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CN-116368446-B - Haptic operation device with magnetorheological brake mechanism and method

CN116368446BCN 116368446 BCN116368446 BCN 116368446BCN-116368446-B

Abstract

A haptic operating device (100) with a magnetorheological brake mechanism (1) having a stationary support (4) and two brake elements (2, 3). One of the two braking members (2, 3) is non-rotatably connected to the support (4). The two brake parts (2, 3) are continuously rotatable relative to each other about an axis of rotation (20). The first braking member (2) extends along a rotation axis (20) and comprises a core (21) made of magnetically permeable material. The second brake part (3) comprises a hollow housing (13) extending around the first brake part (2). Brake gap portions (5 a, 5b, 5 c) which are axially spaced apart from each other and are surrounded and at least partially filled with a magnetorheological medium (6) are formed between the first and second brake members (2, 3). At least one third brake slit portion (5 c) is arranged axially between the first brake slit portion (5 a) and the second brake slit portion (5 b). The first brake gap section (5 a) is assigned a first electrical coil (261), and the second brake gap section (5 b) is assigned a second individually controllable electrical coil (262).

Inventors

  • BATTLOGG STEFAN

Assignees

  • 因文图斯工程有限公司

Dates

Publication Date
20260512
Application Date
20211012
Priority Date
20201013

Claims (20)

  1. 1. A haptic operating device (100) with a magnetorheological brake mechanism (1) having a stationary carrier (4) and at least two brake parts (2, 3), wherein one of the two brake parts (2, 3) is non-rotatably connected to the carrier (4), and wherein the two brake parts (2, 3) can be rotated continuously relative to one another about a rotational axis (20), wherein a first brake part (2) extends along the rotational axis (20) and comprises a core (21) of magnetically permeable material, and wherein a second brake part (3) comprises a hollow housing (13) extending around the first brake part (2), wherein a plurality of brake gap sections (5 a, 5b, 5 c) are formed between the first brake part (2) and the second brake part (3) that are axially spaced apart and surrounding one another, the plurality of brake gap sections (5 a, 5b, 5 c) are at least partially filled with a magnetorheological medium (6), which is provided with at least a first brake gap (5 a) between the first brake coil (5 a) and the second brake gap (5 b), and the second brake slit portion (5 b) is assigned a second electric coil (262) which can be controlled individually.
  2. 2. The haptic operating device (100) according to claim 1, wherein the first braking slit portion (5 a) and the second braking slit portion (5 b) are differently configured.
  3. 3. The haptic operating device (100) according to claim 1 or 2, wherein different materials are at least partially interposed in the first brake slit portion (5 a) and the second brake slit portion (5 b).
  4. 4. The haptic operating device (100) according to claim 1, wherein a disc-shaped profile (41) is provided between the housing shell (13) and the core (21) at least one braking slit portion (5 a).
  5. 5. The haptic operating device (100) according to claim 1, wherein a plurality of rollers (11) are provided on the peripheral surface of the core (21) at least one braking slit portion (5 b).
  6. 6. The tactile manipulation device (100) according to claim 5, wherein the roller (11) is accommodated on a support (11 f).
  7. 7. The haptic operating device (100) according to claim 1, wherein at least one braking slit portion (5 a) at least one star-shaped profile (40) is provided between the housing (13) and the core (21), such that in the region of the star-shaped profile (40) a variable slit height (40 c) is present around the braking slit portion (5 b).
  8. 8. The haptic operating device (100) according to claim 7, wherein a plurality of magnetic field concentrators (80, 81) are provided at the star profile (40) protruding radially into the braking slot portion (5 a).
  9. 9. The haptic operating device (100) according to claim 1, wherein the first electrical coil (261) and the second electrical coil (262) are respectively housed between the housing (13) and the core (21) and are respectively wound around the rotation axis (20).
  10. 10. The haptic operating device (100) according to claim 1, wherein the first electrical coil (261) and the second electrical coil (262) are differently configured.
  11. 11. The haptic operating device (100) according to claim 10, wherein the first electrical coil (261) and the second electrical coil (262) differ in at least one parameter of a set of parameters including wire diameter, wire shape, number of windings, wire wrap window, coil width, coil diameter and material as parameters.
  12. 12. The haptic operating device (100) according to claim 1, wherein the third braking slit portion (5 c) is constituted by at least one annular profile (61) arranged between the housing (13) and the core (21).
  13. 13. The haptic operating device (100) according to claim 12, wherein the first electrical coil (261) is arranged axially between the first braking slit portion (5 a) and the annular profile (61), and wherein the second electrical coil (262) is arranged axially between the annular profile (61) and the second braking slit portion (5 b).
  14. 14. The haptic operating device (100) according to claim 12 or 13, wherein the annular profile (61) is designed as a separate part.
  15. 15. The haptic operating device (100) according to claim 12, wherein the magnetic field (8) of the first electrical coil (261) and the magnetic field (8) of the second electrical coil (262) extend past the annular profile (61).
  16. 16. The haptic operating device (100) according to claim 1, wherein the support (4) comprises a shaft (12) on which a cable through hole (12 a) is formed, through which cable through hole (12 a) a cable (45) is led to the first electrical coil (261) and the second electrical coil (262) via an inner part connected to the shaft (12).
  17. 17. The haptic operating device (100) according to claim 1, wherein the first electrical coil (261) and the second electrical coil (262) are housed on a bracket (11 f).
  18. 18. The haptic operating device (100) according to claim 1, wherein a first cover (14) and a second cover (15) are connected to the housing (13), wherein one cover (14) is sealed with respect to the through shaft (12).
  19. 19. The haptic operating device (100) according to claim 1, wherein at least one fourth braking slit portion (5 d) is included.
  20. 20. The haptic operating device (100) according to claim 4, wherein the disc-shaped profile (41) is formed as a separate disc-shaped body (42) or integrally with the core (21).

Description

Haptic operation device with magnetorheological brake mechanism and method Technical Field The invention relates to a haptic operating device, in particular a haptic operating knob, having a magnetorheological brake mechanism with a stationary support and at least two brake parts which can be rotated continuously relative to one another about a rotational axis, a method and the use of the device. Background The haptic actuation or actuating device can be used in particular in the operation of technical devices in motor vehicles and other vehicles, for example as a rotary disk, a rotary/pressure disk, for infotainment systems, air conditioners (temperature, ventilation level, distribution), as transmission gear selection devices, for navigation, in constant-speed cruising systems, in distance control, as adjustment devices, in steering devices (drive-by-wire or generalized steering) or steering wheels, in two-wheel, three-wheel or four-wheel (such as vehicles like polar is company, for example), motorboats, skids, all-terrain vehicles, guide rods or steering systems for pedals, in chassis adjustment, in driving mode adjustment, in wiper adjustment, in window adjustment or in roof adjustment, in parking assistance or for setting (part of) autonomous driving or even as a steering wheel substitute. Can be applied to motor vehicles, airplanes, aircrafts, ships, boats, agricultural technical fields such as tractors or combine harvesters, harvesters and other agricultural field machines. It can also be applied in construction machines and machines such as fork trucks, or in medical or industrial equipment. The invention can also be used in the operation of or as input machine for washing machines, kitchen appliances and household appliances, radios, cameras and video cameras, hi-fi stereo and television sets, smart devices, smart home devices, notebook computers, personal computers, smart watches, in wrist watch crown wheels or as a computer mouse or as a wheel in a computer mouse, in gamepads, in game equipment, as a knob in a keyboard or in other devices. Magnetorheological fluids, for example, have fine ferromagnetic particles, such as carbonyl iron powder, dispersed in an oil. In magnetorheological fluids, approximately round or spherical particles having a diameter of 1 μm to 10 μm are used, depending on the production, wherein the particle size and the particle shape are not uniform. If such a magnetorheological fluid is subjected to a magnetic field, the magnetorheological fluid or magnetorheological medium or magnetorheological carbonyl iron particles follow the magnetic field line chain such that the rheological properties of the magnetorheological medium are significantly affected (transmissible shear stresses) depending on the shape and strength of the magnetic field. Braking units with magnetorheological fluid are known from the prior art, for example MRF brakes from Lord company https:// www.lord.com/products-and-solutions/steer-by-wire-tactile-feedback-device according to various structural dimensions (5 Nm, 12Nm, 20 Nm). They are also commonly used as "steer-by-wire haptic feedback". The brake itself functions. A disadvantage of MRF brakes, however, is their relatively high base friction (base torque) with respect to the maximum torque (operating range). The operating range of the 5Nm brake is 0.5 to 5Nm (multiple 10) according to the web page/specification of the Lord company, in the case of the 12Nm brake, 1Nm to 12Nm (multiple 12), and in the case of the 20Nm brake, 1Nm to 20Nm (multiple 20). The relatively small working range is not sufficient for many applications, as the bulk product is mainly used in large motor applications (especially in most gloved operations like industrial, agricultural machines, fork trucks). Small motor applications such as three finger operation of entertainment operating systems with spinning/pressing disks in automobiles, game play operation of gamepads, and steering of cars require significantly lower base torque and higher maximum torque, i.e., significantly larger operating ranges. In particular, high base moments can quickly cause fatigue or fine tuning processes and thus become difficult to tactilely. However, the known MRF brake does not allow a large operating range, because the friction area is too large. The smaller friction area reduces the base torque, but thus also the maximum torque. WO 2012/034697 A1 discloses a magnetorheological transmission having two engageable components, the engagement strength of which can be influenced. To influence the joint strength, channels with magnetorheological medium are provided. By means of the magnetic field, the magnetorheological medium in the channel is affected. A rotor is disposed within the channel and an acute angle region containing the magnetorheological medium is disposed thereon. At least a portion of the channel is adapted to be subjected to the magnetic field of the magnetic field generator to selectivel