JP2003157121A - Kinesthetic sense device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a kinesthetic sense device which can be operated with a small current and gives the sense of rebounding in the reverse direction to an operating direction. SOLUTION: The device is equipped with a knob 1 as an operation member which is manually operated, a motor 9 which applies a specified restitution force against an operation force to the knob 1 according to the direction and angle of rotation of the knob 1, a speed reducing gear 8 which increases the torque of the motor 9, a driving shaft 7 which rotates by receiving the power of the motor 9 through the speed reducing gear 8, a driven shaft 2 which is provided integrally with the knob 1 and rotates by receiving the power of the driving shaft, an electromagnetic braking means, i.e., an electromagnetic clutch 4 which can connect and disconnect the driven shaft 2 and driving shaft 7 with an electromagnetic force, an encoder 3 as a detecting means of detecting the rotational angle of the knob 12, and a controller as a control means of controlling the motor 9 and electromagnetic clutch 4 according to the detection result of the encoder 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided in an operating device for operating an electric device or a home electric appliance mounted on an automobile, and applies a predetermined reaction force that opposes the operating force in accordance with an operating direction and an operation amount. The present invention relates to a force-sense device that gives an operating feeling to an operator from an operation member by applying the force sense of the operator.

[0002]

2. Description of the Related Art In a conventional force-sense device, a manually operated operating member, for example, a knob operated by twisting, and an operating force applied to the knob are opposed according to a rotating direction and a rotating angle of the knob. Some include a motor that gives a predetermined rotational force to the knob. In a force-sense device equipped with this motor, a rotary force in the direction opposite to the operating direction is applied to the knob according to the rotation direction and amount of rotation of the knob, that is, a repulsive force that is a dynamic reaction force is applied. The operator obtains a sense of force as if it were bounced back in the direction opposite to the operation direction.

In addition to the force sense device having the above-mentioned motor, according to the rotation direction and rotation angle of the knob,
Some of them are equipped with a braking device for braking the knob with a predetermined braking force, such as an electromagnetic brake. In a force sense device equipped with this braking device, the knob is braked in accordance with the direction and amount of rotation of the knob, that is, a static reaction force is applied, which causes the operator to feel a heavy rotation as a force. Get a good feeling.

[0004]

However, in the force sense device including the above-mentioned motor, unless a large current is supplied to the motor, it is possible to output a rotational force sufficient to repel the operating force given to the knob. Therefore, it is not suitable for power saving of electric equipment in a vehicle, and a power unit for controlling a large current is required. Therefore, the entire device tends to be large and not suitable for downsizing.

It is also conceivable to increase the output torque of the motor with a reduction gear to save electric power, but in order for the operator to rotate the knob which is the operating member, an operation in which the reduction gear is interlocked with the knob is operated. Power is needed. For example, if the knob is large like a door knob and can be gripped and twisted, it would be possible for the operator to exert the operation force sufficient to rotate the reduction gear, but the knob is pinched with the fingertip. In the case of a small degree, it is difficult for the operator to exert an operation force enough to rotate the reduction gear, so that the knob does not function as an operation member. Therefore, also in this respect, it is not suitable for downsizing.

Further, in the force sense device having the above-mentioned braking device, the braking force can be increased by structurally increasing the friction area of the braking surface, thereby increasing the braking force.
For example, an electromagnetic brake or the like can be operated with a small current that can be supplied by a dry battery, and the overall size of the device can be reduced. However, with a force-sensing device equipped with a braking device, you can only obtain a feeling that the rotation of the knob is heavy as a force sense, that is, a feeling like a force-sensing device equipped with a motor that rebounds in the direction opposite to the operating direction. Therefore, the variety of force recognition that the operator receives is limited.

The object of the present invention was made in consideration of the above-mentioned current situation, and the object is to be operated with a small current and to obtain a sensation of being rebounded in the direction opposite to the operation direction as a force sense. It is to provide a haptic device.

[0008]

In order to achieve the above object, in the present invention, an operating member that is manually operated and a predetermined repulsive force that opposes the operating force according to the operating direction and the operation amount are provided. A motor provided to the operating member, a reduction gear that increases the torque of the motor, a drive shaft that rotates by transmitting the power of the motor through the reduction gear, and a drive shaft that is provided integrally with the operating member A driven shaft that rotates by transmitting the power of, a braking unit that can connect and disconnect the drive shaft and the driven shaft by an electromagnetic force, and a detection unit that detects an operation direction and an operation amount of the operation member. A control means for controlling the motor and the braking means based on the detection result of the detection means.

In the present invention thus constructed, when the operating member is manually operated, the operating direction and the operating amount of the operating member are detected by the detecting means. Then, the braking means and the motor are controlled by the control means according to the detection result by the detection means.

When the drive shaft and the driven shaft are connected by the braking means, the operating force applied to the operating member is transmitted to the driven shaft, the drive shaft and the reduction gear. At this time, the magnitude of the general operating force is too small for the reduction gear to interlock with the operating member, so that the drive shaft is locked in the state where the general operating force is transmitted. Thereby, the operating member integrated with the driven shaft is braked when the driven shaft is coupled to the drive shaft.

The strength of the coupling force between the drive shaft and the driven shaft is determined by the magnitude of the output of the braking means. For example, in the case of an electromagnetic braking means, it is determined by the magnitude of the output electromagnetic force. If the electromagnetic force is set small and the coupling force is weakened, it becomes possible to rotate the drive shaft and the driven shaft relatively. .
That is, without interlocking the reduction gear with the operating member,
The operation member can be operated.

When the drive shaft and the driven shaft are coupled as described above, the torque output from the motor is transmitted to the operating member via the reduction gear, the drive shaft, and the driven shaft.
A predetermined repulsive force that opposes the operating force is applied to the operating member.

As described above, according to the present invention, since the combined force of the braking force by the braking means and the repulsive force by the motor is applied to the operation member as a reaction force that opposes the operation force, a large reaction force can be operated with a small current. It can be given to a member. Also,
Since a repulsive force that opposes the operating force is applied to the operating member by the motor, it is possible to obtain a sensation of being repelled in the direction opposite to the operating direction as a force sense.

Further, in the above-mentioned invention, the braking means may be composed of an electromagnetically actuated electromagnetic clutch.

In the above invention, the braking means may be a non-excitation actuated electromagnetic clutch.

Further, in the above-mentioned invention, the braking means may be a clutch using an actuating function of a piezoelectric element.

In the above invention, the operating member may be a knob that is twisted.

Further, in the above-mentioned invention, the operating member may be a lever which is rockably operated.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory view showing the basic constitution of a first embodiment of a force sensor of the present invention, and FIG. 2 shows an example of controlling the electromagnetic clutch 4 and the motor 9 by the controller shown in FIG. 8B is an explanatory diagram showing an example of output control of the electromagnetic clutch 4, and FIG. 9B is an explanatory diagram showing an example of output control of the motor 9.

In the first embodiment, as shown in FIG. 1, a knob 1 which is an operation member for operating an electric device or an electric home appliance mounted on an automobile, such as a remote controller, is a manually operated operation member. A motor 9 for giving a predetermined repulsive force to the knob 1 against the operating force given to the knob 1 according to the rotation direction and the rotation angle of the knob 1, and a reduction gear 8 for increasing the torque of the motor 9. The drive shaft 7 that rotates by receiving the power of the motor 9 through the reduction gear 8.
And a driven shaft 2 which is provided integrally with the knob 1 and which rotates by transmitting the power of the drive shaft 7, and an electromagnetic wave which is a braking means capable of connecting and disconnecting the driven shaft 2 and the drive shaft 7 by, for example, an electromagnetic force. The clutch 4, the encoder 3 that is a detection unit that detects the rotation direction and the rotation angle of the knob 1, and the controller 10 that is a control unit that controls the motor 9 and the electromagnetic clutch 4 based on the detection result of the encoder 3.
Is equipped with.

As shown in FIGS. 2 (A) and 2 (B), the knob 1 has a predetermined reference position at a rotation angle of 0 ° and is twisted clockwise (positive direction) from this position. When the knob 1 rotates to the position of the rotation angle a, an output signal corresponding to the rotation angle is sequentially sent from the operating device to the motor 9 and the electromagnetic clutch 4 while the rotation angle of the knob 1 moves to a. The motor 9 and the electromagnetic clutch 4 are simultaneously operated in response to their output signals. Similarly, when the knob 1 is twisted counterclockwise (in the negative direction) and the knob 1 rotates to the position of the rotation angle −a, for example, while the rotation angle of the knob 1 moves to −a,
An output signal corresponding to the rotation angle is output from the operating device to the motor 9
Are sequentially sent to the electromagnetic clutch 4 and the motor 9 and the electromagnetic clutch 4 are simultaneously operated in accordance with the output signals.

Returning to FIG. 1 again, the reduction gear 8 is, for example,
It comprises a worm 8a provided on the output shaft 9a of the motor 9 and a worm wheel 8b.

The electromagnetic clutch 4 is provided with a lining (not shown) serving as a friction surface, a fixed clutch portion 6 which rotates integrally with the drive shaft 7, and an armature (not shown) which is a friction surface pressed against the lining. It is composed of a driven shaft 2 and a movable clutch portion 5 which rotates integrally.
The movable clutch portion 5 is brought into pressure contact with the fixed clutch portion 6 by being attracted to the fixed clutch portion 6 by an electromagnetic force.

Although not shown, the encoder 3 is, for example,
A code plate having a plurality of slits along the periphery of the disk and rotating integrally with the driven shaft 2, a light emitting element for illuminating light toward the slits, and a light receiving element for receiving light passing through the slits. I have it. That is, the light received from the light emitting element and passing through the slit is received by the light receiving element to form a rectangular wave, the rectangular wave is counted, and the rotation direction and the rotation of the knob 1 rotating integrally with the driven shaft 2 are detected. It is designed to detect angles.

In the controller 10, the input portion 11 to which the detection result of the encoder 3 is input, the braking force of the electromagnetic clutch 4 and the output torque of the motor 9 which are preset according to the rotation direction and the rotation angle are in the form of a table. On the basis of the storage unit 14 stored in step S4, the rotation direction and the rotation angle input to the input unit 11, and the braking force setting of the electromagnetic clutch 4 and the output torque setting of the motor 9 stored in the storage unit 14. A calculation unit 12 for calculating the output value of the electromagnetic clutch 4 and the output value of the motor 9, and control signals corresponding to the output value of the electromagnetic clutch 4 and the output value of the motor 9 which are the calculation results by the calculation unit 12. And an output unit 13 for outputting each of them to the electromagnetic clutch 4 and the motor 9.

For example, as shown in FIG. 2A, when the knob 1 is twisted clockwise by the rotation angles a and b and when the knob 1 is twisted counterclockwise by the rotation angles -a and -b, the storage section 14 stores it. The output of the electromagnetic clutch 4 is set to be increased up to 30% for each of the positions a, b, -a, -b, and when the left or right is twisted, the rotation angle reaches 180 °. The output is set to 100%.

The storage unit 14 stores, for example, FIG.
As shown in (B), the knob 1 is rotated clockwise by the rotation angle a.
The output of the motor 9 is set to remain constant at 30% when twisted only in the range of c and in the range of rotation angles -a to -c counterclockwise. Is greater than c, output 100
It is set to be%.

In the first embodiment thus constructed, when the knob 1 is twisted, the rotation direction and the rotation angle of the knob 1 are detected by the encoder 3, and a signal corresponding to the detection result is input to the input section 11. . Then, the calculation unit 12
Then, based on the rotation direction and the rotation angle input to the input unit 11 and the setting of the output value of the electromagnetic clutch 4 and the output value of the motor 9 shown in FIG. The output value of the clutch 4 and the output value of the motor 9 are calculated, and control signals corresponding to the respective calculation results are output from the output unit 13.

In the electromagnetic clutch 4, the movable clutch portion 5 is sucked and pressed against the fixed clutch portion 6, and the drive shaft 7
And the driven shaft 2 are coupled. At this time, the operating force applied to the knob 1 is transmitted to the driven shaft 2, the drive shaft 7, and the reduction gear 8. The general operating force is that the reduction gear 8 is interlocked with the knob 1. Is too small, the drive shaft 7 is in a locked state when a general operating force is transmitted to the drive shaft 7. Therefore, the knob 1 integrated with the driven shaft 2 is braked by the friction generated between the fixed clutch portion 6 and the movable clutch portion 5.

The pressure contact force for connecting the drive shaft 7 and the driven shaft 2 is set according to the magnitude of the electromagnetic force output from the electromagnetic clutch 4. If the electromagnetic force is set small and the pressure contact force is weakened, the fixed clutch is generated. The frictional force generated between the portion 6 and the movable clutch portion 5 is reduced, and the drive shaft 7 and the driven shaft 2 can be relatively rotated. That is, the knob 1 can be operated without interlocking the reduction gear 8 with the knob 1.

When the fixed clutch portion 6 and the movable clutch portion 5 of the electromagnetic clutch 4 are coupled as described above, the torque output from the motor 9 is transmitted through the reduction gear 8, the drive shaft 7, and the driven shaft 2 to the knob 1 Transmitted to the knob 1
Is given a repulsive force that opposes the operating force.

For example, the knob 1 has a clockwise rotation angle a,
b and the counterclockwise rotation angles −a and −b, respectively, as shown in FIG. 2A, the rotation angles a, b and −
The output of the electromagnetic clutch 4 is 30 for each of a and -b.
% Up and down. As a result, the rotation angle a,
Before and after each of b, -a, and -b, the frictional force between the drive shaft 7 and the driven shaft 2, that is, the reaction force that opposes the operating force,
Since it increases and decreases, the operator must rotate the rotation angles a, b,-
A click feeling is obtained for each of a and -b, and knob 1
You can recognize how much you have rotated.

Further, as shown in FIGS. 2 (A) and 2 (B),
When the knob 1 is twisted to the left or right and the magnitude of the rotation angle reaches 180 °, the output of the electromagnetic clutch 4 and the output of the motor 9 both increase to 100%. As a result, the frictional force between the drive shaft 7 and the driven shaft 2, that is, the reaction force that opposes the operating force, is maximized, so that the operator no longer needs the knob 1
Recognize that can not be rotated.

As shown in FIG. 2B, the knob 1
Is rotated clockwise, the torque of the motor 9 is output so as to give a counterclockwise rotating force to the knob 1, and when the knob 1 is rotated counterclockwise, the clockwise rotating force is generated. Is output to the knob 1. As a result, when the operator releases the finger from the knob 1, the knob 1 automatically returns to the rotation angle of 0 °.

As described above, in the first embodiment, the combined force of the braking force of the electromagnetic clutch 4 and the repulsive force of the motor 9 is applied to the knob 1 as a reaction force that opposes the operating force. A larger reaction force can be applied to the knob 1 with a smaller current than in the case of using only force. As a result, the motor 9 can be downsized, and the entire device can be downsized.

Further, since the repulsive force is applied to the knob 1 by the motor 9, the operator can obtain a feeling of being rebounded in the direction opposite to the operation direction as a force sense, and the operator can recognize the force sense. Diversity can be secured.

Further, in the first embodiment, the electromagnetic clutch 4
By reducing the electromagnetic force output from the drive shaft 7 and the driven shaft 2
By weakening the coupling force with the drive shaft 7 and the driven shaft 2
Can be rotated relatively, so that the knob 1 can be rotated without interlocking the reduction gear 8 with the knob 1, whereby the knob 1 can be operated with a small operating force. Therefore, even if the knob 1 is made small enough to be pinched with a fingertip, it can be made to function as an operating member, and in this respect as well, the size of the entire apparatus can be reduced.

Next, the second embodiment will be described.

FIG. 3 is an explanatory diagram showing the basic structure of the second embodiment. It should be noted that, of those shown in FIG. 3, those equivalent to those shown in FIG. 1 are given the same reference numerals as those given in FIG.

In the second embodiment, a lever 15 that is rockably operated as an operating member, a motor 9 that applies a predetermined repulsive force against the operating force applied to the lever 15 to the lever 15, and a motor 9 of the motor 9. Reduction gear 16 that increases torque
A drive shaft 7 which is rotated by transmitting the power of the motor 9 through the reduction gear 16, and a driven shaft 2 which is provided integrally with the lever 15 and is rotated by transmitting the power of the drive shaft 7.
An electromagnetic clutch 4, which is an electromagnetic braking means capable of connecting and disconnecting the driven shaft 2 and the drive shaft 7 by an electromagnetic force, and the lever 1.
The encoder 3 is a detection means for detecting the rotation direction and the rotation angle of the motor 5, and the controller 10 is a control means for controlling the motor 9 and the electromagnetic clutch 4 based on the detection result of the encoder 3.

That is, unlike the first embodiment, the second embodiment is provided with the lever 15, the reduction gear 16, that is, the drive gear 16a and the driven gear 16b which are spur gears.
The parts other than the lever 15 and the reduction gear 16 have the same configuration as that of the first embodiment.

Also in the second embodiment configured as described above, the combined force of the braking force of the electromagnetic clutch 4 and the repulsive force of the motor 9 is used as a reaction force against the operating force of the lever 15
Is applied to the lever 15, a larger reaction force can be applied to the lever 15 with a smaller electric current than in the case where only the repulsive force by the motor 9 is applied. As a result, the motor 9 can be downsized and the entire device can be downsized. .

Further, since the repulsive force is applied to the lever 15 by the motor 9, the operator can obtain a sensation of being rebounded as a force sense in a direction opposite to the operation direction,
It is possible to secure the variety of force recognition that the operator receives.

Further, in the second embodiment, the electromagnetic clutch 4
By reducing the electromagnetic force output from the drive shaft 7 and the driven shaft 2
By weakening the coupling force with the drive shaft 7 and the driven shaft 2
Can be rotated relatively, so that the lever 15 can be swung without interlocking the reduction gear 16 with the lever 15, whereby the lever 15 can be operated with a small operation force. Therefore, the lever 15
Even if it is made small enough to be hooked on the fingertip and operated, it can function as an operation member, and in this respect as well, the size of the entire apparatus can be reduced.

The first and second embodiments are shown in FIG.
As shown in (A) and (B), the output of the electromagnetic clutch 4 and the output of the motor 9 are set so as to obtain a click feeling or a rebounding feeling from the knob 1 or the lever 15. Is not limited to this. For example,
As shown in FIGS. 2A and 2B, the output of the electromagnetic clutch 4 and the output of the motor 9 may be set so that vibration can be obtained from the knob 1 and the lever 15.

In the first and second embodiments, a so-called excitation type electromagnetic clutch is provided as a braking means capable of connecting and disconnecting the drive shaft and the driven shaft, but the present invention is not limited thereto. Not a thing. That is, it is equipped with a braking device having a function of connecting and disconnecting the drive shaft and the driven shaft, such as a clutch composed of a mechanism using an actuating function of a piezoelectric element and a non-excitation actuated electromagnetic clutch. I wish I had it.

[0048]

As described above, according to the present invention, since the combined force of the braking force by the braking means and the repulsive force by the motor is applied to the operation member as a reaction force that opposes the operation force, a large reaction with a small current is applied. A force can be applied to the operating member, which allows the motor to be miniaturized, and thus the overall device to be miniaturized.

Further, since the repulsive force is applied to the operation member by the motor, the operator can obtain a feeling of being rebounded in the direction opposite to the operation direction as a force sense, and as a result, the force sense of the operator is obtained. It is possible to secure the diversity of recognition.

By reducing the output of the braking means to weaken the coupling force between the drive shaft and the driven shaft, the operating member can be operated without interlocking the reduction gear with the operating member. Can be operated with a small operating force. Therefore, the operating member can be downsized, and also in this respect, the overall size of the device can be downsized.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a basic configuration of a haptic device according to a first embodiment of the present invention.

2A and 2B show control examples of an electromagnetic clutch and a motor by the controller shown in FIG. 1, FIG. 2A is an explanatory view showing an output control example of an electromagnetic clutch, and FIG. 2B is an explanatory view showing an output control example of a motor. Is.

FIG. 3 is an explanatory diagram showing a basic configuration of a second embodiment.

[Explanation of symbols]

1 knob (operation member) 2 Driven shaft 3 encoder 4 Electromagnetic clutch (braking means) 7 drive shaft 8 reduction gears 9 motors 10 controller (control means) 15 Lever (operating member) 16 reduction gear

Claims (6)

[Claims] 1. An operating member that is manually operated, a motor that applies a predetermined repulsive force to the operating member that opposes the operating force according to the operating direction and the amount of operation of the operating member, and the torque of this motor is increased. A reduction gear; a drive shaft that rotates by receiving the power of the motor through the reduction gear; a driven shaft that is provided integrally with the operating member and that rotates by transmitting the power of the driving shaft; A braking means capable of connecting and disconnecting a shaft and the driven shaft, a detecting means for detecting an operating direction and an operation amount of the operating member, and controlling the motor and the braking means based on a detection result of the detecting means. A haptic device having control means for controlling. 2. The force sense device according to claim 1, wherein the braking means is an excitation actuation type electromagnetic clutch. 3. The force-sense device according to claim 1, wherein the braking means is a non-excitation actuated electromagnetic clutch. 4. The force-sense device according to claim 1, wherein the braking means is a clutch using an actuate function of a piezoelectric element. 5. The force sensor according to any one of claims 1 to 4, wherein the operating member is a knob that is twisted. 6. The force-sense device according to any one of claims 1 to 4, wherein the operating member is a lever that is rockably operated.