2, 3 (see Fig. 2) are part of a magnetorheological braking device 1, which is rotatable about a rotational or pivot axis 20a. The magnetorheological braking device 1 is described in more detail with reference to the other figures. The rotational movement can be selectively controlled and braked by the magnetorheological braking device 1.
[0299] However, it is not only possible to slow down a rotational movement during opening or closing, but the braking, blocking, or locking can also be permanently applied when the door is stationary. This reliably prevents unwanted opening or closing, or any unwanted change in the opening state of the door component 161, thus providing additional operational or access protection.
[0300] The door device 160 forms a device 100 that can be used separately or as a component 200 for a building door 165. In particular, the door device 160 according to the invention is used in buildings as an apartment door, building door, or generally as a door.
[0301] A sensor 164 can be provided on the door device 160, either on the rotatable or fixed part of the door component 161 or on the magnetorheological braking device 1. The sensor can detect the angular position of the door component 161. The sensor 164 can comprise two or more sensor elements.
[0302] The sensor's angle information can be used to control the magnetorheological braking system. Inventus
[0303] The door handle 167 or the door lock can also be designed as a door component. In this case, a magnetorheological braking device 1 can be incorporated into the door handle 167 or the door lock. Alternatively, a magnetorheological braking device 1 can be associated with it, which selectively controls the deceleration of a relative movement.
[0304] A locking mechanism can be provided for door component 160. This can be achieved by applying a permanently high braking torque. A permanently high braking torque can severely impair or completely prevent the pivoting of door component 161. This provides effective theft protection that cannot be mechanically deactivated.
[0305] To permanently reduce or minimize energy consumption, e.g., during periods of non-use, at least one remanent magnet 29 (see Fig. 2) can be included. The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation and then remains permanently in place. This makes it possible to set the strength of the magnetic field to a maximum value at any time, for example, so that opening or closing becomes impossible or requires extremely high forces. And this is not just a one-time adjustment, but for every single operating operation. By means of suitable pulse control of the electrical coil, the (static) magnetic field of the remanent magnet 29 (see Fig. 2) can be reduced again to a value of zero or near zero and increased again to a high value or the maximum after the device is switched off. The braking torque is maintained even without energizing the electrical coil.
[0306] The door mechanism can be designed as an entire door, specifically a front door, apartment door, or building door. The door mechanism can also be motorized. Changes in the opening or closing state of the door component can be deliberately slowed down or prevented. For example, Inventus
[0307] A swiveling motion can be deliberately slowed down during operation or even completely prevented when stationary. This also increases access and burglary protection.
[0308] Preferably, the door component includes or forms a door support structure. It may also include a door frame. A door support structure may be designed as a door frame.
[0309] In particular, the door component comprises at least one door leaf or is designed as such. A door frame can form part of the door assembly. In particular, the door leaf is pivotably mounted on a door frame. The door component is especially preferably directly coupled to the door leaf, so that a rotational movement of the door component directly changes the opening state of the door assembly.
[0310] Preferably, the frame assembly is coupled to one brake component and the door leaf to the other brake component.
[0311] It is also possible to open the door by sliding the handle.
[0312] Preferably, the door component comprises at least one hinge. A magnetorheological braking device may be associated with the hinge.
[0313] The door mechanism or a door component can include a door handle and / or a door lock. A magnetorheological braking device can be associated with a door handle or door lock. In this case, the movement of the door handle and / or door lock can be selectively slowed and / or blocked.
[0314] In all configurations and further developments, it is particularly preferred that the door component is coupled to one of the brake components. This can mean that one of the brake components is directly integrated into or connected to the door component.
[0315] Figures 21a to 21b show schematic views of a device 100, which here represents a robot 175 and comprises robot components 170. A robot component 170 comprises two arm units 171, 172 and 173, 174 respectively, and a magnetorheological braking device 1, which brakes a relative movement of the arm units 171, 172 relative to each other.
[0316] The arm units 171-174 are movable relative to each other to perform tasks. A joint 176 is arranged between arm units 171 and 172, connecting the two arm units. A pivoting movement of the two arm units relative to each other can be selectively controlled and decelerated via the magnetorheological braking device 1. Any rotational movement can also be selectively controlled and decelerated. A motor, for example an electric motor, can actively move the arm units relative to each other.
[0317] swivel.
[0318] However, braking is not only possible during rotational movement, but can also occur in stationary states. This allows a load to be held in a position permanently at any time. For this purpose, the magnetorheological braking device 1 can include a remanent magnet 29 (see Fig. 2) whose magnetic field is selectively adjusted and then held without current.
[0319] The robot component 170 can be used separately or as device component 200 for various applications.
[0320] Figure 21a shows a schematic side view of a robot 175 as a device 100. Two arm units are each coupled to each other via a joint 176. The arm units are each coupled to one of the brake components 2, 3 of the magnetorheological braking device 1 (see Fig. 2). Inventus
[0321] The brake components 2, 3 are part of a magnetorheological braking device 1 which is rotatable about a rotary or pivot axis 20a.
[0322] The device 100 comprises a sensor 144 on the rotatable or stationary part of the joint assembly 176 or on the magnetorheological braking device 1 and can detect an angular position. The sensor 144 can comprise two or more sensor elements.
[0323] Figure 21b shows a robot 175, whose gripper arm can be fixed in desired positions as an arm unit 171.
[0324] Figure 21c shows a prosthesis as a robot component 170, in which the individual arm units (or leg units) can be selectively braked against each other. For this purpose, a magnetorheological braking device 1 is arranged in the joint assembly 176.
[0325] A control lock can be provided for the robot component. This can be achieved by applying a consistently high braking torque.
[0326] To reduce or minimize energy consumption, for example during prolonged or continuous holding, at least one remanent magnet 29 can be included. The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation. This makes it possible to set the strength of the magnetic field to a maximum value when holding a load, making pivoting impossible or requiring extremely high forces. And this is not just a one-time adjustment, but a continuous one. By means of suitable pulse control of the electrical coil, the (static) magnetic field of the remanent magnet 29 (see Fig. 2) can be reduced again to a value of zero or near zero when the position needs to be changed. Afterwards, the magnetic field can be increased again to a high value or the maximum value.
[0327] The braking torque can be increased. The braking torque is maintained even without current being applied to the electrical coil.
[0328] In particular, in this embodiment, the device 100 has a robot component with two arm units movable relative to each other and at least one magnetorheological braking device to selectively brake a movement of the arm units movable relative to each other, wherein the magnetorheological braking device comprises at least two braking components.
[0329] In advanced training, it is particularly preferred that the magnetorheological braking device is mounted on a joint connecting two arm units (articulated to each other). In particular, a motor is integrated or assigned to it.
[0330] Electric motors, in particular, operate very inefficiently at low speeds, especially when applying holding torque (torque without movement, holding in a specific position). Power consumption is very high when the electric motor's rotor needs to be held in a position. The combination of an electric motor and a magnetorheological braking system can hold positions very efficiently, since magnetorheological braking systems have a low power consumption compared to electric motors alone.
[0331] Preferably, the robot component and preferably the joint assembly comprise at least one sensor. The sensor can, in particular, detect the angular position or pivot position of the two arm units relative to each other. The sensor data can, in particular, be used to control the magnetorheological braking system.
[0332] Figure 22 shows a schematic side view of a device 100 with a rolling bearing assembly 180 and an integrated magnetorheological braking device 1. The Inventus
[0333] Device 100 can consist solely of the rolling bearing assembly 180, or it can include further parts or components and be part of a device component 200. The rolling bearing assembly 180 is designed here as a ball bearing 185.
[0334] The rolling bearing assembly 180 comprises two ring units 181, 182. Ring unit 181 is designed as the inner ring of the rolling bearing assembly 180, and ring unit 182 as the outer ring. It includes two parallel rows 183, 184 of rolling elements, which serve directly as transmission components 11 and, when a magnetic field is applied, together with the magnetorheological particles, establish a controllable braking torque on the rolling bearing assembly 180.
[0335] The electrical coil 26 is mounted on the outer ring 182 between the two rows 183, 184 of rolling elements 11. The magnetic field 8 passes through the magnetically conductive inner and outer rings and through the two rows of rolling elements 11. A (thin) gap 5 or effective gap section 5c remains between the rolling elements 11 and the ring units 181, 182 (see Fig. 2). The gap 5 is sealed to the outside by seals 22.
[0336] The rotational movement can be selectively controlled and slowed down using the magnetorheological braking device 1.
[0337] However, not only can the rotational movement be slowed down during rolling, but the braking, blocking, or locking can also be permanently applied when stationary. This reliably prevents unwanted rolling of the rolling bearing assembly 180.
[0338] The device 100 can be used separately or as device component 200. Inventus
[0339] The brake components 2, 3 (see Fig. 2) are part of a magnetorheological braking device 1, which is rotatable about a rotary or pivot axis 20a. The magnetorheological braking device 1 is described in more detail with reference to the further figures.
[0340] A sensor 186 can be provided on the rotatable or stationary part of the rolling bearing assembly 180. The sensor can detect an angular position. The sensor 186 can comprise two or more sensor elements.
[0341] A rotation lock can be provided for the rolling bearing assembly 180. A high braking torque can be applied continuously for this purpose. A continuously high braking torque can severely impair or completely prevent the rolling elements from rolling. This provides a high braking torque that cannot be mechanically disengaged.
[0342] To reduce or minimize energy consumption, e.g., during continuous braking, at least one remanent magnet 29 (see Fig. 2) can be included. The strength of the magnetic field of the remanent magnet 29 can be adjusted and changed as needed during operation. This makes it possible to set the strength of the magnetic field to, for example, a maximum value, so that movement becomes almost impossible or requires extremely high forces. By suitable pulse control of the electrical coil, the (static) magnetic field of the remanent magnet 29 (see Fig. 2) can be reduced again to a value of zero or near zero and can be increased again to a high value or the maximum at any time. The braking torque is maintained even without energizing the electrical coil.
[0343] In preferred embodiments, the device 100 comprises a rolling bearing assembly and at least one magnetorheological braking device integrated therein. The device 100 can also be referred to as a rolling bearing and, in particular, as a ball bearing.
[0344] be trained. It is possible to selectively slow down a rolling process during operation or even completely prevent it when stationary.
[0345] Preferably, the rolling bearing assembly comprises two ring units. One ring unit can be designed as an outer ring and the other ring unit can be designed as an inner ring or include one.
[0346] Preferably, the rolling bearing assembly includes a cage for the rolling elements.
[0347] It is preferred that the electrical coil or at least an electrical coil or a magnetic device is mounted on one of the two ring units.
[0348] In all embodiments, it is preferred that at least two rows of rolling elements are mounted axially spaced apart from each other. The rolling bearing assembly is then designed as a two- or multi-row rolling bearing assembly. The magnetic field can pass through the rolling elements of both rows.
[0349] In all embodiments and further developments, it is particularly preferred that one brake component is formed by or comprises a ring unit. Preferably, the other brake component is formed by or comprised by the other ring unit.
[0350] Preferably, the running surfaces of the rolling bearing assembly are formed on the brake components.
[0351] Preferably, the magnetorheological braking device comprises at least two slits. The two slits serve as braking slits. Each slit, or braking slit, has at least one effective slit section. Preferably, the slits, or at least two slits, are spaced apart from each other in the axial direction. In preferred embodiments, the electrical coil is mounted axially between the two slits. The two slits can be Inventus
[0352] They must be identical in shape. The two gaps can also be of different shapes. The gaps are provided, in particular, on the running surfaces of the rolling elements.
[0353] Preferably, the ring units and rolling elements can consist of ordinary and, in particular, standardized ball bearing components, which are readily available in large quantities at low cost. The clearances in such ball bearings are smaller than in magnetorheological braking devices known in the prior art.
[0354] Therefore, the particle size of the magnetorheological medium or powder must be adjusted; that is, the average diameter must be smaller. By using standard components from ball bearing production, the price of such brakes can be significantly reduced. Inventus
[0355] Reference symbol list:
[0356] I Magnetorheological 21 Core Braking device 22 Seal
[0357] 2, 3 Brake component 24 Star contour
[0358] 4 bearings 25 disc
[0359] 5 slots, channel 26 coil
[0360] 5a Gap height 26a Cables
[0361] 5b Gap length 28 Magnetic device 5c, 5d Effective gap section 29 Remanence magnet
[0362] 6 magnetorheological 30 group
[0363] Medium 31 minimum distance 8 field of two groups
[0364] 9 free space 32 space between two
[0365] 10 acute-angled area, transmission components wedge shape 33 holding device II transmission component, 33a, b axial end rolling element, rotating body 34 connecting element 11a diameter of 11 35 , a, b component holder 11b length of 11 36 width
[0366] 11c Base body 37 Holding element
[0367] lld roller part 38 , a, b bearing point
[0368] Ile guide part 39 , a, b radial height, radius 11f guide axis, 40 ring, ring element axle stub 41 transport opening 11g angle 42 guide element
[0369] 11h Wall 42a, b Guide surface
[0370] 12 Rotary axis 100 Device
[0371] 14 ball 110 pedal assembly
[0372] 15 cylinders 111 pedal
[0373] 16a, b Distance 112 Arm device,
[0374] 17 Surface bending bar
[0375] 18a, b Longitudinal section 113 Actuating section 19 Magnetic particles, 114 Sensor
[0376] Powder 115 Distance
[0377] 19a typical diameter 116 strain gauges of 19 117 force direction 20 axial direction 118 length
[0378] 20a Swivel axis 119 StabInventus
[0379] 120 Steering mechanism 167 Door handle
[0380] 121 Steering unit 168 Hinge
[0381] 122 Steering wheel 169 Pivot axis
[0382] 123 Motor 170 Robot component 124 Belt 171 Arm unit
[0383] 125 Sensor 172 Arm unit
[0384] 126 Intermediate device 173 Arm unit
[0385] 130 Control unit 174 Arm unit
[0386] 131 operating levers 175 robots
[0387] 132 Support device 176 Joint device 133 Swivel bearing device 180 Rolling bearing device 134 Swivel bearing device 181 Ring unit
[0388] 135 Brake unit 182 Ring unit
[0389] 136 Brake unit 183 series
[0390] 138 Circuit diagram 184 series
[0391] 140 Vehicle component 185 Rolling bearings, ball bearings 141 Stand device 186 Sensor
[0392] 142 Stand 190 Tilt stabilizer 144 Sensor 191 Rod
[0393] 145 Two-wheeler, motorcycle 192 Fastening
[0394] 146 folded state 193 fastening
[0395] 147 unfolded state 200 device component 150 motorcycle component
[0396] 151 Steering device
[0397] 152 handlebars
[0398] 153 Fork
[0399] 154 Sensor
[0400] 155 motorcycle
[0401] 156 wheel
[0402] 160 Door fittings
[0403] 161 Door component ,
[0404] Door support structure
[0405] 162 Door component, door leaf
[0406] 163 Door dampers
[0407] 164 Sensor
[0408] 165 Door, building door,
[0409] Apartment door
[0410] 166 Wall of a building
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 movable relative to each other and define an axial direction (20), and wherein a gap (5) 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 section (5c) extending between the braking components (2, 3), wherein the magnetorheological medium (6) comprises particles (19), and wherein the effective gap section (5c) can be exposed to a magnetic field (8) of a magnetic device (28) in order to effect a braking effect on a relative movement of the two braking components (2, 3) relative to each other. wherein rotatable transmission components (11) are arranged in the gap (5) to enhance the braking effect, characterized in that , that a holding device ( 33 ) includes at least one component holder ( 35 , 35a , 35b ) for receiving and guiding the transmission components ( 11 ) , and that the transmission components ( 11 ) are at least in the effective gap section ( 5 c ) rotationally symmetrical about an axis of rotation ( 12 ) and are definedly mounted on the component holder ( 35 ), and that the wall ( 11h) of the transmission component ( 11 ) along the axis of rotation ( 12 ) in the effective gap section ( 5 c ) and perpendicular to the axis of rotation ( 12 ) has several different distances ( 16 , 16a , 16b ) to a surface ( 17 ) of one of the brake components ( 2 , 3 ) in the effective gap section ( 5 c ).
2. Device (100) according to the preceding claim, wherein several groups (30) of transmission components (11) are arranged in the gap (5), Inventus and wherein a group ( 30 ) comprises at least two transmission components ( 11 ) , and wherein two adjacent transmission components ( 11 ) of a group rotate in opposite directions during a relative movement of the brake components, and wherein a minimum distance (31) between two groups (30) of transmission components (11) is considerably larger than a distance (32) between two transmission components (11) of a group (30) , and wherein the minimum distance (31) between two groups (30) of transmission components (11) is greater than half a diameter (11a) of a transmission component (11), and wherein a distance (32) between two transmission components (11) in a group (30) is less than half a diameter (11a) of a transmission component (11).
3. Device (100) according to one of the preceding claims, wherein at least one transmission component (11) has at least one rotationally symmetrical and, for example, conical, barrel-shaped, egg-shaped or cylindrical base body (11c).
4. Device ( 100 ) according to one of the preceding claims , wherein powder particles ( 19 ) are contained in the gap ( 5 ) as a magnetorheological medium .
5. Device (100) according to the preceding claim, wherein a length (11b) of at least one transmission component (11) is greater than a diameter (11a) of the transmission component (11), and wherein a gap height ( 5a ) between the brake components ( 2 , 3 ) is greater than a diameter ( 11a ) of the transmission components plus twenty times a typical diameter ( 19a ) of the powder particles ( 19 ).
6. Device (100) according to one of the preceding claims, Inventus wherein at least one transmission component ( 11 ) is inclined relative to the axial direction ( 20 ) in order to generate higher braking forces .
7. Device (100) according to the preceding claim, wherein two transmission components (11) (of a group) are at least temporarily inclined in opposite directions, such that one end of one transmission component (11) rests against a brake component and one end of the other transmission component (11) rests against the other brake component.
8. Device ( 100 ) according to one of the preceding claims, wherein the transmission components ( 11 ) are mounted at bearing points ( 38 ) on the component holder ( 35 ).
9. Device ( 100 ) according to one of the preceding claims, wherein the holding device ( 33 ) comprises transport openings ( 41 ) to direct magnetorheological medium ( 6 ) to the transmission component ( 11 ).
10. Device ( 100 ) according to the preceding claim, wherein the transport openings ( 41 ) are formed separately from and assigned to the storage locations ( 38 ).
11. Device ( 100 ) according to one of the two preceding claims, wherein the component holder ( 35 ) comprises a guide element ( 42 ) which is associated with a transport opening ( 41 ) to guide magnetorheological medium to a transmission component ( 11 ).
12. Device (100) according to the preceding claim, wherein the guiding element (42) comprises guiding surfaces (42a, 42b) to guide magnetorheological medium to the transmission component (11) in both directions of rotation. Inventus 13. Device ( 100 ) according to one of the preceding claims, wherein the transmission component ( 11 ) comprises two roller parts ( l ld) and a guide part ( I le ).
14. Device ( 100 ) according to one of the preceding claims, wherein the transmission component ( 11 ) comprises at least one roller part ( l ld) and two axle stubs ( llf ) which are received on both sides of the roller part ( lld) in each component holder ( 35 ).
15. Device ( 100 ) according to one of the preceding claims, wherein a transmission component ( 11 ) is mounted at both axial ends on bearing points ( 38 ) on component holders ( 35 ).
16. Device ( 100 ) according to one of the preceding claims, wherein the bearing point ( 38a ) is arranged radially further outwards at one axial end ( 33a ) than at the other axial end ( 33b ).
17. Device ( 100 ) according to the preceding claim, wherein the bearing points ( 38a ) for the transmission components ( 11 ) are formed radially further outwards on one component holder ( 35 ) than on the other component holder ( 35 ).
18. Device ( 100 ) according to one of the preceding claims, wherein the bearing points ( 38a , 38b ) for the transmission components ( 11 ) are arranged on a component holder ( 35 ) at different radial heights ( 39a , 39b ).
19. Device (100) according to one of the two preceding claims, wherein a holding device (33) comprises two axially spaced component holders (35a, 35b), wherein the component holders (35a, 35b) are connected to each other via connecting elements (34).
20. Device ( 100 ) according to the preceding claim, wherein the bearing points ( 38a ) for one of the transmission components ( 11 ) are arranged circumferentially offset on the component holders ( 35 ).
21. Device ( 100 ) according to one of the preceding claims, wherein the magnetic device comprises a remanent magnet.
22. Device ( 100 ) according to one of the preceding claims, wherein the second brake component ( 3 ) extends around the first brake component ( 2 ) and comprises a hollow shell part, wherein the gap ( 5 ) extends around the first brake component ( 2 ) and wherein the brake components ( 2 ) are rotatable relative to each other.
23. Device ( 100 ) according to one of the preceding claims, wherein at least one electrical coil ( 26 ) is associated with the brake components ( 2 , 3 ) and wherein the first brake component comprises a core ( 21 ) extending in the axial direction ( 20 ) made of a magnetically conductive material.
24. Device (100) according to one of the preceding claims, comprising a roll stabilizer (190) in which the magnetorheological braking device (1) pivotably connects two rods (191).
25. Device ( 100 ) according to one of the preceding claims, wherein the walls of the brake components and / or the surfaces of the transmission component are designed or constructed to increase friction at least partially in the effective gap section.
26. Device ( 100 ) according to one of the preceding claims, wherein the component holder ( 35 ) is rotatably mounted.
27. Device (100) according to one of the preceding claims, Inventus wherein the transmission component is rotatably mounted, so that the transmission component (11) rotates at a rotational speed which results from the relative velocity between the transmission component (11) and the brake components (2, 3) according to the rolling condition.
28. Device ( 100 ) according to one of the preceding claims, wherein the component holder ( 35 ) is received in such a way that the component holder ( 35 ) is carried along by the movement of the transmission component ( 11 ) and rotates at a resulting rotational speed.
29. Device (100) according to one of the preceding claims, wherein magnetorheological particles are present in an acute-angled region (10), wherein a supply of magnetorheological particles is located in the direction of movement in front of the rotatable transmission components between the transmission component and the brake components.
30. Device (100) according to one of the preceding claims, wherein the magnetic particles (19) in the gap (5) between the transmission component (11) and the braking components (2, 3) form a particle region leading in the relative direction of movement, such that the transmission element (11) continuously runs into an already existing particle when rolling, which, when energized (along the magnetic field lines), preferably has an acute-angled region 10 (wedge shape).