阅读说明：本技术 转矩产生装置 (Torque generating device ) 是由 久家祥宏 高桥一成 高桥未铃 于 2019-03-22 设计创作，主要内容包括：本发明的转矩产生装置能够在可靠地保持磁粘性流体的同时进行解体,且能够将解体后的构成构件根据装置的规格再利用,该转矩产生装置具备：转子,其能够进行旋转动作；密封构件,其将转子的周围密封而形成密封空间；场产生部,其以能够与密封构件分离的方式配置于密封构件的外侧,并产生通过密封空间的电场或者磁场；控制部,其控制场产生部,而控制通过密封空间的电场或者磁场的大小；以及功能性材料,其以能够流动的方式被封入密封空间内,并与通过密封空间的电场或者磁场的大小相应地使转子的旋转动作的转矩变化,密封构件具备将转子支承为能够进行旋转动作的支承部,并以能够与场产生部分离的方式设置。(The torque generation device of the present invention is a torque generation device that can be disassembled while reliably holding a magnetic viscous fluid, and can reuse the disassembled component members in accordance with the specifications of the device, the torque generation device including: a rotor capable of rotating; a sealing member that seals the periphery of the rotor to form a sealed space; a field generating unit which is disposed outside the sealing member so as to be separable from the sealing member, and generates an electric field or a magnetic field passing through the sealed space; a control unit for controlling the field generating unit to control the magnitude of the electric field or the magnetic field passing through the sealed space; and a functional material that is sealed in the sealed space so as to be able to flow and that changes a torque of a rotational operation of the rotor in accordance with a magnitude of an electric field or a magnetic field passing through the sealed space, wherein the sealing member includes a support portion that supports the rotor so as to be able to perform the rotational operation, and is provided so as to be separable from the field generating portion.)

1. A torque-generating device, characterized in that,

the torque generation device is provided with:

a rotor capable of rotating;

a sealing member that seals a periphery of the rotor to form a sealed space;

a field generating unit which is disposed outside the sealing member so as to be separable from the sealing member, and generates an electric field or a magnetic field passing through the sealed space;

a control unit for controlling the field generating unit to control the magnitude of the electric field or the magnetic field passing through the sealed space; and

a functional material which is sealed in the sealed space so as to be capable of flowing therethrough and which changes a torque of the rotational operation of the rotor in accordance with a magnitude of an electric field or a magnetic field passing through the sealed space,

the seal member includes a support portion that supports the rotor so as to be capable of rotating, and is provided so as to be separable from the field generating portion.

2. The torque-generative device as claimed in claim 1, wherein,

the sealing member includes a plurality of members, and a first sealing member of the plurality of members is provided with the support portion.

3. The torque-generative device as claimed in claim 2, wherein,

a second seal member of the plurality of members is located between the field generating portion and the rotor.

4. The torque generating device according to any one of claims 1 to 3,

the functional material is a magnetically viscous fluid,

the field generating unit is a magnetic field generating unit that generates a magnetic field passing through the magneto-viscous fluid.

5. The torque-generative device as claimed in claim 4, wherein,

the portion of the seal member located between the field generating unit and the rotor is a magnetically permeable member having a magnetic resistance of a magnitude that allows a magnetic field generated by the magnetic field generating unit to pass through the sealed space.

6. The torque-generative device as claimed in claim 5, wherein,

the magnetic permeable member is composed of a metallic nonmagnetic member that allows the magnetic field generated by the magnetic field generating unit to pass through the magnetic viscous fluid.

7. The torque generating device according to any one of claims 4 to 6,

the magnetic field generating unit is disposed above the sealed space in a direction in which a central axis of rotation of the rotor extends.

8. The torque generating device according to any one of claims 4 to 6,

the magnetic field generating unit is disposed outside the sealed space in a radial direction around a central axis of rotation of the rotor.

9. The torque generating device according to any one of claims 4 to 8,

the torque generating device has an adjusting portion capable of adjusting the volume of the sealed space.

10. The torque-generative device as claimed in claim 9, wherein,

the adjusting portion is a flexible plate-shaped member provided in the sealing member, and is capable of adjusting the volume of the sealed space by deformation of the plate-shaped member.

11. The torque-generative device as claimed in claim 9, wherein,

the adjusting portion is a corrugated structure of the sealing member, and is capable of adjusting the volume of the sealed space by deformation of the corrugated structure.

12. The torque generating device according to any one of claims 9 to 11,

the magnetic field generating unit includes a fixing member connected to the sealing member,

a recess is provided in the fixing member,

the adjusting portion may adjust a volume of the sealed space by deforming the sealing member in a space of the recess.

Technical Field

The present invention relates to a torque generation device capable of changing rotational resistance using a magnetic viscous fluid and other functional materials.

Background

The rotation brake device described in patent document 1 includes a rotating shaft, a disk made of a magnetic body, an opposing member, a coil, a magnetic viscous fluid, and a sphere made of a nonmagnetic body. The disk has a rotation shaft connected to a center portion of one surface thereof, and opposing members made of magnetic material are opposed to the other surface in parallel with a small gap therebetween. The coil is arranged concentrically around the axis of the rotating shaft so as to form a magnetic path that penetrates the micro gap when a current is applied, and the micro gap is filled with a magnetic viscous fluid. A concave portion into which the ball is fitted is formed in a central portion of the other surface of the disk, the ball is fitted into the concave portion to a deepest position, and a part of the ball protrudes from the other surface of the disk by a predetermined amount in the axial direction and comes into contact with the facing surface, thereby forming a minute gap.

The coupling device described in patent document 2 includes a movable shaft made of a non-magnetic body, a movable member made of a magnetic body, a magnetic viscous fluid, a magnetic field generating mechanism for applying a magnetic field to the magnetic viscous fluid, and a yoke housing made of a magnetic body. The movable member is coupled to the movable shaft and integrally operates with the movable shaft, and the viscosity of the magnetic viscous fluid is higher than that before the magnetic field is applied by the magnetic field. The yoke housing has a concave shape in which an opposing portion opposing the movable member so as to sandwich the magnetic viscous fluid therebetween is recessed toward the movable member. The yoke housing is fixed by caulking with the electromagnet of the magnetic field generating mechanism interposed therebetween, and is sealed by a rubber packing between the electromagnet and the yoke housing so that the magnetoviscous fluid does not leak to the electromagnet side.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2014-181778

Patent document 2: japanese patent laid-open publication No. 2017-172655

Disclosure of Invention

Problems to be solved by the invention

In the rotation brake device of patent document 1 and the coupling device of patent document 2, the respective constituent members are integrally assembled, so that a region in which the magnetic viscous fluid can be filled is formed between the predetermined constituent members, and the region is filled with the magnetic viscous fluid. Here, in a torque generating device that changes rotational resistance using a magnetic viscous fluid, it is necessary to reconfigure constituent members in accordance with specifications such as maximum torque, minimum torque, size, required power, and the like. However, when the above-described constituent members are disassembled for reconfiguration, there are many cases where there are few constituent members that can be reused even after the specification is changed. Further, when the constituent members are disassembled, it is difficult to reliably collect all the magnetic viscous fluid filled between the constituent members. In general, when the torque generating device has different product specifications, the structures of the respective members are different, and therefore, the torque generating device is disadvantageous in terms of manufacturing cost and design cost.

Accordingly, an object of the present invention is to provide a torque generation device that can be disassembled while reliably holding a magnetic viscous fluid, and that can reuse the disassembled components in accordance with the specifications of the device. A further object of the present invention is to provide a torque generator that can make parts common even if product specifications are different.

Means for solving the problems

In order to solve the above problem, a torque generation device according to the present invention includes: a rotor capable of rotating; a sealing member that seals the periphery of the rotor to form a sealed space; a field generating unit which is disposed outside the sealing member so as to be separable from the sealing member, and generates an electric field or a magnetic field passing through the sealed space; a control unit for controlling the field generating unit to control the magnitude of the electric field or the magnetic field passing through the sealed space; and a functional material that is sealed in the sealed space so as to be able to flow and that changes a torque of a rotational operation of the rotor in accordance with a magnitude of an electric field or a magnetic field passing through the sealed space, wherein the sealing member includes a support portion that supports the rotor so as to be able to perform the rotational operation, and is provided so as to be separable from the field generating portion.

Accordingly, the functional material can be sealed in the sealed space without combining the field generating portions, and therefore, the device can be disassembled while the functional material is reliably held, and the disassembled component member can be reused in accordance with the specification of the device.

In the torque generating device according to the present invention, it is preferable that the seal member includes a plurality of members, and a first seal member of the plurality of members constitutes the support portion.

This can reliably hold the rotor, and the number of components can be reduced by the support portion also serving as the first seal member. In addition, productivity can be improved, and functions can be shared among the sealing members. By sharing the function, it is possible to realize a structure in which the passage of the magnetic flux into the sealed space is easily controlled and the rotor is reliably held.

In the torque generating device according to the present invention, it is preferable that the second seal member among the plurality of members constituting the seal member is located between the field generating portion and the rotor.

This makes it possible to control the permeability of the magnetic flux into the sealed space and to allow an optimum amount of magnetic flux to pass through the rotor.

In the torque generating device according to the present invention, it is preferable that the functional material is a magnetic viscous fluid, and the field generating unit is a magnetic field generating unit that generates a magnetic field passing through the magnetic viscous fluid.

This makes it possible to construct a device that is easy to control with a compact configuration.

In the torque generating device according to the present invention, it is preferable that a portion of the sealing member located between the field generating unit and the rotor is a magnetically permeable member having a magnetic resistance of a magnitude that allows a magnetic field generated by the magnetic field generating unit to pass through the sealed space. Preferably, the magnetically permeable member is formed of a metallic nonmagnetic member that allows the magnetic field generated by the magnetic field generating unit to pass through the magnetic viscous fluid.

This makes it possible to control the permeability of the magnetic flux into the sealed space and to allow an optimum amount of magnetic flux to pass through the rotor.

In the torque generating device according to the present invention, it is preferable that the magnetic field generating unit is disposed above the sealed space in a direction in which a central axis of rotation of the rotor extends.

This can suppress the radial dimension to a small value.

In the torque generating device according to the present invention, it is preferable that the magnetic field generating unit is disposed outside the sealed space in a radial direction around a central axis of rotation of the rotor.

This can suppress the dimension in the direction in which the rotary shaft extends.

In the torque generating device according to the present invention, it is preferable that the torque generating device includes an adjusting portion capable of adjusting a volume of the sealed space. Preferably, the adjusting portion is a flexible plate-like member having the sealing member, and is capable of adjusting the volume of the sealed space by deformation of the plate-like member. Preferably, the adjusting portion is a bellows structure of the seal member, and is capable of adjusting the volume of the seal space by deformation of the bellows structure. Preferably, the magnetic field generating unit includes a fixing member connected to the sealing member, the fixing member is provided with a recess, and the adjusting unit is capable of adjusting the volume of the sealed space by deforming the sealing member in a space of the recess.

Accordingly, the volume in the sealed space can be changed in accordance with the pressure change in the sealed space, and when the internal pressure in the sealed space rises, the volume in the sealed space is increased to compensate the pressure, and when the rising internal pressure returns to its original state, the deformation of the adjustment portion is released and the original state is restored.

Effects of the invention

According to the present invention, it is possible to provide a torque generation device that can be disassembled while reliably holding a magnetic viscous fluid, and that can reuse the disassembled component members in accordance with the specifications of the device. Further, by adopting a structure in which the seal member and the field generating portion can be separated from each other, the components can be shared even if the torque generating device has different product specifications, and therefore, cost reduction and other effects due to mass production can be obtained.

Drawings

Fig. 1 is an exploded perspective view showing the structure of a torque generator according to a first embodiment.

Fig. 2 (a) is a sectional view taken along line a-a' of fig. 1, and fig. 2 (b) is a sectional view showing a state where the torque generating device of fig. 2 (a) is assembled.

Fig. 3 is a partially enlarged sectional view of fig. 2 (b).

Fig. 4 is a cross-sectional view corresponding to fig. 2 (a), and is an explanatory diagram conceptually showing a magnetic circuit based on a magnetic field generated by the exciting coil.

Fig. 5 is a functional block diagram of the torque generation device of the first embodiment.

Fig. 6 (a) is a sectional view showing the structure of a torque generating device according to the second embodiment, and fig. 6 (b) is a perspective view showing the structure of a cover member according to the second embodiment.

Fig. 7 (a) is a sectional view showing the structure of the torque generator according to the third embodiment, and fig. 7 (b) is an exploded perspective view showing the structure of the torque generator according to the third embodiment.

Fig. 8 is a sectional view showing the structure of a torque generator according to the fourth embodiment.

Fig. 9 is a partially enlarged sectional view of fig. 8.

Detailed Description

Hereinafter, a torque generation device according to an embodiment of the present invention will be described in detail with reference to the drawings.

< first embodiment >

Fig. 1 is an exploded perspective view showing the structure of a torque generator 10 according to a first embodiment. Fig. 2 (a) is a sectional view taken along line a-a' of fig. 1, and fig. 2 (b) is a sectional view showing a state where the torque generating device 10 of fig. 2 (a) is assembled. Fig. 3 is a partially enlarged sectional view of fig. 2 (b). Fig. 4 is a sectional view corresponding to fig. 2 (a), and is an explanatory diagram conceptually showing a magnetic circuit based on the magnetic field generated by the exciting coil 50. Fig. 5 is a functional block diagram of the torque generation device 10.

In the drawings, the vertical direction is defined along the central axis 11 of the shaft portion 110 (rotation shaft) for convenience of explanation, but the direction in actual use is not limited thereto. A direction perpendicular to the central axis 11 from the central axis 11 is referred to as a radial direction. In the following description, a state in which the lower side is viewed from above along the center axis 11 may be referred to as a plan view.

As shown in fig. 1, the torque generation device 10 includes a separation unit 20 and an operation unit 100.

As shown in fig. 2 (a) and (b), the operation unit 100 includes a shaft body 110 as a rotation shaft and a magnetic disc 120 as a rotor, and the shaft body 110 and the magnetic disc 120 are integrated with each other and connected to the separation unit 20 so as to be capable of rotating in both directions around the central axis 11 (fig. 2 (b)). Further, in the operation unit 100, a sealed space 60 for sealing the periphery of the magnetic disk 120 is formed, and a magnetic viscous fluid 140 as a functional material is sealed in the sealed space 60 so as to be able to flow.

< separation Unit 20>

As shown in fig. 2 (a) and (b), the separation unit 20 includes an excitation coil 50 as a magnetic field generating unit (field generating unit) and a second yoke 70 as a fixing member. The separation unit 20 can be separated from the sealing member forming the sealing space 60, i.e., can be separated from the sealing member without breaking the sealing member. Therefore, the excitation coil 50 and the second yoke 70 constituting the separation unit 20 can also be separated from the sealing member.

The excitation coil 50 is disposed outside the sealed space 60, more specifically, above the sealed space 60 in the direction in which the central axis 11 extends, and the excitation coil 50 is a coil including a wire wound around the central axis 11 in the internal space 71 of the second yoke 70. A connecting member (not shown) is electrically connected to the exciting coil 50, and a current is supplied to the connecting member through a path (not shown). When the exciting coil 50 is energized, a magnetic field is generated.

As shown in fig. 1, the second yoke 70 is a hollow cylindrical magnetic material centered on the central axis 11. As shown in fig. 2 (a) and (b), the second yoke 70 includes a cylindrical inner wall portion 72 forming an inner peripheral surface 70a thereof, a cylindrical outer wall portion 73 forming an outer peripheral surface 70b of the second yoke 70, and a disc-shaped upper wall portion 74. The inner wall portion 72 and the outer wall portion 73 are connected to each other by an upper wall portion 74 located on their upper sides. The bottom 73a of the outer wall 73 protrudes downward from the bottom surface 72a of the inner wall 72.

The inner wall portion 72 and the upper wall portion 74 are yokes formed separately, and the second yoke 70 is formed by placing and fixing the upper wall portion 74 on the upper surface of the inner wall portion 72. The excitation coil 50 is disposed along the outer peripheral surface of the inner wall portion 72 in a state where the upper wall portion 74 is not mounted, and then the upper wall portion 74 is mounted, so that the excitation coil 50 is surrounded by the second yoke 70.

The outer wall portion 73 and the upper wall portion 74 may be formed as an integral yoke or may be formed as separate yokes.

The inner space 71 in which the exciting coil 50 is disposed is provided as a space between the inner wall portion 72 and the outer wall portion 73 in the radial direction, and the upper portion thereof is covered with the upper wall portion 74. Further, at the lower portion of the internal space 71, the inner wall portion 72 and the outer wall portion 73 are separated from each other in the radial direction, and a gap 70g is formed.

Therefore, the excitation coil 50 disposed in the internal space 71 is radially sandwiched between the internal space 71 and the inner wall portion 72, and the upper side thereof is covered by the outer wall portion 73. With this configuration, a magnetic path (magnetic circuit) of the magnetic field generated by the exciting coil 50 can be formed.

A first opening 90 (concave portion) having an inner diameter that increases as the distance from the inner circumferential surface 70a along the central axis 11 increases is formed in a lower portion of the inner wall portion 72 so as to concentrically continue to the inner circumferential surface 70 a. In other words, the lower portion of the inner wall portion 72 has a shape that spreads toward the outer peripheral side, and thus the area of the bottom surface 72a is limited, and the magnetic flux is concentrated therein, whereby the magnetic flux density can be increased.

< operating Unit 100>

As shown in fig. 2 (a) and (b), the operation unit 100 includes a shaft body 110 serving as a rotation shaft, a magnetic disc 120 serving as a rotor, a first yoke 40 serving as a first sealing member, and a cover member 61 serving as a second sealing member.

The shaft portion 110 is a rod-like member extending vertically along the central axis 11. A magnetic disk 120 is concentrically fixed to the upper portion thereof. The magnetic disk 120 is a disk-shaped member made of a magnetic material and having a circular plane arranged perpendicular to the vertical direction. A hole 121 penetrating in the vertical direction (thickness direction) is provided at the center of the magnetic disk 120, and the shaft portion 110 is inserted and fixed in the hole 121. Thereby, the shaft portion 110 is integrated with the magnetic disk 120, and can rotate about the central axis 11.

The first yoke 40 is a disc-shaped magnetic material having a circular plane disposed perpendicular to the vertical direction, and is disposed concentrically with the shaft body 110. The first yoke 40 includes a support portion for rotatably supporting the magnetic disk 120. A hole 41 penetrating in the vertical direction (thickness direction) is provided at the center of the first yoke 40 as the support portion, and the shaft portion 110 is supported in a rotatable manner about the central axis 11 via a bearing and an O-ring (both not shown) disposed in the hole 41.

The cover member 61 is disposed on the first yoke 40 so as to surround the magnetic disk 120. The cover member 61 has a circular shape in a plan view (see fig. 1), and is positioned between the excitation coil 50 (magnetic field generating portion) and the magnetic disk 120 (rotor). Thus, the sealed space 60 is formed by the two sealing members, the first yoke 40 as the first sealing member and the cover member 61 as the second sealing member, which are disposed below the magnetic disk 120, and the entire periphery of the magnetic disk 120 is sealed by the sealed space 60. Further, the sealed space 60 is in a liquid-tight state with respect to the shaft portion 110 by the O-ring.

As shown in fig. 3, a magnetic viscous fluid 140 as a functional material is sealed in the sealed space 60 so as to be able to flow. The magnetic viscous fluid 140 is a substance whose viscosity changes when a magnetic field is applied thereto, and is, for example, a fluid in which particles (magnetic particles) made of a magnetic material are dispersed in a non-magnetic liquid (solvent). The magnetic particles contained in the magnetic viscous fluid 140 are preferably, for example, iron-based particles containing carbon or ferrite particles. The carbon-containing iron-based particles preferably contain carbon in an amount of 0.15% or more, for example. The diameter of the magnetic particles is, for example, preferably 0.5 μm or more, and more preferably 1 μm or more. The magnetically viscous fluid 140 desirably selects the solvent and magnetic particles in such a way that the magnetic particles are difficult to precipitate or coagulate under the influence of gravity. Furthermore, the magnetically viscous fluid 140 desirably contains a coupling material that prevents precipitation, coagulation of the magnetic particles.

Here, the sealed space 60 may not be entirely filled with the magnetic viscous fluid 140. For example, the magnetic viscous fluid 140 may be present only on either the upper surface side or the lower surface side of the magnetic disk 120.

A second opening 91 is provided in a lower portion of the first opening 90 so as to be concentrically continuous therewith. As shown in fig. 3, the upper position of the second opening 91 is defined by the bottom surface 72a of the inner wall 72. The radially outer position of the second opening 91 is defined by an inner circumferential surface 73ai of a bottom portion 73a of the outer wall portion 73, which protrudes downward from the inner wall portion 72 in the outer wall portion 73. The inner diameter of the second opening 91 is set larger than the maximum inner diameter of the first opening 90. Therefore, when the separation unit 20 and the operation unit 100 are assembled to each other, the outer portion of the upper surface 61a of the cover member 61 (second sealing member) that seals the periphery of the magnetic disk 120 abuts against the bottom surface 72a of the inner wall portion 72. Further, the outer edge portion 61b of the cover member 61 located outside the bottom surface 72a of the inner wall portion 72 abuts against the inner circumferential surface 73ai and the bottom surface 73ab of the bottom portion 73a of the outer wall portion 73, respectively. Here, an inner region 61c of the upper surface 61a of the cover member 61, which is not in contact with the bottom surface 72a of the inner wall portion 72, faces the space of the first opening 90.

The cover member 61 as the second seal member is a magnetically permeable member having a magnetic resistance of a size that allows a magnetic field generated by the exciting coil 50 (magnetic field generating portion) of the torque generating device 10 to pass through the sealed space 60. Such a cover member 61 may be a metal nonmagnetic member or a metal material having a small magnetic resistance, and for example, a ferrite or martensite material having a small magnetic resistance or a large magnetic permeability, which is stainless steel (stainless steel), may be selected. By using such a cover member 61, the magnetic flux obtained by the magnetic field generated by the excitation coil 50 and passing through the magnetic circuit constituted by the second yoke 70 and the first yoke 40 can be transmitted through the magnetically viscous fluid 140 and the magnetic disk 120 in the sealed space 60.

At least a part of the cover member 61 has flexibility and functions as an adjusting portion capable of adjusting the volume of the sealed space 60. Further, a region 61c of the upper surface 61a of the cover member 61 having a plate shape, which is located inside a range of contact with the bottom surface 72a of the inner wall portion 72 in a direction orthogonal to the central axis 11, faces the first opening 90. Therefore, at least the region 61c of the cover member 61 can protrude into the space of the first opening 90 (concave portion) in accordance with the pressure variation in the magnetic viscous fluid 140. Here, the space of the first opening 90 includes a space inside the first opening 90 and a space between the first opening 90 and the sealed space 60. Therefore, the volume in the sealed space 60 can be changed in accordance with the pressure variation in the sealed space 60. For example, when the internal pressure of the sealed space 60 rises, the volume in the sealed space 60 is increased to compensate the pressure, and the deformation of the adjustment portion is released and the original state is restored when the rising internal pressure is restored.

Here, the range (area in a plan view) of the inner region 61c can be set in accordance with the specification of the torque generator 10, for example, a virtual pressure fluctuation amount in the sealed space 60. When the opening diameter of the first opening 90 and the radial dimension of the inner wall portion 72 are changed in accordance with the adjustment of the range of the region 61c, the magnetic path of the magnetic field generated by the exciting coil 50 can be arbitrarily set.

In the above configuration, when a current is applied to the exciting coil 50, a magnetic field having a flow in a direction indicated schematically by an arrow in fig. 4 is formed. When a current is applied to the exciting coil 50 in the opposite direction, a magnetic field is formed that flows in the opposite direction to the arrow shown in fig. 4. In the example shown in fig. 4, magnetic flux passes through the magnetic disk 120 from the inner wall portion 72 toward the first yoke 40 of the operation unit 100 in the direction of the center axis 11, and the magnetic flux travels in the first yoke 40 in a direction away from the center axis 11. Here, since the first opening 90 is provided so that the lower portion of the inner wall portion 72 has a shape expanding toward the outer peripheral side, the area of the bottom surface 72a is limited. This can concentrate the magnetic flux from the inner wall portion 72 toward the first yoke 40 on the bottom surface 72 a.

The magnetic flux traveling in the first yoke 40 in the direction away from the center axis 11 travels from below upward in the direction of the center axis 11 in the outer wall portion 73 where the bottom portion 73a abuts against the outer edge portion 42 of the first yoke 40, that is, in the region outside the excitation coil 50, and travels in the direction toward the center axis 11 in the upper wall portion 74. Then, the magnetic flux travels from top to bottom in the inner wall portion 72 corresponding to the inside of the exciting coil 50, and passes through the magnetic disk 120 again to reach the first yoke 40.

The radially outer edge 42 of the upper surface of the first yoke 40 is disposed so as to face the bottom surface 73ab of the bottom portion 73a of the outer wall portion 73, and is fixed to the outer wall portion 73 via the cover member 61. Thereby, the outer wall portion 73 is magnetically coupled to the first yoke 40, and the magnetic path of the magnetic field generated by the exciting coil 50 is expanded from the separation unit 20 to the operation unit 100 to be formed in a closed loop shape.

In the magnetic field of such a magnetic circuit, since the gap 70g, which is an annular opening, is formed in the lower portion of the internal space 71, the magnetic flux is restricted from passing between the inner wall portion 72 and the outer wall portion 73. Further, since the cover member 61 abutting against the bottom surface 72a of the inner wall portion 72 serves as a magnetic permeable member and has a magnetic resistance smaller than the gap 70g, a magnetic path is secured from the bottom surface 72a of the inner wall portion 72 along the upper and lower sides through the cover member 61 and into the sealed space 60.

In the magnetic disk 120, only the magnetic flux in the vertical direction passes through the magnetic disk 120, and the magnetic flux in the radial direction is not generated or the magnetic flux density is small even if the magnetic flux in the radial direction is generated in the magnetic disk 120. By this magnetic field, magnetic lines of force are generated in the radial direction in the first yoke 40, and magnetic lines of force are generated in the vertical direction in the outer wall portion 73 of the second yoke 70 in the direction opposite to the magnetic lines of force in the magnetic disk 120. Magnetic lines of force are generated in the upper wall portion 74 of the second yoke 70 in a radial direction opposite to the magnetic lines of force in the first yoke 40.

In the magnetic viscous fluid 140, when a current is applied to the exciting coil 50 to generate a magnetic field, a magnetic field in the vertical direction is applied to the magnetic viscous fluid 140. By this magnetic field, the magnetic particles dispersed in the magnetic viscous fluid 140 are concentrated along the magnetic lines of force, and the magnetic particles aligned in the vertical direction are magnetically connected to each other to form clusters. In this state, when a force is applied to rotate the shaft portion 110 in a direction about the central axis 11, a shearing force acts on the coupled magnetic particles, and a resistance force (a torque of the rotational operation by the magnetic disk 120) by the magnetic particles is generated. Therefore, the operator can feel resistance as compared with a state in which no magnetic field is generated.

On the other hand, when the magnetic field by the exciting coil 50 is not generated, the magnetic particles are dispersed in the solvent without forming clusters. Therefore, when the operator operates the shaft portion 110, the operation unit 100 does not receive a large resistance but relatively rotates with respect to the separation unit 20.

Since the magnetic disk 120 is formed in a shape extending radially outward from the shaft portion 110 in a disk shape, the magnetic viscous fluid 140 can be arranged in a wider range than the case of only the shaft portion 110. The magnitude of the resistance caused by the magnetic viscous fluid 140 when the magnetic disk 120 is rotated by the operation of the shaft portion 110 is correlated with the area of the magnetic viscous fluid 140 in the plane orthogonal to the rotation direction thereof. Thus, the wider the range of arrangement of the magneto-viscous fluid 140, the wider the control range of the resistance (torque) can be.

As shown in fig. 5, the torque generation device 10 includes the above-described exciting coil 50 and a control unit 130 electrically connected to the exciting coil 50. The control unit 130 controls the current applied to the exciting coil 50, thereby controlling the magnetic flux generated by the exciting coil 50 and the magnetic path corresponding to the magnetic flux. Thus, the magnetic flux passing through the magnetic viscous fluid 140 and the magnetic disk 120 is controlled, and the magnetic particles dispersed in the magnetic viscous fluid 140 are concentrated along the magnetic lines of force by the action of the controlled magnetic flux, and the magnetic particles aligned in the vertical direction are magnetically connected to each other to form clusters. In this state, when a force is applied to rotate the shaft portion 110 in a direction about the central axis 11, a shearing force acts on the coupled magnetic particles, and a resistance force is generated by the magnetic particles, so that the resistance force felt by the operator of the shaft portion 110 can be controlled.

The separation unit 20 and the operation unit 100 can be fixed to each other by various methods such as adhesion, fitting, screw fastening, and the like. In the torque generation device 10, the sealed space 60 is configured independently of the separation unit 20, and therefore the separation unit 20 and the operation unit 100 can be separated and disassembled from each other while maintaining the sealed space 60 and retaining the magnetic viscous fluid 140 therein. Since the separation is possible, if standardized separation means and operation means are prepared, the torque generation device can be easily adapted to various configurations. In addition, since the separation means and the operation means can separate the manufacturing process, the degree of freedom in the construction of the production line is improved.

Hereinafter, a modified example will be described.

In the first embodiment, the excitation coil 50 (magnetic field generating unit) as the field generating unit and the magnetic viscous fluid 140 as the functional material are used, but the combination of the field generating unit and the functional material is not limited thereto. For example, magnetic powder that can flow in the sealed space 60 can also be used.

In addition, an electric field generating unit that generates an electric field and can control the electric field may be used as the field generating unit, and an electrically viscous fluid may be used as the functional material. In this case, as the sealing member, an electrically permeable material having a resistance of a magnitude that allows an electric field generated by the electric field generating unit of the torque generating device 10 to pass through the sealed space is preferably used.

In the first embodiment, the sealed space 60 for sealing the periphery of the magnetic disk 120 is formed by the two sealing members, i.e., the first yoke 40 and the cover member 61, but the number, arrangement, and constituent material of the sealing members are not limited thereto. In particular, if the sealing member disposed in the magnetic circuit is a magnetically permeable member, the sealing member at the other position may be made of a material having low magnetic permeability, that is, large magnetic resistance.

In the first embodiment, the magnetic circuit is formed in the first yoke 40 and the second yoke 70, but the yoke constituting the magnetic circuit is not limited thereto. For example, the combination of the plurality of yokes constituting the second yoke 70 is not limited to the combination of the inner wall portion 72 and the upper wall portion 74 described above.

If the opening area of the lower portion of the second opening 91 can be secured within a range that can cope with pressure variations in the sealed space 60, the planar shape of the bottom surface 72a of the inner wall portion 72 can be adjusted. In the above configuration, the first opening 90 is provided by extending the lower portion of the inner wall portion 72 outward, and thereby the magnetic flux density is increased by concentrating the magnetic flux by limiting the area of the bottom surface 72a, but the area of the bottom surface 72a can be set larger.

< second embodiment >

Fig. 6 (a) is a cross-sectional view showing the structure of the torque generator according to the second embodiment, and fig. 6 (b) is a perspective view showing the structure of the cover member 261 according to the second embodiment. Fig. 6 (a) is a cross-sectional view of a position corresponding to fig. 2 (a), and fig. 6 (b) is a perspective view of the cover member 261 viewed from above.

In the second embodiment, a cover member 261 (second sealing member and adjusting portion) is provided instead of the cover member 61 as the second sealing member and adjusting portion in the first embodiment, and the cover member 261 has a bellows portion 262 (bellows structure). The other structures are the same as those of the first embodiment, and the same reference numerals are given to the same members.

As shown in fig. 6 (b), the cover member 261 has a circular shape in plan view and is disposed between the excitation coil 50 (magnetic field generating portion) and the magnetic disk 120 (rotor). Thus, the sealed space 260 is formed by the two sealing members, i.e., the first yoke 40 as the first sealing member and the cover member 261 as the second sealing member, which are disposed below the magnetic disk 120, and the entire periphery of the magnetic disk 120 is sealed by the sealed space 260. The magnetic viscous fluid 140 is sealed in the sealed space 260.

The cover member 261 is a magnetically permeable member having a magnetic resistance of a size that allows a magnetic field generated by the exciting coil 50 (magnetic field generating unit) of the torque generating device 10 to pass through the sealed space 260, and is preferably made of a metal material having a small magnetic resistance, as in the case of the cover member 61 of the first embodiment.

The cover member 261 is provided with a bellows portion 262 as an adjustment portion. The corrugated portion 262 has a corrugated structure that is annularly provided along a circumferential direction centered on the center axis 11 and is bent upward and downward along a radial direction centered on the center axis 11. As shown in fig. 6 (a), the bellows portion 262 is located in a range corresponding to the first opening portion 90 in the radial direction. The bellows portion 262 has an elastic force based on the bellows structure thereof, and can expand when the pressure in the sealed space 260 rises, and due to this expansion, the region 263 surrounded by the bellows portion 262 in the cover member 261 protrudes into the space of the first opening portion 90 (recess), and therefore the volume in the sealed space 260 increases. On the other hand, when the raised pressure returns to its original state, the bellows portion 262 is released from its expansion by the elastic force and returns to its original state. Therefore, the volume in the sealed space 260 can be changed according to the pressure change in the sealed space 260. The configuration including the bellows 262 can increase the amount of adjustment of the volume in the sealed space 260.

Other operations, effects, and modifications are the same as those of the first embodiment.

< third embodiment >

Fig. 7 (a) is a sectional view showing the structure of the torque generator according to the third embodiment, and fig. 7 (b) is an exploded perspective view showing the structure of the torque generator according to the third embodiment. Fig. 7 (a) is a cross-sectional view of a position corresponding to fig. 2 (a), and fig. 7 (b) is a perspective view of the cover member 361 as the second sealing member viewed from above.

In the third embodiment, a cover member 361 (second sealing member and adjusting portion) is provided instead of the cover member 61 as the second sealing member and adjusting portion in the first embodiment, and the cover member 361 has a flexible deformable plate portion 362. The other structures are the same as those of the first embodiment, and the same reference numerals are given to the same members.

As shown in fig. 7 b, the cover member 361 has a circular shape in plan view and is disposed between the excitation coil 50 (magnetic field generating portion) and the magnetic disk 120 (rotor). Thus, the sealed space 360 is formed by the two sealing members, i.e., the first yoke 40 as the first sealing member and the cover member 361 as the second sealing member, which are disposed below the magnetic disk 120, and the entire periphery of the magnetic disk 120 is sealed by the sealed space 360. The magnetic viscous fluid 140 is sealed in the sealed space 360.

The cover member 361 is a magnetically permeable member having a magnetic resistance of a size that allows a magnetic field generated by the exciting coil 50 (magnetic field generating portion) of the torque generating device 10 to pass through the sealed space 360, and is preferably made of a metal material having a small magnetic resistance, as in the case of the cover member 61 of the first embodiment.

The cover member 361 includes a deformable plate portion 362 as an adjustment portion. The deformable plate portion 362 is a flexible plate-shaped member, and is provided at a central portion of the cover member 361 in a radial direction about the central axis 11. The deformable plate portion 362 has a circular shape in plan view about the central axis 11, and is located within a range corresponding to the first opening 90. The deformable plate portion 362 is provided in the cover member 361 by providing a hole penetrating vertically in the center of the cover member 361, for example, and attaching the hole so as to close the hole from above.

When the pressure in the sealed space 360 increases, the deformable plate portion 362 deforms so as to protrude upward into the space of the first opening 90 (concave portion), and therefore the volume in the sealed space 360 increases. On the other hand, when the raised pressure returns to its original state, the deformation is released by the restoring force of the deformable plate portion 362, and the original state is restored. Therefore, the volume in the sealed space 360 can be changed in accordance with the pressure variation in the sealed space 360. Since the area and thickness of the deformable plate portion 362 can be arbitrarily set, an optimum adjustment portion that matches the specification of the torque generating device can be easily realized.

Other operations, effects, and modifications are the same as those of the first embodiment.

< fourth embodiment >

Fig. 8 is a sectional view showing a configuration of a torque generating device according to a fourth embodiment, and fig. 9 is a partially enlarged sectional view of fig. 8. Fig. 8 is a sectional view of a position corresponding to fig. 2 (a).

In the first embodiment, the excitation coil 50 as the magnetic field generating unit is disposed above the sealed space 60 in the direction in which the shaft body 110 extends (the direction in which the center axis 11 extends), but the position of the magnetic field generating unit is not limited thereto as long as it is outside the sealed space. As an example, in the fourth embodiment, the exciting coil 450 as the magnetic field generating unit is disposed outside the sealed space 460, more specifically, outside the sealed space 460 in the radial direction around the central axis 11.

In the first embodiment, the magnetic disk 120 is used as the rotor, but the form of the rotor is not limited to this, and for example, a rotor (magnetic cylindrical body 420) having a cylindrical shape as shown in the fourth embodiment may be used.

The torque generation device according to the fourth embodiment includes a separation unit 401 and an operation unit 400.

The separation unit 401 includes an excitation coil 450 as a magnetic field generating unit (field generating unit) and a second yoke 470 as a fixing member.

The excitation coil 450 is disposed outside the sealed space 460 in the radial direction around the center axis 11, and the excitation coil 450 is a coil including a wire wound around the center axis 11 in the internal space 471 of the second yoke 470. A connecting member (not shown) is electrically connected to the exciting coil 450, and a current is supplied to the connecting member through a path (not shown). When the exciting coil 450 is energized, a magnetic field is generated.

As shown in fig. 8, the second yoke 470 is a hollow cylindrical magnetic material centered on the central axis 11. The second yoke 470 has an inner circumferential surface 470a through which the operation unit 400 penetrates, and the second yoke 470 includes a bottom wall 473 and an upper wall 474 each having a circular plate shape, and a cylindrical outer wall 472 sandwiched between the bottom wall 473 and the upper wall 474 in the vertical direction. The opening 490 surrounded by the inner peripheral surface 470a penetrates the second yoke 470 in the vertical direction. The second yoke 470 includes an inner space 471 formed at the center in the vertical direction along the direction of the center axis 11 so as to be recessed radially outward from the inner peripheral surface 470 a.

Outer wall 472 and upper wall 474 are separate yokes, and second yoke 470 is formed by placing and fixing upper wall 474 on the upper surface of outer wall 472 fixed to bottom wall 473. Excitation coil 450 is disposed along the outer peripheral surface of outer wall 472 in a state where upper wall 474 is not mounted, and then excitation coil 450 is surrounded by second yoke 470 by mounting upper wall 474.

The outer wall 472 and the bottom wall 473 may be formed as an integral yoke or may be formed separately.

The exciting coil 450 is disposed in the internal space 471. Therefore, the excitation coil 450 is sandwiched by the second yokes 470 in the vertical direction, and the radial outside is also surrounded by the second yokes 470. With this configuration, a magnetic circuit (magnetic circuit) for closing the magnetic field generated by the exciting coil 450 can be formed.

In the above configuration, when a current is applied to the exciting coil 450 by the control of the control unit similar to the control unit 130 of the first embodiment, a magnetic field having a flow in a direction indicated schematically by an arrow in fig. 8 is formed. When a current is applied to the exciting coil 450 in the opposite direction, a magnetic field flowing in the opposite direction to the arrow shown in fig. 8 is formed. In the example shown in fig. 8, magnetic flux passes through the magnetic cylinder 420 from top to bottom in the direction of the center axis 11, and the magnetic flux travels in a direction away from the center axis 11 in a portion of the second yoke 470 below the exciting coil 450. The magnetic flux travels from bottom to top in a portion of the second yoke 470 outside the exciting coil 450, and travels in a direction closer to the central axis 11 in a portion above the exciting coil 450.

The operation unit 400 includes a shaft body 410 serving as a rotation shaft, a magnetic cylinder 420 serving as a rotor, a first yoke 440 serving as a first sealing member, and a cover member 461 serving as a second sealing member.

The shaft portion 410 is a rod-like member extending vertically along the central axis 11. A magnetic cylinder 420 is concentrically fixed to the upper portion thereof. The magnetic cylindrical body 420 is a disc-shaped member made of a magnetic material and having a circular plane arranged perpendicular to the vertical direction. A hole 421 penetrating in the vertical direction (thickness direction) is provided at the center of the magnetic cylinder 420, and the shaft body 410 is inserted into and fixed to the hole 421. Thereby, the shaft body portion 410 is integrated with the magnetic cylindrical body 420 and can rotate about the central axis 11.

The first yoke 440 is a disc-shaped magnetic material having a circular plane disposed perpendicular to the vertical direction, and is disposed concentrically with the shaft body 410 below the magnetic cylinder 420 in the vertical direction. First yoke 440 includes a support portion for rotatably supporting magnetic cylinder 420. A hole 441 penetrating in the vertical direction (thickness direction) is provided at the center of the first yoke 440 as the support portion, and the shaft portion 410 is supported in a rotatable manner about the central axis 11 via a bearing and an O-ring (both not shown) disposed in the hole 441.

A cover member 461 is disposed on the first yoke 440 so as to surround the magnetic cylinder 420. The cover member 461 has a circular shape in plan view, is positioned radially between the excitation coil 450 (magnetic field generating portion) and the magnetic cylindrical body 420 (rotor), and has an upper portion 461a exposed to the outside. Thus, a sealed space 460 is formed by two sealing members, i.e., the first yoke 440 as a first sealing member and the cover member 461 as a second sealing member, which are disposed below the magnetic cylinder 420, and the entire periphery of the magnetic cylinder 420 is sealed by the sealed space 460.

A magnetic viscous fluid 480, which is a functional material similar to the magnetic viscous fluid 140 of the first embodiment, is sealed in the sealed space 460 so as to be able to flow.

The cover member 461 as the second seal member is a magnetically permeable member having a magnetic resistance of a magnitude that allows a magnetic field generated by the exciting coil 450 (magnetic field generating portion) of the torque generating device to pass through the sealed space 460, similarly to the cover member 61 of the first embodiment. By using such a cover member 461, the magnetic flux generated by the magnetic field generated by the exciting coil 450 can be transmitted through the magnetic viscous fluid 480 and the magnetic cylinder 420 in the sealed space 460.

The cover member 461 is made of a flexible material and functions as an adjustment portion capable of adjusting the volume of the sealed space 460. Since the upper part 461a of the cover member 461 is exposed to the outside, the upper part 461a as the adjusting part can be projected to the outside in accordance with the pressure variation in the sealed space 460. Therefore, the volume in the sealed space 460 can be changed in accordance with the pressure change in the sealed space 460. For example, when the internal pressure of the sealed space 460 increases, the volume in the sealed space 460 is increased to compensate for the pressure, and the deformation of the upper part 461a is released and the original state is restored when the increased internal pressure is restored.

In the magnetic viscous fluid 480, when a current is applied to the excitation coil 450 to generate a magnetic field, the magnetic viscous fluid 480 is applied with a magnetic field. By this magnetic field, the magnetic particles dispersed in the magnetic viscous fluid 480 are concentrated along the magnetic lines of force, and the concentrated magnetic particles are magnetically connected to each other to form clusters. In this state, when a force is applied to rotate the shaft body 410 in a direction about the central axis 11, a shearing force acts on the magnetic particles connected to each other, and a resistance (torque) is generated by the magnetic particles. Therefore, the operator can feel resistance as compared with a state in which no magnetic field is generated.

On the other hand, when the magnetic field by the exciting coil 450 is not generated, the magnetic particles are dispersed in the solvent without forming clusters. Therefore, when the operator operates the shaft portion 410, the operation unit 400 does not receive a large resistance but relatively rotates with respect to the separation unit 401. Alternatively, when the residual magnetic flux exists in the yoke in a state where the excitation coil 450 is not energized, a resisting moment remains in the shaft body portion 410 in accordance with the density of the residual magnetic flux.

As described above, by disposing the excitation coil 450 as the magnetic field generating unit outside the sealed space 460, the resistance felt by the operator can be controlled even when a form other than a disk shape is used as the rotor.

In the fourth embodiment, a cylindrical rotor is used, but in the same operation unit as in the first embodiment, in which a disk-shaped rotor is used, an excitation coil as a magnetic field generating portion may be disposed outside the operation unit in a radial direction around the central axis 11. In this case, the disk-shaped rotor is sandwiched between the upper and lower yokes, whereby a magnetic field passing through the disk-shaped rotor in the vertical direction (the direction along the central axis 11) can be applied.

Other operations, effects, and modifications are the same as those of the first embodiment.

The present invention has been described with reference to the above embodiments, but the present invention is not limited to the above embodiments, and can be modified or changed for the purpose of improvement or within the scope of the idea of the present invention.

Industrial applicability of the invention

As described above, the torque generation device according to the present invention is useful in that the magnetic viscous fluid can be reliably held and disassembled, and the disassembled component member can be reused in accordance with the specifications of the device. In addition, the components can be shared even if the torque generating device has different product specifications.

Description of the reference numerals

10 Torque generating device

11 center shaft

20 separation unit

40 first yoke (first sealing member)

41 hole (support part)

42 outer edge portion

50 excitation coil (magnetic field generating part (field generating part))

60 sealed space

61 cover member (second sealing member, adjusting part)

61a upper surface

61b outer edge part

Area inside 61c

70 second yoke (fixed component)

70a inner peripheral surface

70b outer peripheral surface

70g gap

71 inner space

72 inner wall part

72a bottom surface

73 outer wall part

73a bottom

73ab bottom surface

73ai inner peripheral surface

74 upper wall part

90 first opening (concave part)

91 second opening part

100 operating unit

110 shaft part (rotating shaft)

120 magnetic disk (rotor)

121 hole part

130 control part

140 magnetic viscous fluid (functional material)

260 sealed space

261 cover component (second sealing component, adjusting part)

262 corrugated portion (corrugated structure, adjusting portion)

360 sealed space

361 shade member (second sealing member, adjusting part)

362 deformation plate part (adjusting part)

400 operating unit

401 separation unit

410 axle body part (rotating axle)

420 magnetic cylinder (rotor)

440 first yoke (first sealing member)

441 hole (support part)

450 field coil (magnetic field generating part)

460 sealing space

461 cover component (second sealing component, adjusting part)

461a upper part (adjusting part)

470 second yoke (fixed component)

470a inner peripheral surface

471 internal space

480 magnetic viscous fluid (functional material)

490 an opening.