JP6876845B2 - Operating device - Google Patents

Description

The present invention relates to an operating device capable of giving an operator a feeling of operation when operated by the operator.

In recent years, when an operator operates an operating member, an external force (force sense) such as resistance or thrust according to the operating amount or operating direction of the operating member is applied to improve the operating feeling. Various operation devices with a force feedback function have been proposed so that the operation of the above can be performed reliably. In particular, in the operation of in-vehicle control devices such as air conditioners, audios, and navigation, it is often the case that the operation is blind rather than visually observed, and it is not possible to give a sense of force to the operation member (operation knob). It was also effective in terms of safety.

A manual input device 800 for automobiles using such an operating device has been proposed in Patent Document 1 (Conventional Example 1). FIG. 15 is a view for explaining the manual input device 800 of the conventional example 1, and is a vertical cross-sectional view showing a main part of the basic configuration thereof.

The manual input device 800 shown in FIG. 15 includes a knob 880 (operating member) that is manually operated and rotated by a driver (operator), a planetary gear mechanism having a carrier shaft 851 provided integrally with the knob 880, and a planetary planet. A motor 810 having a cylindrical ring gear case 860 (fixing member) for always fixing the ring gear 862 of the gear mechanism, an output shaft 811 engaged with the sun gear 832 of the planetary gear mechanism, and rotation of the output shaft 811 of the motor 810. The encoder 830 (detection means) for detecting the above and the control means for controlling the rotation of the motor 810 according to the detection result of the encoder 830 are provided. Then, the manual input device 800 rotates the motor 810 at a predetermined timing, transmits this rotational force to the knob 880 via the planetary gear mechanism, and gives the operator a predetermined operation feeling.

However, although this manual input device 800 can give a good operation feeling, it is difficult to meet the demand for further miniaturization because the motor 810 is used. Therefore, a method of applying an external force (force sense) such as a resistance force or a thrust force according to an operation amount or an operation direction of an operation member without using a motor 810 has been sought.

Patent Document 2 (Conventional Example 2) proposes a manual brake 911 using a magnetic field response material (magnetic viscous fluid) whose fluidity is affected by a magnetic field generating means. FIG. 16 is a view for explaining the manual brake 911 of the conventional example 2, and is a sectional view in the longitudinal direction.

The manual brake 911 shown in FIG. 16 penetrates the housing 913 having the first housing chamber 915 and the second housing chamber 917, the closing plate 919 that closes the open end side of the housing 913, and the second housing chamber 917. A shaft 923 extending into the first housing chamber 915, a rotor 921 integrally provided at the end of the shaft 923 and juxtaposed in the first housing chamber, and a rotor 921 provided in the first housing chamber 915. A magnetic field generator 929 located in the immediate vicinity of the outer peripheral portion of the rotor 921, a magnetic field response material 941 provided in the first housing chamber 915 and filled so as to surround the rotor 921, and a second housing chamber 917. It is configured to include a control means 925 for controlling and monitoring the braking operation. Further, the magnetic field generator 929 includes a coil 931 and a pole piece 933 arranged so as to surround three sides of the coil 931.

Then, when the coil 931 is energized, a magnetic flux J37 shown by a broken line in FIG. 16 is generated, and along with the generation of this magnetic flux J37, soft magnetic or magnetizable particles in the magnetic field response material 941 are formed along the magnetic flux J37. It will be arranged. Therefore, the resistance given to the rotor 921 by the magnetic field response material 941 increases with respect to the direction of cutting this array, that is, the rotation direction of the rotating rotor 921. Therefore, the manual brake 911 has a braking action of stopping the rotational operation of the shaft 923 by using the magnetic field response material 941 and the rotor 921.

Japanese Unexamined Patent Publication No. 2003-50639 Japanese Patent Application Laid-Open No. 2005-507061

By utilizing the action of the magnetic field response material 941 (magnetic viscous fluid) described above, an external force (force sense) such as resistance or thrust according to the operation amount or operation direction of the operation member is applied without using a motor. A method is conceivable. However, in the configuration of the conventional example 2, since the magnetic field response material 941 increases the resistance particularly in the direction in which the rotor 921 rotates, it is possible to perform an operation such as a pressing operation or a tilting operation other than the rotation operation. There was a problem that the load could not be given.

The present invention solves the above-mentioned problems, and an object of the present invention is to provide an operation device that can obtain a good operation feeling by using a ferrofluid.

In order to solve this problem, the operating device of the present invention includes an operating member having an operating body that operates in the operating direction by the operation of the operator, a support that freely supports the operation of the operating body, and the operation. An operating device including a movable load applying mechanism that applies a load to the movement of a body, wherein the operating body has a movable shaft that enables the operation, and the movable load applying mechanism is the movable load applying mechanism. A movable member that engages with the movable shaft to perform the operation, a magnetic generation mechanism that faces the movable member with a gap in between, and a magnetic force that exists in at least a part of the gap and whose viscosity changes according to the strength of the magnetic field A magnetic viscous fluid is provided, and the magnetic generation mechanism includes a coil that generates a magnetic field by energization, and a first yoke that is provided so as to surround the coil and is arranged on one side of the movable member. A virtual cross section in which the magnetic viscous fluid is filled in the first gap, which is the gap between the first yoke and the movable member, and the axial center of the movable shaft vertically penetrates in the initial state in which the operation is not performed. The first yoke and the coil are arranged outside the movable member with the movable shaft as the center, and at least a part of the movable member and the first yoke is centered on the shaft center. It is characterized in that it has an arcuate shape and forms the first gap.

According to this, in the operating device of the present invention, a magnetic field is generated by energizing the coil, the magnetic path is formed by spreading from the first yoke to the movable member side, and the magnetic particles in the ferrofluid are in the virtual cross-sectional direction. It will be aligned along the magnetic flux. Therefore, it operates in a direction that crosses the magnetic flux formed between the first yoke and the movable member, and the movable member and the first yoke, for example, a rotation direction centered on the axis center of the movable axis, a pressing direction along the axis center, and the like. A load is applied to the movable member by the ferrofluid. As a result, a load is applied to the operating body via the movable member and the movable shaft, and a good operation feeling can be given to the operator for operations such as rotation operation and pressing operation.

Further, the operating device of the present invention is characterized in that, in the virtual cross section, the movable member, the first yoke, and the coil are formed so as to be rotationally symmetric with respect to the axial center.

According to this, it is possible to form a magnetic path in which the magnetic flux density is not biased with respect to the magnetic viscous fluid, and the magnetic field generated by the magnetic generation mechanism can be efficiently applied to the control of viscosity. As a result, the load can be applied evenly and efficiently to the movable member, and a better operation feel can be given to the operator.

Further, the operating device of the present invention is characterized in that the movable member is made of a soft magnetic material.

According to this, a magnetic path is surely formed from the first yoke to the movable member and from the movable member to the first yoke, and the magnetic particles in the ferrofluid are in the direction of the facing surfaces facing the first yoke and the movable member. It will be aligned. Therefore, a stronger load is applied to the movable member that operates in the direction (rotational operation and sliding operation) across the facing surface direction in which the magnetic particles are aligned. As a result, a stronger load is applied to the operating body via the movable member and the movable shaft, and a better operating feel can be given to the operator.

Further, in the operating device of the present invention, the movable member has a cylindrical shape centered on the axis center, and the first yoke is divided into a first facing portion and a first portion on the side facing the movable member. It has two facing portions, and the first facing portion and the second facing portion are arranged in a pressing direction along the movable shaft and face the outer peripheral surface of the movable member.

According to this, the magnetic path is surely formed from the first facing portion of the first yoke to the movable member side, and the magnetic path is surely formed from the movable member side to the second facing portion of the first yoke. Therefore, the magnetic particles in the magnetic viscous fluid are aligned along the magnetic flux in the virtual cross-sectional direction. Therefore, a stronger load can be reliably and strongly applied to the movable member operating in the direction intersecting the virtual cross-sectional direction (rotational direction or pressing direction). As a result, it is possible to give the operator a better feeling of operation with respect to the rotation operation and the pressing operation.

Further, in the operating device of the present invention, the magnetic generating mechanism has a second yoke facing the inner peripheral surface of the movable member in the cylindrical shape, and the second yoke and the inner peripheral surface of the movable member are connected to each other. The second gap is filled with the magnetic viscous fluid.

According to this, a further load (rotational load or pressing load) can be applied to the movable member that rotates and slides (moves in the pressing direction) in the direction crossing the magnetic flux. As a result, even if the magnetic field is the same, a larger operation feeling can be given to the operator.

Further, in the operating device of the present invention, the area of the first facing surface facing the ferrofluid in the first facing portion and the area of the second facing surface facing the ferrofluid in the second facing portion are the same. It is characterized by being.

According to this, the magnetic flux densities become the same at the inlet and the outlet of the magnetic flux, and the magnetic flux generated from the coil can be efficiently applied to control the viscosity of the ferrofluid. As a result, the load can be evenly applied to the rotating movable member, and a better operation feel can be given to the operator.

Further, in the operating device of the present invention, the movable member has a spherical shape having a sphere center on the axis center, and the operating body is supported so as to be tiltable about the sphere center, and the first yoke. However, in the direction along the center of the axis, it has a third facing portion and a fourth facing portion that are separated from each other, and the third facing portion and the fourth facing portion are formed on the spherical outer peripheral surface of the movable member. It has a concave shape along the shape, and is characterized in that the magnetic viscous fluid is filled in a third gap between the third facing portion and the fourth facing portion and the outer peripheral surface of the movable member.

According to this, the magnetic path is surely formed from the third facing portion of the first yoke to the movable member, and the magnetic path is surely formed from the movable member to the fourth facing portion of the first yoke. , The magnetic particles in the ferrofluid are aligned along the magnetic flux formed in the radial direction of the spherical shape of the movable member. Therefore, a stronger load can be reliably applied to the movable member operating in the tangential direction orthogonal to the radial direction. As a result, it is possible to give the operator a better operation feel for the tilting operation.

Further, the operating device of the present invention is characterized in that the movable member is made of a soft magnetic material.

According to this, a magnetic path is surely formed from the third facing portion of the first yoke to the movable member, and from the movable member to the fourth facing portion of the first yoke, and the magnetic particles in the ferrofluid become the first yoke. It will be aligned in the direction of the facing surface facing the movable member. Therefore, a stronger load is applied to the movable member that operates (rotates) in the direction across the facing surface direction in which the magnetic particles are aligned. As a result, a stronger load is applied to the operating body via the movable member and the movable shaft, and a better operating feel can be given to the operator.

Further, in the operating device of the present invention, the area of the third facing surface facing the ferrofluid in the third facing portion and the area of the fourth facing surface facing the ferrofluid in the fourth facing portion are the same. It is characterized by being.

According to this, the magnetic flux densities become the same at the inlet and the outlet of the magnetic flux, and the magnetic flux generated from the coil can be efficiently applied to control the viscosity of the ferrofluid. As a result, the load can be applied evenly and efficiently to the movable member, and a better operation feel can be given to the operator.

In the operating device of the present invention, a magnetic field is generated by energizing the coil, a magnetic path is formed so as to spread from the first yoke to the movable member side, and magnetic particles in the ferrofluid are aligned along the magnetic flux in the virtual cross-sectional direction. It will be. Therefore, it operates in a direction that crosses the magnetic flux formed between the first yoke and the movable member, and the movable member and the first yoke, for example, a rotation direction centered on the axis center of the movable axis, a pressing direction along the axis center, and the like. A load is applied to the movable member by the ferrofluid. As a result, a load is applied to the operating body via the movable member and the movable shaft, and a good operation feeling can be given to the operator for operations such as rotation operation and pressing operation.

It is an upper perspective view of the operation apparatus which concerns on 1st Embodiment of this invention. It is an exploded perspective view of the operation device which concerns on 1st Embodiment of this invention. It is a figure explaining the operation apparatus which concerns on 1st Embodiment of this invention, FIG. 3A is a top view seen from the Z1 side shown in FIG. 1, and FIG. 3B is FIG. It is a front view seen from the Y2 side shown. It is a figure explaining the operation apparatus which concerns on 1st Embodiment of this invention, and is the sectional view on the IV-IV line shown in FIG. 3A. It is a figure explaining the movable load applying mechanism of the operation apparatus which concerns on 1st Embodiment of this invention, and is the enlarged sectional view of the P part shown in FIG. It is a figure explaining the movable load applying mechanism of the operation device which concerns on 1st Embodiment of this invention, FIG. 6A is an upward perspective view of the movable load applying mechanism, and FIG. 6B is a figure. It is a bottom view seen from the Z2 side shown in 6 (a). It is a figure explaining the magnetic generation mechanism of the operation apparatus which concerns on 1st Embodiment of this invention, and FIG. 7A is the upper perspective view which omitted the upper side of the 1st yoke shown in FIG. 6A. 7 (b) is a downward perspective view in which the lower side of the first yoke shown in FIG. 6 (a) is omitted. It is a figure explaining the magnetic generation mechanism of the operation apparatus which concerns on 1st Embodiment of this invention, FIG. 8 (a) is the top view which looked at FIG. 7 (a) from the Z1 side, and FIG. 8 (b). ) Is a bottom view of FIG. 7B as viewed from the Z2 side. It is a figure explaining the magnetic generation mechanism of the operation apparatus which concerns on 1st Embodiment of this invention, FIG. 9A is the lower side which looked at the upper side of the 1st yoke shown in FIG. 6A from the Z2 side. 9 is a perspective view, and FIG. 9B is an upward perspective view of the lower side of the first yoke shown in FIG. 6A as viewed from the Z1 side. FIG. 10A is a schematic diagram illustrating a ferrofluid of the operating device according to the first embodiment of the present invention, and FIG. 10A is a diagram of a ferrofluid in a state where a magnetic field is not applied. b) is a diagram of a ferrofluid in a state where a magnetic field is applied. It is a figure explaining the movable load applying mechanism of the operation apparatus which concerns on 1st Embodiment of this invention, and is the graph which showed an example of the relationship between the current flowing through the magnetic generation mechanism, and the torque applied to the operation body. It is an upper perspective view of the operation device which concerns on 2nd Embodiment of this invention. It is a figure explaining the operation apparatus which concerns on 2nd Embodiment of this invention, FIG. 13 (a) is the top view seen from the Z1 side shown in FIG. 12, and FIG. 13 (b) is in FIG. It is a front view seen from the Y2 side shown. It is a figure explaining the operation apparatus which concerns on 2nd Embodiment of this invention, and is sectional drawing in the XIV-XIV line shown in FIG. 13A. It is a figure explaining the manual input device of the prior art example 1, and is the vertical sectional view which shows the main part of the basic structure. It is a figure explaining the manual brake of the prior art example 2, and is the sectional view in the longitudinal direction.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is an upward perspective view of the operating device 100 according to the first embodiment of the present invention. FIG. 2 is an exploded perspective view of the operating device 100. FIG. 3A is a top view of the operating device 100 seen from the Z1 side shown in FIG. 1, and FIG. 3B is a front view of the operating device 100 seen from the Y2 side shown in FIG. FIG. 4 is a cross-sectional view of the operating device 100 on the IV-IV line shown in FIG. 3 (a). FIG. 5 is an enlarged cross-sectional view of the P portion shown in FIG.

The operation device 100 of the first embodiment of the present invention has the appearance as shown in FIGS. 1 and 3, and has an operation body 11 that operates in the operation direction by the operation of the operator as shown in FIG. It is mainly composed of an operating member 1, a support 3 that freely supports the movement of the operating body 11, and a movable load applying mechanism F5 that applies a load to the operating body 11. Further, as shown in FIGS. 4 and 5, the movable load applying mechanism F5 includes a movable member 55 that operates in engagement with the operating body 11 and a magnetic generating mechanism FM5 that faces the movable member 55 with a gap of 5 g. , The magnetic viscous fluid 75 existing in the gap 5 g, and the like.

Further, in the operation device 100 of the first embodiment, in addition to the above-mentioned components, a fixing member 6 (see FIG. 2) for fixing the magnetic generation mechanism FM5 and a slit arranged in the movable load applying mechanism F5. It has a spacer S57 (see FIGS. 4 and 5). Then, in the operation device 100, the operation unit 51 (operation knob) of the operation member 1 is engaged with one end side of the operation body 11, the operation unit 51 is gripped and operated by the operator, and the operation body 11 is operated in both directions. In addition to rotating, it slides in the vertical direction (Z direction shown in FIG. 1).

Further, at this time, if a rotation detection means (not shown) for detecting the rotation operation of the operation body 11 is provided, the operation device 100 can be used as a rotation operation type input device. For example, if a so-called rotary variable resistor composed of a substrate on which a resistor pattern is formed and a slider that slides the resistor pattern is used as the rotation detection means, the rotary variable resistor can be used. By engaging with the operating body 11, the rotational movement of the operating body 11 can be easily detected. The rotation detecting means is not limited to the rotary variable resistor. For example, it may be a magnetic angle rotation detection device using a permanent magnet and a magnetic detection sensor.

Similarly, if a slide detecting means for detecting the slide operation of the operating body 11 is provided, the operating device 100 can be used as a pressing operation type input device. For example, if a so-called push switch composed of a fixed contact embedded in a box-shaped case and a movable contact that can be connected to and detached from the fixed contact is used as the slide detecting means, the push switch is interlocked with the operating body 11. By disposing it on the lower side (Z2 direction shown in FIG. 1) of the movable member 55, it is possible to easily detect ON / OFF (a form of sliding operation) of the pressing operation of the operating body 11. The slide detecting means is not limited to the push switch, and for example, a slide type variable resistor may be used.

First, the operation member 1 of the operation device 100 will be described. As shown in FIG. 2, the operation member 1 has an operation unit 51 gripped by the operator and an operation body 11 having a movable shaft 11j in which the operation unit 51 is engaged with one end side. Then, when the operating unit 51 is gripped and operated by the operator, the operating body 11 rotates in both directions (direction of the XY plane shown in FIG. 3A) and in the vertical direction (FIG. 3B). ) Is shown to slide in the Z direction).

The operating body 11 of the operating member 1 uses a synthetic resin such as poly butylene terephtalate (PBT), and as shown in FIG. 2, a movable shaft having a cylindrical shape and a center of rotation AC as a center of rotation. It is manufactured by integrally injection molding having 11j and an engaging portion 11r provided on the other end side of the movable shaft 11j and having a size one size larger than that of the movable shaft 11j. Then, as shown in FIGS. 4 and 5, the engaging portion 11r of the operating body 11 is engaged with the upper end portion of the movable member 55 of the movable load applying mechanism F5.

Like the operating body 11, the operating portion 51 of the operating member 1 is manufactured by injection molding in a cylindrical shape using a synthetic resin such as polybutylene terephthalate resin (PBT) as shown in FIG. Further, as shown in FIG. 4, the central portion of the operation portion 51 has two concave hole portions, and one end side of the movable shaft 11j is inserted into a deep hole portion (first hole portion 51h). A part of the spring member 33, which will be described later, is housed in a shallow hole portion (second hole portion 51k).

Next, the support 3 of the operating device 100 will be described. As shown in FIG. 4, the support 3 is arranged between a case 13 having a through hole 13k through which the movable shaft 11j of the operating body 11 is inserted and between the operating portion 51 and the case 13 through which the movable shaft 11j is inserted. It is mainly composed of the spring member 33 and the shaft support portion 53 through which the movable shaft 11j is inserted and arranged inside the upper plate portion 13B of the case 13. Then, the support body 3 supports the operation member 1 so that the operation body 11 can move freely (rotational operation and slide operation).

Similar to the operating member 1, the case 13 of the support 3 uses a synthetic resin such as polybutylene terephthalate resin (PBT), and as shown in FIG. 2, a cylindrical side wall portion 13A and one side of the side wall portion 13A. It is manufactured by injection molding in a box shape with the upper plate portion 13B covering the opening. Further, as described above, the upper plate portion 13B of the case 13 is provided with a through hole 13k through which the movable shaft 11j of the operating body 11 is inserted. Then, as shown in FIG. 4, the case 13 accommodates the movable load applying mechanism F5.

The spring member 33 of the support 3 uses a general coil spring, and as shown in FIG. 4, one end side is housed in the second hole portion 51k of the operation portion 51, and the other end side is the case 13. It is in contact with the upper plate portion 13B and is disposed between the operation portion 51 and the case 13. As a result, the spring member 33 urges the operating portion 51 upward (in the Z1 direction shown in FIG. 4). Therefore, for example, the operating unit 51 is operated (pressed) downward (in the Z2 direction shown in FIG. 4) by the operator, and the operating body 11 and the operating unit 51 are slid downward from the initial state and then pressed. When the operation is stopped, the operation body 11 and the operation unit 51 can be automatically returned to the initial state by the spring member 33.

The shaft support portion 53 of the support body 3 has a ring shape having a hole in the central portion (see FIG. 2), and as shown in FIG. 4, the movable shaft 11j of the operating body 11 is inserted through the case. It is arranged inside the upper plate portion 13B of 13. Further, the shaft support portion 53 is housed in an opening 15k provided in the central portion of the first yoke 15 of the magnetic generation mechanism FM5 described later. The shaft support portion 53 abuts on the upper surface side of the engaging portion 11r of the operating body 11 to prevent the operating body 11 from coming off the case 13. Further, the shaft support portion 53 abuts on the inner wall of the opening 15k of the first yoke 15 to position the first yoke 15 with respect to the shaft center AC. The shaft support portion 53 is made by die-casting a non-ferrous metal such as zinc (Zn).

Next, the movable load applying mechanism F5 of the operating device 100 will be described. 6A and 6B are views for explaining the movable load applying mechanism F5, FIG. 6A is an upward perspective view of the movable load applying mechanism F5, and FIG. 6B is shown in FIG. 6A. It is a bottom view of the movable load applying mechanism F5 seen from the Z2 side.

As shown in FIG. 4, the movable load applying mechanism F5 has a movable member 55 that operates by engaging with a movable shaft 11j (engagement portion 11r), and a magnetic generation mechanism FM5 that faces the movable member 55 with a gap of 5 g. And the magnetic viscous fluid 75 existing in the gap 5g. Further, the magnetic generation mechanism FM5 of the movable load applying mechanism F5 has a cylindrical shape as shown in FIG. 6A, and as shown in FIGS. 4 and 6B, the coil 35 that generates a magnetic field by energization , Operation control for controlling energization of the first yoke 15 provided so as to surround the coil 35 and the second yoke 25 facing each other with the second gap 5 gb, which is a gap of 5 g between the movable member 55, and the coil 35. It is configured to have a part (not shown) and a part (not shown). Then, the movable load applying mechanism F5 receives a rotation operation by the operator and applies a load from the movable load applying mechanism F5 to the operating body 11, thereby applying a load to the operating unit 51 of the operating member 1 to the operator. It is configured to grant.

First, the magnetic generation mechanism FM5 of the movable load applying mechanism F5 will be described. 7A and 7B are views for explaining the magnetic generation mechanism FM5, and FIG. 7A is an upward perspective view in which the upper yoke 15A of the first yoke 15 shown in FIG. 6A is omitted. b) is a downward perspective view in which the lower yoke 15C of the first yoke 15 shown in FIG. 6A is omitted. 8A and 8B are views for explaining the magnetic generation mechanism FM5, FIG. 8A is a top view of FIG. 7A as viewed from the Z1 side, and FIG. 8B is FIG. 7B. ) Is a bottom view seen from the Z2 side. 9A and 9B are views for explaining the magnetic generation mechanism FM5, and FIG. 9A is a downward perspective view of the upper yoke 15A of the first yoke 15 shown in FIG. 6A as viewed from the Z2 side. FIG. 9B is an upward perspective view of the lower yoke 15C of the first yoke 15 shown in FIG. 6A as viewed from the Z1 side.

The coil 35 of the magnetic generation mechanism FM5 is formed by winding a metal wire in an annular shape, and as shown in FIGS. 7 and 8, in a virtual cross section (virtual cross section) in which the axis center AC vertically penetrates (virtual cross section). (See FIG. 8), the coil 35 is arranged outside the movable member 55. Further, the coil 35 is formed in a circular ring shape so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section. Then, by energizing the coil 35, a magnetic field is generated around the coil 35. The coil 35 has a shape in which a metal wire is wound and bundled, but in FIGS. 2, 7, and 8, it is shown with a flat surface for simplification.

Next, as shown in FIG. 4, the first yoke 15 of the magnetic generation mechanism FM5 is provided so as to surround the coil 35, and the upper yoke 15A covering the upper side (Z1 side shown in FIG. 4) of the coil 35 and the coil. It is configured to have a lower yoke 15C that covers the lower side (Z2 side shown in FIG. 4) of 35. Although not shown in detail, the upper yoke 15A is fixed to the case 13, and the lower yoke 15C is fixed to the fixing member 6 (cover 36 described later).

Further, as shown in FIG. 8, in the first yoke 15, the first yoke 15 is arranged outside the movable member 55 in a virtual cross section through which the axis center AC vertically penetrates, similarly to the coil 35. Then, the magnetic flux generated from the coil 35 is confined by the first yoke 15, and the magnetic field efficiently acts on the movable member 55 side.

Further, as shown in FIG. 9, the first yoke 15 (upper yoke 15A and lower yoke 15C) is formed in a box shape having a circular outer shape, and is continuous with the cylindrical outer wall 15e and the outer wall 15e. The upper wall 15a (upper yoke 15A) or the bottom wall 15c (lower yoke 15C), the opening 15k provided in the central portion of the upper wall 15a or the bottom wall 15c, and the opening 15k were continuously extended. It is configured to have a cylindrical inner side wall 15f. Further, as shown in FIG. 8, the first yoke 15 (upper yoke 15A and lower yoke 15C) is formed so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section.

Further, the upper yoke 15A and the lower yoke 15C are overlapped to form a cylindrical first yoke 15 as shown in FIG. 6A. At that time, the two fixing pins RP4 shown in FIG. 2 are inserted into the engaging holes 15h provided in the outer walls 15e of the upper yoke 15A and the lower yoke 15C (see FIG. 7), and the upper yoke is inserted. The yoke 15A and the lower yoke 15C are engaged and positioned (see FIG. 4).

Then, in the cylindrical shape of the first yoke 15, the movable member 55 is accommodated in the cylindrical accommodation space formed by the opening 15k and the inner surface of the inner side wall 15f (the surface on the AC side of the axis center). 6 and 7). Further, as shown in FIG. 4, the annular coil 35 is accommodated in the ring-shaped accommodating space between the outer wall 15e and the inner side wall 15f of the first yoke 15.

Further, as shown in FIGS. 4 and 5, the first yoke 15 is arranged on one side (outside) of the movable member 55, and the inner side wall 15f of the upper yoke 15A and the lower yoke 15C is connected to the movable member 55. They face each other with a first gap of 5 ga, which is a gap of 5 g, sandwiched between them.

Further, as shown in FIGS. 4 and 5, the first yoke 15 has the upper yoke 15A and the lower yoke 15C on the side facing the outer peripheral surface 55p of the movable member 55, that is, on the inner side wall 15f side of the first yoke 15. It has a slit (yoke slit) formed by the above, and the side of the first yoke 15 facing the movable member 55 is divided. Here, the portion of the upper yoke 15A facing the movable member 55 is designated as the first facing portion TA5 of the first yoke 15, and the portion of the lower yoke 15C facing the movable member 55 is referred to as the second facing portion TC5. It is said. As shown in FIG. 4, the first facing portion TA5 and the second facing portion TC5 are arranged in the pressing direction (Z direction shown in FIG. 4) along the movable shaft 11j.

Further, as shown in FIGS. 4 and 5, the width of the slit (yoke slit) between the first facing portion TA5 and the second facing portion TC5 is 5 g (the first gap between the first yoke 15 and the movable member 55). It is narrower than 1 gap 5ga). As a result, a magnetic field is generated by energizing the coil 35, and for example, a magnetic path is surely formed from the first facing portion TA5 of the first yoke 15 to the movable member 55 side, and the first yoke 15 is formed from the movable member 55 side. A magnetic path is surely formed over the second facing portion TC5 of the above.

Further, in the first embodiment of the present invention, as shown in FIGS. 4 and 5, a ring-shaped slit spacer S57 (see FIG. 2) is housed in the slit (yoke slit) portion of the first yoke 15. Has been done. The slit spacer S57 is formed by using a synthetic resin such as polybutylene terephthalate resin (PBT), and has a first facing portion TA5 and a first yoke 15 (lower yoke 15C) of the first yoke 15 (upper yoke 15A). The second opposed portion TC5 of the above is also divided in the magnetic circuit. In the first embodiment of the present invention, the first yoke 15 is composed of two parts, an upper yoke 15A and a lower yoke 15C, but is not limited to this, and is composed of three or more parts. You may be.

Next, the second yoke 25 of the magnetic generation mechanism FM5 is formed in a cylindrical shape as shown in FIG. 2, and as shown in FIGS. 4, 5, 6 (b) and 7 (b), The inner circumference of the movable member 55 is arranged on the other side (inside) of the movable member 55, that is, on the inner peripheral surface 55q side of the cylindrical shape of the movable member 55, with a second gap of 5 gb which is a gap of 5 g with the movable member 55. It faces the surface 55q. As a result, the magnetic flux generated from the coil 35 is surely penetrated from the first facing portion TA5 of the first yoke 15 to the second yoke 25 and from the second yoke 25 to the second facing portion TC5 of the first yoke 15. .. Therefore, the direction perpendicular to each of the rotation direction (direction crossing the XY plane shown in FIG. 6B) and pressing direction (Z direction shown in FIG. 4) in which the movable member 55 operates, that is, the virtual cross-sectional direction (the virtual cross-sectional direction). A magnetic path is surely formed in the direction along the X plane shown in FIG.

Further, as shown in FIGS. 6 (b), 7 (b) and 8 (b), an engaging hole 25k opened downward is provided in the central portion of the second yoke 25, which will be described later. The engaging shaft 16j of the fixed body 16 of the fixing member 6 is inserted (see FIG. 4).

Next, the operation control unit of the magnetic generation mechanism FM5 uses an integrated circuit (IC, integrated circuit) to control the amount of energization to the coil 35, the timing of energization, and the like. Specifically, for example, when a pressing operation is performed by the operation of the operator, the operation control unit receives a detection signal from the slide detecting means for detecting the slide operation of the operating body 11, and the operation control unit is constant in the coil 35. A large amount of current is passed, or the amount of current is changed according to the operation position of the operating body 11.

Further, the operation control unit is mounted on a circuit board (not shown) and is electrically connected to the coil 35. The operation control unit and the circuit board are preferably arranged in the vicinity of the magnetic generation mechanism FM5, but the present invention is not limited to this. For example, the operation control unit may be connected to the coil 35 by a flexible printed circuit board (FPC, Flexible printed circuits) or the like, and may be mounted on the mother board (motherboard) of the product to be applied.

Next, the movable member 55 of the movable load applying mechanism F5 will be described. The movable member 55 is formed of a soft magnetic material such as iron, and is formed in a cylindrical shape centered on the axis center AC as shown in FIG. Then, as shown in FIG. 4, the upper end portion of the movable member 55 is engaged with the engaging portion 11r of the operating body 11 and integrated with the movable shaft 11j of the operating body 11. As a result, the movable member 55 rotates and moves in both directions as the operating body 11 rotates in both directions, and the movable member 55 slides and moves in the pressing direction as the operating body 11 slides in the pressing direction. Will be done.

Further, when the operating device 100 is assembled, as shown in FIG. 4, the movable member 55 is arranged in the inner accommodation space of the cylindrical first yoke 15 as described above, and the movable member 55 is arranged. The outer peripheral surface 55p of the first yoke 15 faces the inner side wall 15f (first facing portion TA5 and second facing portion TC5) of the first yoke 15. At that time, as shown in FIG. 8, the first yoke 15 and the coil 35 are arranged outside the movable member 55 with the axis center AC as the center, and the movable member 55 and the first yoke 15 are arranged. It has an arc shape and forms a first gap of 5 ga. In the first embodiment of the present invention, the inner side wall 15f of the first yoke 15 is formed in a cylindrical shape centered on the shaft center AC, and the movable member 55 is formed in a cylindrical shape centered on the shaft center AC. Therefore, a first gap of 5 ga facing each other in an arc shape is formed over the entire circumference, but the present invention is not limited to this, and at least a part of the movable member 55 and the first yoke 15 has an arc shape and is the first. A gap of 5 ga may be formed.

Further, as shown in FIG. 8, the movable member 55 is formed so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section. As a result, since the movable member 55, the first yoke 15, and the coil 35 are formed so as to be rotationally symmetric, it is possible to form a magnetic path in which the magnetic flux density is not biased with respect to the first gap of 5 ga, and the magnetic generation mechanism FM5. The magnetic field generated by is able to act efficiently.

Further, as described above, the second yoke 25 is arranged inside the cylindrical movable member 55, and the inner peripheral surface 55q thereof faces the outer periphery of the second yoke 25. As a result, the magnetic flux generated from the coil 35 is transferred from the first facing portion TA5 of the first yoke 15 to the movable member 55, from the movable member 55 to the second yoke 25, from the second yoke 25 to the movable member 55, and to the movable member 55. To the second facing portion TC5 of the first yoke 15, the penetration is surely performed. Therefore, the magnetic path is surely formed in the direction (virtual cross-sectional direction) perpendicular to the operating direction (rotational direction or pressing direction) of the movable member 55.

Moreover, in the first embodiment of the present invention, since the movable member 55 is made of a soft magnetic material, the movable member 55 is transferred from the first facing portion TA5 of the first yoke 15 to the second yoke 25 via the movable member 55, and from the second yoke 25. A magnetic path is surely formed from the movable member 55 to the second facing portion TC5 of the first yoke 15. Since the second yoke 25 is formed in a cylindrical shape centered on the shaft center AC and the movable member 55 is formed in a cylindrical shape centered on the shaft center AC, the second yoke 25 and the movable member 55 are also formed. , A second gap of 5 gb is formed so as to face each other in an arc shape over the entire circumference.

Further, in the first embodiment of the present invention, as shown in FIG. 8, the second yoke 25 is also formed so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section. As a result, the first yoke 15, the coil 35, the movable member 55, and the second yoke 25 are formed so as to be rotationally symmetric, so that a magnetic path having no bias in the magnetic flux density can be formed with respect to the second gap of 5 gb. , The magnetic field generated by the magnetic generation mechanism FM5 can be efficiently applied.

Next, the magnetic viscous fluid 75 of the movable load applying mechanism F5 will be described. 10A and 10B are schematic views illustrating the ferrofluid 75, FIG. 10A is a diagram of the ferrofluid 75 in a state where a magnetic field is not applied, and FIG. 10B is a diagram in which the magnetic field is applied. It is a figure of the magnetic viscous fluid 75 in the applied state. In FIG. 10B, the flow of the magnetic field (magnetic flux) is shown by a chain double-dashed line for the sake of clarity.

As shown in FIG. 10A, the ferrofluid 75 is a substance in which fine magnetic particles JR having magnetism such as iron and ferrite are dispersed in a solute SV such as an organic solvent, and is generally used. It is called MR fluid (Magneto Rheological Fluid). The magnetic viscous fluid 75 has a characteristic that the viscosity changes according to the strength of the magnetic field, and is distinguished from a similar magnetic fluid (Magnetic Fluid). The major difference between the two forms is the particle size of the powder. The MR fluid has a particle size of about 1 μm to 1 mm, the magnetic fluid has a particle size of about 10 nm to 1 μm, and the MR fluid has a particle size larger than that of the magnetic fluid. It is about 100 to 1000 times larger.

Here, "the viscosity changes according to the strength of the magnetic field" in the ferrofluid fluid 75 will be briefly described. First, when a magnetic field is not applied to the ferrofluid 75, as shown in FIG. 10A, the magnetic particles JR are irregularly dispersed in the solute SV. At this time, for example, when the movable member 55 operates (slides in the Z direction perpendicular to the X direction shown in FIG. 10A), the movable member 55 easily operates while receiving a relatively low resistance force. ..

Next, when a current is passed through the coil 35 of the magnetic generation mechanism FM5 to generate a magnetic field, as shown in FIG. 10 (b), along the magnetic field acting on the ferrofluid 75 (FIG. 10 (b)). Then, along the X direction), the magnetic particles JR become linearly and regularly aligned. The degree of this regularity changes according to the strength of the magnetic field. That is, the stronger the magnetic field acting on the ferrofluid 75, the stronger the degree of regularity. Then, a stronger shearing force acts in the direction of breaking the regularity of the magnetic particles JR aligned linearly, and as a result, the viscosity in this direction becomes stronger. In particular, the highest shearing force acts in the direction orthogonal to the applied magnetic field (in the Z direction orthogonal to the X direction in FIG. 10B).

Then, when the movable member 55 operates in such an energized state (state shown in FIG. 10B), a resistance force is generated against the movable member 55, and the operating body 11 engaged with the movable member 55 is subjected to this. Resistance (load) will be transmitted. As a result, the movable load applying mechanism F5 can apply a load for a movable operation (rotation operation, slide operation, etc.) to the operator. At that time, since the operation control unit controls the amount of energization to the coil 35, the timing of energization, and the like, it is possible to freely apply an arbitrary load to the operator at an arbitrary timing.

FIG. 11 shows the result of verifying that "the resistance (load) becomes stronger according to the strength of the magnetic field". FIG. 11 is a graph showing an example of the relationship between the current flowing through the coil 35 of the magnetic generation mechanism FM5 and the torque applied to the operating body 11. The horizontal axis is the current (A) and the vertical axis is the torque (Nm). This torque corresponds to the resistance force (load) applied to the operating body 11. As shown in FIG. 11, when the current flowing through the coil 35 of the magnetic generation mechanism FM5 is increased, the magnetic field generated accordingly becomes stronger, and the torque, that is, the resistance force (resistive force) applied to the operating body 11 is increased according to the strength of the magnetic field. Load) will increase.

In the first embodiment of the present invention, the ferrofluid 75 having the above-mentioned characteristics is preferably used. That is, as shown in FIGS. 4 and 5, the ferrofluid 75 is arranged in the first gap 5ga, which is the gap 5g between the first yoke 15 and the movable member 55, and in particular, as shown in FIG. The first gap 5 ga between the first facing portion TA5 and the second facing portion TC5 of the yoke 15 and the movable member 55 is filled. As a result, in the direction (rotation direction or pressing direction) across the magnetic flux formed from the first yoke 15 (first facing portion TA5) to the movable member 55 and from the movable member 55 to the first yoke 15 (second facing portion TC5). A load is applied to the operating movable member 55 by the ferrofluid fluid 75. As a result, a load is applied to the operating body 11 via the movable member 55 and the movable shaft 11j. Therefore, it is possible to provide an operation device 100 that can obtain a good operation feel.

Moreover, in the first embodiment of the present invention, in the initial state, the area of the first facing surface facing the magnetic viscous fluid 75 in the first facing portion TA5 shown in FIG. 4 and the magnetic viscous fluid 75 in the second facing portion TC5 face. The area of the second facing surface is the same. As a result, the magnetic flux densities become the same at the inlet and outlet of the magnetic flux, and the magnetic flux generated from the coil 35 can be efficiently applied to the control of the viscosity of the ferrofluid 75. As a result, a load (rotational load) can be evenly applied to the rotating movable member 55, and a better operation feel can be given to the operator.

Further, in the first embodiment of the present invention, as shown in FIGS. 4 and 5, the magnetic viscous fluid 75 is also filled in the second gap 5 gb, which is the gap 5 g between the movable member 55 and the second yoke 25. .. The magnetic viscous fluid 75 filled therein is also transferred from the first yoke 15 (first facing portion TA5) to the second yoke 25 via the movable member 55, and from the second yoke 25 to the first yoke via the movable member 55. The magnetic flux formed over 15 (second facing portion TC5) acts on it. Therefore, the magnetic particles JR can be aligned in the direction (virtual cross-sectional direction) perpendicular to the operating direction (rotation direction or pressing direction) of the movable member 55, and a stronger load can be applied. As a result, a further load can be applied, and even if the magnetic field is the same, a larger operation feeling can be given to the operator.

Finally, the fixing member 6 of the operating device 100 will be described. As shown in FIG. 2, the fixing member 6 has a fixing body 16 for fixing the second yoke 25 of the magnetic generation mechanism FM5 and a through hole 36k in the central portion on the side facing the upper plate portion 13B of the case 13. It is configured to include a cover 36 that covers the opening and a locking body 56 that engages with the fixed body 16 with the cover 36 interposed therebetween.

First, the fixing body 16 of the fixing member 6 is made of a metal material such as iron, and as shown in FIG. 2, the engaging shaft 16j inserted into the engaging hole 25k of the second yoke 25 and the through hole of the cover 36. It is mainly composed of a locked portion 16n which is inserted through 36k and engages with the locking body 56, and a flange portion 16v provided between the engaging shaft 16j and the locked portion 16n. Although not shown in detail, male threads are cut on the engaging shaft 16j and the locked portion 16n.

Then, the second yoke 25 is engaged (screwed) with the engaging shaft 16j, and the cover 36 is sandwiched and fixed between the flange portion 16v and the locking body 56 (nut in the first embodiment of the present invention). The body 16 is fixed to the cover 36. As a result, the second yoke 25 of the magnetic generation mechanism FM5 is fixed to the fixing member 6 (cover 36).

Next, the cover 36 of the fixing member 6 is manufactured by injection molding into a disk shape as shown in FIG. 2 using a synthetic resin such as polybutylene terephthalate resin (PBT) as in the case 13 of the support 3. Has been done. Further, as described above, the central portion of the cover 36 has a through hole 36k through which the locked portion 16n is inserted. Further, it has four holes at the outer peripheral end of the disk shape and two holes in the vicinity of the peripheral edge of the through hole 36k.

Although not shown in detail, the cover 36 is fixed to the case 13 by being screwed to the case 13 using four holes, and the lower yoke 15C of the first yoke 15 is used using the two holes. Is fixed.

Next, the locking body 56 of the fixing member 6 uses a so-called nut, and is screwed to the locked portion 16n of the fixing body 16.

The operating device 100 of the first embodiment of the present invention configured as described above has conventionally been used as a method of applying an external force (force sense) such as a resistance force or a thrust according to the operating amount and operating direction of the operating member 1. Since the motor 810 is not used as in Example 1, the size can be reduced and the power consumption can be reduced.

Finally, the effects of the operating device 100 according to the first embodiment of the present invention will be summarized below.

In the initial state in which the operating device 100 of the first embodiment of the present invention is not operated, in a virtual cross section in which the axis center AC of the movable shaft 11j of the operating body 11 vertically penetrates, the movable shaft 11j is centered on the movable shaft 11j. It is provided with a first yoke 15 that faces the engaged movable member 55 with a first gap of 5 g, which is a gap of 5 g between the movable member 55, and a coil 35 that generates a magnetic field by energization, and is more than the movable member 55. The first yoke 15 and the coil 35 are arranged on the outside, and at least a part of the movable member 55 and the first yoke 15 has an arc shape to form a first gap of 5 ga. As a result, a magnetic field is generated by energizing the coil 35, a magnetic path is formed from the first yoke 15 toward the movable member 55 side, and the magnetic particles JR in the ferrofluid 75 are formed along the magnetic flux in the virtual cross-sectional direction. It will be aligned. Therefore, the direction across the magnetic flux formed between the first yoke 15 and the movable member 55, and the movable member 55 and the first yoke 15, for example, the rotational direction around the axial center AC of the movable shaft 11j and along the axial center AC. The magnetic viscous fluid 75 puts a load on the movable member 55 that operates in the pressing direction or the like. As a result, a load is applied to the operating body 11 via the movable member 55 and the movable shaft 11j, and a good operation feeling can be given to the operator for operations such as rotation operation and pressing operation. it can.

Further, in the virtual cross section, the movable member 55, the first yoke 15, and the coil 35 are formed so as to be rotationally symmetric with respect to the axial center AC, so that the magnetic flux density is biased with respect to the magnetic viscous fluid 75. It is possible to form a magnetic path that does not exist, and the magnetic field generated by the magnetic generation mechanism FM5 can be efficiently applied to the control of viscosity. As a result, the load can be applied evenly and efficiently to the movable member 55, and a better operation feel can be given to the operator.

Further, since the movable member 55 is made of a soft magnetic material, a magnetic path is surely formed from the first yoke 15 to the movable member 55 from the movable member 55 to the first yoke 15, and the magnetic particles JR in the magnetic viscous fluid 75 are formed. The first yoke 15 and the movable member 55 are aligned in the direction of facing surfaces facing each other. Therefore, a stronger load is applied to the movable member 55 that operates in the direction (rotational operation and sliding operation) across the facing surface direction in which the magnetic particles JR are aligned. As a result, a stronger load is applied to the operating body 11 via the movable member 55 and the movable shaft 11j, and a better operating feel can be given to the operator.

Further, since the first facing portion TA5 and the second facing portion TC5 of the first yoke 15 are arranged in the pressing direction along the movable shaft 11j and face the outer peripheral surface 55p of the cylindrical movable member 55, the first A magnetic path is surely formed from the first facing portion TA5 of the yoke 15 to the movable member 55 side, and a magnetic path is surely formed from the movable member 55 side to the second facing portion TC5 of the first yoke 15. Therefore, the magnetic particles JR in the magnetic viscous fluid 75 are aligned along the magnetic flux in the virtual cross-sectional direction. Therefore, a stronger load can be reliably and strongly applied to the movable member 55 that operates in a direction (rotational direction or pressing direction) that intersects (substantially orthogonally) with respect to the virtual cross-sectional direction. As a result, it is possible to give the operator a better feeling of operation with respect to the rotation operation and the pressing operation.

Further, since the magnetic viscous fluid 75 is filled in the second gap 5 gb between the second yoke 25 of the magnetic generation mechanism FM5 and the inner peripheral surface 55q of the movable member 55, a rotating operation and a sliding operation (pressing) in a direction crossing the magnetic flux. A further load (rotational load or pressing load) can be applied to the movable member 55 (moving in the direction). As a result, even if the magnetic field is the same, a larger operation feeling can be given to the operator.

Further, since the area of the first facing surface of the first facing portion TA5 and the area of the second facing surface of the second facing portion TC5 are the same, the magnetic flux densities are the same at the inlet and outlet of the magnetic flux, and the coil 35 The magnetic flux generated from the magnetic flux can be efficiently applied to the control of the viscosity of the ferrofluid fluid 75. As a result, a load (rotational load) can be evenly applied to the movable member 55 that operates in rotation, and a better operation feel can be given to the operator.

[Second Embodiment]
FIG. 12 is an upward perspective view of the operating device 200 according to the second embodiment of the present invention. 13 (a) is a top view of the operating device 200 seen from the Z1 side shown in FIG. 12, and FIG. 13 (b) is a front view of the operating device 200 seen from the Y2 side shown in FIG. In FIG. 13, the operation unit 51 shown in FIG. 12 is omitted in order to make the explanation easier to understand. FIG. 14 is a cross-sectional view of the operating device 200 on the XIV-XIV line shown in FIG. 13 (a). Further, the operation device 200 of the second embodiment mainly differs from the first embodiment in the configurations of the first yoke 215 and the movable member 255. The same configurations as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The operating device 200 of the second embodiment of the present invention has an appearance as shown in FIGS. 12 and 13, and has an operating body 11 that operates in the operating direction by the operation of the operator as shown in FIG. It is mainly composed of an operating member 1, a support S3 that freely supports the movement of the operating body 11, and a movable load applying mechanism F25 that applies a load to the operating body 11. Further, as shown in FIG. 14, the movable load applying mechanism F25 includes a movable member 255 that operates in engagement with the operating body 11, a magnetic generating mechanism FN5 that faces the movable member 255 with a gap of 5 g, and the gap. It is configured to include a ferrofluid 75 present in 5 g.

Further, in the operation device 200 of the second embodiment, in addition to the above-mentioned components, as shown in FIG. 14, a fixing member 6 for fixing the magnetic generation mechanism FN5 and a spacer arranged on the lower side of the movable member 255. It has S77 and. Then, in the operation device 200, the operation unit 51 (operation knob) of the operation member 1 is engaged with one end side of the operation body 11, the operation unit 51 is gripped and operated by the operator, and the operation body 11 is operated in all directions. It is designed to tilt to.

First, the operation member 1 of the operation device 200 will be briefly described. As shown in FIG. 12, the operation member 1 has an operation unit 51 gripped by the operator and an operation body 11 that tilts in response to the tilt operation of the operator. The operating body 11 of the operating member 1 has a movable shaft 11j centered on the axis center AC which is a cylindrical shape and is the center of rotation, and the operating portion 51 is engaged with one end side of the movable shaft 11j. At the same time, the movable member 255 of the movable load applying mechanism F25 is engaged with the other end side of the movable shaft 11j.

Next, the support S3 of the operating device 200 will be briefly described. As shown in FIG. 14, the support body S3 is arranged between the shaft support portion 253 engaged with the movable shaft 11j, the movable member 255, and the magnetic generation mechanism FN5 (first yoke 215 described later). It is mainly composed of a ring body 63 and the like. Then, the support body S3 supports the operation member 1 so that the operation body 11 can be moved (tilted) freely.

The shaft support portion 253 of the support body S3 uses a rubber material capable of elastic deformation, and one end side is engaged so as to surround the movable shaft 11j of the operating body 11, and the other end side is the magnetic generation mechanism FN5. It is engaged with (the first yoke 215 described later). The shaft support portion 253 has an intermediate portion formed in a sheet shape, supports the operating body 11 (movable shaft 11j), and enables the operating body 11 to tilt in all directions.

The ring body 63 of the support S3 is manufactured by injection molding into a ring shape using a synthetic resin such as polyoxymethylene (POM). As shown in FIG. 14, one ring body 63 is arranged on the upper side and one on the lower side of the movable member 255. The ring body 63 rotatably supports the movable member 255, and thus supports the tilting operation of the operating body 11 in all directions. The ring body 63 mounted here also has a function of closing both ends of the gap 5 g between the movable member 255 and the magnetic generation mechanism FN5, and the magnetic viscous fluid 75 filled in the gap 5 g leaks. It is prevented from being put out.

Next, the movable load applying mechanism F25 of the operating device 200 will be described. As described above, the movable load applying mechanism F25 includes a movable member 255 that operates in engagement with the movable shaft 11j, and a magnetic generating mechanism FN5 that faces the movable member 255 with a gap of 5 g. , The magnetic viscous fluid 75 existing in the gap 5 g, and the like. Further, the magnetic generation mechanism FN5 of the movable load applying mechanism F25 is an operation control unit that controls energization of the coil 235 that generates a magnetic field by energization, the first yoke 215 provided so as to surround the coil 235, and the coil 235. (Not shown) and. Then, the movable load applying mechanism F25 receives the tilting operation by the operator and applies a load (tilting load) from the movable load applying mechanism F25 to the operating body 11, so that the operating unit of the operating member 1 is given to the operator. It is configured to give a load to 51.

First, the magnetic generation mechanism FN5 of the movable load applying mechanism F25 will be described. The coil 235 of the magnetic generation mechanism FN5 is formed by winding a metal wire in an annular shape, and is a movable member in a virtual cross section (virtual cross section) through which the axis center AC vertically penetrates, as in the first embodiment. The coil 235 is arranged outside the 255. Further, the coil 235 is formed in a circular ring shape so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section. Then, by energizing the coil 235, a magnetic field is generated around the coil 235.

Next, as shown in FIG. 14, the first yoke 215 of the magnetic generation mechanism FN5 is provided so as to surround the coil 235, and the upper yoke 15E covering the upper side (Z1 side shown in FIG. 14) of the coil 235 and the coil. It is configured to have a lower yoke 15F that covers the lower side (Z2 side shown in FIG. 14) of 235. Although not shown in detail, the upper yoke 15E is fixed to the fixing member 6 (the housing 76 described later), and the lower yoke 15F is fixed to the fixing member 6 (the lid body 96 described later). There is.

Further, the first yoke 215 is arranged outside the movable member 255 in a virtual cross section through which the axis center AC vertically penetrates, as in the first embodiment. Further, the first yoke 215 (upper yoke 15E and lower yoke 15F) is formed so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section. Then, the magnetic flux generated from the coil 235 is confined by the first yoke 215, and the magnetic field efficiently acts on the movable member 255 side.

Further, the upper yoke 15E and the lower yoke 15F are overlapped with each other to form a cylindrical first yoke 215 as in the first embodiment. At that time, the upper yoke 15E and the lower yoke 15F are engaged with two pins (not shown) and positioned. As shown in FIG. 14, each of the upper yoke 15E and the lower yoke 15F of the first yoke 215 has a concave inner portion facing the movable member 255, and is inside the center of the first yoke 215. The movable member 255 is housed in the spherical storage space formed in the above. An annular coil 235 is accommodated in the ring-shaped accommodating space formed inside the outer portion of the first yoke 215.

Further, as shown in FIG. 14, the first yoke 215 is arranged on one side (outside) of the movable member 255, and the inside of the upper yoke 15E and the lower yoke 15F has a gap of 5 g from the movable member 255. They face each other with 3 gaps of 5 gc in between. Here, the portion of the upper yoke 15E facing the movable member 255 is designated as the third facing portion TE5 of the first yoke 215, and the portion of the lower yoke 15F facing the movable member 255 is referred to as the fourth facing portion TF5. It is said. As shown in FIG. 14, the third facing portion TE5 and the fourth facing portion TF5 are arranged in a direction along the axis center AC (Z direction shown in FIG. 14).

Further, as shown in FIG. 14, the width of the slit (yoke slit) between the third facing portion TE5 and the fourth facing portion TF5 is 5 g (third gap 5 gc) between the first yoke 215 and the movable member 255. ) It is narrower. As a result, a magnetic field is generated by energizing the coil 235, and for example, a magnetic path is surely formed from the third facing portion TE5 of the first yoke 215 to the movable member 255 side, and the first yoke 215 is formed from the movable member 255 side. A magnetic path is surely formed over the fourth facing portion TF5. In the second embodiment of the present invention, the first yoke 215 is composed of two parts, an upper yoke 15E and a lower yoke 15F, but is not limited to this, and is composed of three or more parts. You may be.

Next, the movable member 255 of the movable load applying mechanism F25 will be described. The movable member 255 is formed of a soft magnetic material such as iron, and is formed in a spherical shape having a sphere center SC on the axis center AC. Then, as shown in FIG. 14, the upper end portion of the movable member 255 is engaged with and integrated with the movable shaft 11j of the operating body 11. As a result, the movable member 255 rotates about the sphere center SC in all directions as the operating body 11 tilts in all directions. It should be noted that the reason why the operating body 11 can be tilted around the ball center SC of the movable member 255 is due to the support of the movable member 255 by the two ring bodies 63 described above.

Further, when the operating device 200 is assembled, as shown in FIG. 14, the movable member 255 is arranged in the spherical accommodation space formed inside the center of the first yoke 215 as described above. Then, the outer peripheral surface 255p of the movable member 255 faces the third facing portion TE5 and the fourth facing portion TF5 of the first yoke 215. At that time, as shown in FIG. 14, the first yoke 215 and the coil 235 are arranged outside the movable member 255 with the ball center SC of the movable member 255 as the center, and the first yoke 215 and the first yoke 215 and the coil 235 are arranged outside. A part of the movable member 255 has an arc shape and forms a third gap of 5 gc. The third gap 5 gc is filled with the ferrofluid 75 of the movable load applying mechanism F25.

Further, the movable member 255 is formed so as to be rotationally symmetric with respect to the axis center AC in the virtual cross section. As a result, the movable member 255, the first yoke 215, and the coil 235 are formed so as to be rotationally symmetric, so that a magnetic path with no bias in the magnetic flux density can be formed with respect to the third gap of 5 gc, and the magnetic generation mechanism FN5. The magnetic field generated by the magnetic flux can be efficiently acted on the ferrofluid 75. As a result, the viscosity can be efficiently controlled, and a load can be efficiently applied to the movable member 255.

Moreover, in the second embodiment of the present invention, since the movable member 255 is made of a soft magnetic material, the third facing portion TE5 of the first yoke 215 is connected to the movable member 255, and the movable member 255 to the fourth facing portion of the first yoke 215 are opposed to each other. A magnetic path is surely formed over the portion TF5. Therefore, a stronger load (rotational load) is applied to the movable member 255 that operates (rotationally) in the direction across the facing surface direction in which the magnetic particles JR in the magnetic viscous fluid 75 are aligned.

Next, the magnetic viscous fluid 75 of the movable load applying mechanism F25 will be described. Similar to the first embodiment, the ferrofluid 75 is a substance in which fine magnetic particles JR having magnetism such as iron and ferrite are dispersed in a solute SV such as an organic solvent (see FIG. 10). , Generally referred to as MR fluid (Magneto Rheological Fluid). The magnetic viscous fluid 75 has a characteristic that the viscosity changes according to the strength of the magnetic field, and is distinguished from a similar magnetic fluid (Magnetic Fluid).

Also in the second embodiment of the present invention, the ferrofluid 75 having the characteristics described in the first embodiment is preferably used. That is, as shown in FIG. 14, the operating device 200 is filled with the ferrofluid 75 arranged in a third gap of 5 gc, which is a gap of 5 g between the first yoke 215 and the movable member 255. As a result, the movable member operates in the direction (rotational direction) across the magnetic flux formed between the first yoke 215 (third facing portion TE5) and the movable member 255, and the movable member 255 and the first yoke 215 (fourth facing portion TF5). A load is applied to the member 255 by the ferrofluid fluid 75. As a result, a swing load is applied to the operating body 11 via the movable member 255 and the movable shaft 11j. Therefore, it is possible to provide an operation device 200 that can obtain a good operation feeling.

Moreover, in the second embodiment of the present invention, in the initial state, the area of the first facing surface facing the magnetic viscous fluid 75 in the third facing portion TE5 shown in FIG. 14 and the magnetic viscous fluid 75 facing the magnetic viscous fluid 75 in the fourth facing portion TF5. The area of the second facing surface is the same. As a result, the magnetic flux densities become the same at the inlet and outlet of the magnetic flux, and the magnetic flux generated from the coil 235 can be efficiently applied to the control of the viscosity of the ferrofluid 75. As a result, a load (rotational load) can be evenly applied to the rotating movable member 255, and a better operation feel can be given to the operator.

Finally, the fixing member 6 of the operating device 200 will be described. As shown in FIG. 12, the fixing member 6 has a housing 76 having a through hole 76k through which the movable shaft 11j of the operating body 11 is inserted, and one side (lower side, Z2 direction side shown in FIG. 12) of the housing 76. ) Is provided with a lid 96 that covers the opening. Then, as described above, the housing 76 of the fixing member 6 fixes the upper yoke 15E of the magnetic generating mechanism FN5 (first yoke 215), and the lid 96 of the fixing member 6 fixes the magnetic generating mechanism FN5 (first yoke 215). The lower yoke 15F of 1 yoke 215) is fixed.

Similar to the operating member 1, the housing 76 of the fixing member 6 is manufactured by injection molding into a substantially cubic box shape using a synthetic resin such as polybutylene terephthalate resin (PBT) as shown in FIG. There is. Further, as described above, the top plate portion of the housing 76 is provided with a through hole 76k through which the movable shaft 11j of the operating body 11 is inserted.

Next, the lid 96 of the fixing member 6 is injection-molded into a plate-shaped rectangular shape as shown in FIG. 12 using a synthetic resin such as polybutylene terephthalate resin (PBT) as in the housing 76. It has been made. Although not shown in detail, the lid 96 is screwed and fixed to the housing 76.

The operating device 200 of the second embodiment of the present invention configured as described above has conventionally been used as a method of applying an external force (force sense) such as a resistance force or a thrust according to the operating amount and operating direction of the operating member 1. Since the motor 810 is not used as in Example 1, the size can be reduced and the power consumption can be reduced.

Finally, the effects of the operating device 200 according to the second embodiment of the present invention will be summarized below.

In the initial state in which the operating device 200 of the second embodiment of the present invention is not operated, in a virtual cross section in which the axis center AC of the movable shaft 11j of the operating body 11 vertically penetrates, the movable shaft 11j is centered on the movable shaft 11j. It is provided with a first yoke 215 that faces the engaged movable member 255 with a third gap of 5 gc, which is a gap of 5 g, and a coil 235 that generates a magnetic field by energization, and is more than the movable member 255. The first yoke 215 and the coil 235 are arranged on the outside, and at least a part of the movable member 255 and the first yoke 215 has an arc shape to form a third gap of 5 gc. As a result, a magnetic field is generated by energizing the coil 235, a magnetic path is formed from the first yoke 215 toward the movable member 255 side, and the magnetic particles JR in the ferrofluid 75 are formed along the magnetic flux in the virtual cross-sectional direction. It will be aligned. Therefore, the movable member 255 that operates in a direction that crosses the magnetic flux formed between the first yoke 215 and the movable member 255, and the movable member 255 and the first yoke 215, for example, a rotation direction around the sphere center SC of the movable member 255 and the like. On the other hand, the magnetic viscous fluid 75 puts a load on it. As a result, a load is applied to the operating body 11 via the movable member 255 and the movable shaft 11j, and a good operation feeling can be given to the operator for operations such as tilting operations.

Further, in the virtual cross section, the movable member 255, the first yoke 215, and the coil 235 are formed so as to be rotationally symmetric with respect to the axial center AC, so that the magnetic flux density is biased with respect to the magnetic viscous fluid 75. It is possible to form a magnetic path that does not exist, and the magnetic field generated by the magnetic generation mechanism FN5 can be efficiently applied to the control of viscosity. As a result, the load can be applied evenly and efficiently to the movable member 255, and a better operation feel can be given to the operator.

Further, since the third facing portion TE5 and the fourth facing portion TF5 of the first yoke 215 are arranged in the direction along the axis center AC and face the outer peripheral surface 255p of the spherical movable member 255, the first A magnetic path is surely formed from the third facing portion TE5 of the yoke 215 to the movable member 255 side, and a magnetic path is surely formed from the movable member 255 side to the fourth facing portion TF5 of the first yoke 215. Therefore, the magnetic particles JR in the magnetic viscous fluid 75 are aligned along the magnetic flux formed in the spherical radial direction of the movable member 255. Therefore, a stronger load can be reliably applied to the movable member 255 operating in the tangential direction (rotational direction) orthogonal to the radiation direction. As a result, it is possible to give the operator a better operation feel for the tilting operation.

Further, since the movable member 255 is made of a soft magnetic material, a magnetic path is surely formed from the third facing portion TE5 of the first yoke 215 to the movable member 255 and from the movable member 255 to the fourth facing portion TF5 of the first yoke 215. As a result, the magnetic particles JR in the magnetic viscous fluid 75 are aligned in the direction of the facing surfaces facing the first yoke 215 and the movable member 255. Therefore, a stronger load is applied to the movable member 255 that operates (rotates) in the direction across the facing surface direction in which the magnetic particles JR are aligned. As a result, a stronger load (tilting load) is applied to the operating body 11 via the movable member 255 and the movable shaft 11j, and a better operating feel can be given to the operator.

Further, since the area of the first facing surface of the third facing portion TE5 and the area of the second facing surface of the fourth facing portion TF5 are the same, the magnetic flux densities are the same at the inlet and outlet of the magnetic flux, and the coil 235 The magnetic flux generated from the magnetic flux can be efficiently applied to the control of the viscosity of the ferrofluid fluid 75. As a result, a load (rotational load) can be evenly applied to the rotating movable member 255, and a better operation feel can be given to the operator.

The present invention is not limited to the above-described embodiment, and can be modified and implemented as follows, and these embodiments also belong to the technical scope of the present invention.

<Modification example 1>
In the first embodiment, the ferrofluid fluid 75 fills the accommodation space in which the movable member 55 is accommodated (the accommodation space formed by the first yoke 15, the second yoke 25, the shaft support portion 53, and the fixed body 16). However, the present invention is not limited to this, and it is sufficient that the ferrofluid 75 is present in at least a part of the gap 5 g.

<Modification 2>
In the first embodiment, the upper yoke 15A and the lower yoke 15C of the first yoke 15 constitute the first facing portion TA5 and the second facing portion TC5, but only the upper yoke 15A or the lower yoke 15C constitutes the inner side wall 15f. The inner side wall 15f may face the movable member 55, and the first facing portion TA5 and the second facing portion TC5 may not be provided.

<Modification example 3>
In the first embodiment, the second yoke 25 is preferably provided, but a configuration in which only the first yoke 15 is provided may be used.

<Modification example 4>
In the second embodiment, of the gap 5 g between the movable member 255 and the magnetic generation mechanism FN5 (first yoke 215), a part of the gap 5 g (third gap 5 gc) sandwiched between the two ring bodies 63 is magnetic. The configuration was filled with the viscous fluid 75, but the present invention is not limited to this. For example, the ferrofluid 75 may be present in all of the gaps of 5 g.

<Modification 5>
In the above embodiment, the movable member 55 and the movable member 255 are preferably formed of a soft magnetic material, but the present invention is not limited to this, and a non-magnetic material such as a synthetic resin may be used.

The present invention is not limited to the above-described embodiment, and can be appropriately modified as long as it does not deviate from the gist of the present invention.

1 Operating member 11 Operating body 11j Movable shaft 3, S3 Support F5, F25 Movable load applying mechanism FM5, FN5 Magnetic generating mechanism 15, 215 First yoke 25 Second yoke 35, 235 Coil 55, 255 Movable member 55p, 255p Outer circumference Surface 55q Inner peripheral surface 75 Magnetic viscous fluid 5g Gap 5ga 1st gap 5gb 2nd gap 5gc 3rd gap TA5 1st facing part TC5 2nd facing part TE5 3rd facing part TF5 4th facing part AC axis center SC sphere center 100 , 200 operating device

Claims (13)

An operating member having an operating body that operates in the operating direction by the operation of the operator,
A support that freely supports the operation of the operating body and
An operating device including a movable load applying mechanism that applies a load to the operation of the operating body.
The operation includes a rotation operation and a slide operation, and the operation device is an input device capable of both a rotation operation and a slide operation.
The operating body has a movable shaft that enables the operation.
The slide operation is an operation along the axial direction of the movable shaft.
The movable load applying mechanism includes a movable member that engages with the movable shaft to perform the operation.
A magnetic generation mechanism that faces the movable member with a gap in between,
A ferrofluid that exists in at least a part of the gap and whose viscosity changes according to the strength of the magnetic field.
The magnetic generation mechanism includes a first yoke having a storage space, a coil housed in the storage space and generating a magnetic field by energization, and the like.
With
The magnetic viscous fluid is filled in the first gap, which is the gap between the first yoke and the movable member.
Inside the storage space, the axial length of the movable shaft of the surface of the first yoke facing the movable member is the axial direction of the movable shaft of the surface of the movable member facing the first yoke. An operating device characterized by being longer than the length of. A claim characterized in that the movable member, the first yoke, and the coil are formed so as to be rotationally symmetric with respect to the axis center in a virtual cross section in which the axis center of the movable axis penetrates vertically. Item 1. The operating device according to item 1. The movable member, the first yoke, and the coil are arranged along the radial direction about the movable shaft in a virtual cross section in which the axis center of the movable shaft penetrates vertically, and the movable member. The operating device according to claim 1, wherein at least a part of the first yoke has an arc shape centered on the axis center and forms the first gap. The operating device according to claim 2 or 3, wherein the first yoke and the coil are arranged outside the movable member. The first yoke has a first facing portion and a second facing portion that are separated from each other on the side facing the movable member.
The first facing portion and the second facing portion are arranged in a sliding direction along the movable shaft, and are opposed to the movable member according to claim 2 or 4. The operating device described. 5. The area of the first facing surface facing the ferrofluid in the first facing portion and the area of the second facing surface facing the ferrofluid in the second facing portion are the same. The operating device described in. The first yoke is a combination of at least two separate bodies divided in a direction along the movable axis, one of which has the first facing portion and the other having the second facing portion and combined. The operation according to claim 5 or 6, wherein the storage space is formed in a part of the joint surface between the first facing portion and the second facing portion. apparatus. Any of claims 5 to 7, wherein the first facing portion and the second facing portion are arranged so as to intervene at least a part of the coil and the movable member. The operating device described in Crab. The operating device according to any one of claims 2 to 8, wherein the movable member has a cylindrical shape centered on the axis center. The magnetic generation mechanism has a second yoke facing the inner peripheral surface of the movable member in the cylindrical shape.
The operating device according to claim 9, wherein the second gap between the second yoke and the inner peripheral surface of the movable member is filled with the ferrofluid. The support forms an internal space for accommodating the movable member and the magnetic generation mechanism, has an outer peripheral portion capable of exposing the operating body to the outside, and the second yoke is from the outer peripheral portion to the inside. The operating device according to claim 10, further comprising a cylindrical shape formed in a protruding manner. The operating device according to any one of claims 1 to 11, wherein the movable member is made of a soft magnetic material. The operating member has an operating portion that is gripped by the operator.
A case having a through hole through which the movable shaft of the operating body is inserted, and a case
The operating device according to any one of claims 1 to 12, wherein the movable shaft is inserted and has a compression coil spring disposed between the operating portion and the case.

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