JP2007188414A - Haptic force feedback input device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a haptic force feedback input device of which the lifetime can be extended by reducing a load applied to a bearing part of a driving member which is rotated in accordance with a swinging operation of an operation lever. <P>SOLUTION: The haptic force feedback input device includes an operation lever 2 manually swung by an operator, driving members 11 and 12 rotated in accordance with a swinging operation of the operation lever 2, a support member (a main frame 4 and a sub-frame 4) which supports the driving members 11 and 12 turnably with bearing parts 11a and 12a as supporting points, transmission plates 14 and 16 which are integrated with the driving members 11 and 12 having arcuate gear parts 14a and 16a in front end sides thereof, and motors 18 and 19 for imparting external force to the operation lever 2. Gears 20 and 21 engaged with the gear parts 14a and 16a are fixed to revolving shafts of the motors 18 and 19, wherein the support member is provided with stoppers 6 and 8 placed within a rotational plane thereof through the transmission plates 14 and 16. When the operation lever 2 is swung in an arbitrary direction, the transmission plates 14 and 16 are brought into contact with one of stoppers 6 and 8 to regulate the angle of swing of the operation lever 2. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a force imparting input device that imparts an electrically controlled force sense to a manually operated operation lever, and in particular, a joystick type force imparting input device that swings an operation lever in an arbitrary direction. It is about.

  In recent years, function adjustments for in-vehicle control devices such as air conditioners, audio systems, navigation systems, etc. have been consolidated into one control lever, and when performing device selection and function adjustment by manual operation of this operation lever, Various force-sensing input devices with a force feedback function have been proposed in which an external feeling such as resistance and thrust according to the operation direction is applied to improve the operation feeling and ensure the operability. As an example of such a force imparting input device, conventionally, a converter that converts the swinging motion of the operation lever into the rotational motion of a pair of drive levers orthogonal to each other, and the rotation amount and rotation direction of both the drive levers are detected. Provided with a pair of rotary encoders and a pair of motors that apply external force to the operation lever, and by controlling the drive of both motors based on the output signals of both rotary encoders, the desired operation lever via both drive levers There is known one that applies an external force (see, for example, Patent Document 1).

  FIG. 9 is a plan view showing the internal structure of the haptic input device disclosed in the above-mentioned Patent Document 1. As shown in FIG. 9, the first and second motors 101 and 102 are placed on the base 100. And the 1st and 2nd rotary encoders 103 and 104 connected with the rotating shaft of these motors 101 and 102 are mounted. The rotation axis of the first motor 101 and the rotation axis of the second motor 102 are orthogonal to each other, and the first and second rotary encoders 103 and 104 have an intersection P where the rotation axes of both the motors 101 and 102 intersect. It is arranged in the vicinity. Further, first and second drive levers 105 and 106 are rotatably supported on a support body standing on the base 100, and an operation lever is connected to the drive levers 105 and 106 via a drive body 107. 108 are connected. The first drive lever 105 can rotate around a support shaft 105 a parallel to the rotation axis of the first motor 101, and is fixed to the rotation shaft of the first motor 101 at the tip of the first drive lever 105. A gear portion 105 b that meshes with the gear 109 is formed. The second drive lever 106 is rotatable about a support shaft 106a parallel to the rotation axis of the second motor 102, and is fixed to the rotation axis of the second motor 102 at the tip of the second drive lever 106. A gear portion 106 b that meshes with the gear 110 is formed. The first and second motors 101 and 102 and the first and second rotary encoders 103 and 104 are connected to a control unit (not shown), and the control unit includes the first and second rotary encoders 103, The output signal 104 is taken in and desired control signals are output to the first and second motors 101 and 102.

  In the haptic input device generally configured as described above, when the operator swings the operation lever 108 in an arbitrary direction, for example, the YY direction in FIG. 9, the first drive lever 105 moves the support shaft 105a. The gear 109 and the first rotary encoder 103 are rotationally driven along with the rotation. When the operation lever 108 is swung in the XX direction, the second drive lever 106 rotates about the support shaft 106a, and the gear 110 and the second rotary encoder 104 are rotationally driven accordingly. . In addition, when the operation lever 108 is swung in the intermediate direction between the X direction and the Y direction, the first and second drive levers 105 and 106 rotate to cause the first and second rotary encoders 103 and 104 to rotate. Driven by rotation. The output signals of the rotary encoders 103 and 104 are taken into the control unit, and the control unit rotates the first and second drive levers 105 and 106 based on the output signals, that is, the swing of the operation lever 108. A desired operation feeling is imparted to the operation lever 108 by calculating a direction and a swing amount (swing angle) and outputting a control signal to the first and second motors 101 and 102 based on the calculation result. The For example, when the operation lever 108 is swung in a predetermined direction by a predetermined angle, the first and second motors 101 and 102 are operated in the direction opposite to the rotation of the first and second drive levers 105 and 106. Then, the rotational force is decelerated by the gears 109 and 110 and the gear portions 105b and 106b, and is applied to the operating lever 108 as an operating force of a predetermined magnitude. This operating force is clicked by the operator who manually operates the operating lever 108 Recognized with a feeling.

In addition, although the stopper structure that defines the swing angle of the operation lever is not specified in Patent Document 1, the operation lever is provided on the upper surface of the outer case in a joystick type input device that does not have a force sense imparting function. When the operator operates the operating lever held in the neutral position to swing in any direction, the operating lever is brought into contact with the end of the through hole positioned in the swinging direction. Therefore, a stopper structure that regulates the swing angle of the operation lever is conventionally known (see, for example, Patent Document 2).
JP 2003-22159 A Japanese Patent No. 3510632

  By the way, in the above-mentioned conventional force sense imparting type input device, the gears 105b and 106b carved at the front ends of the drive levers 105 and 106 and the gears 109 and 110 fixed to the rotation shafts of the motors 101 and 102 are the motors. When viewed from the 101 and 102 side, a reduction gear mechanism is configured, but when viewed from the drive levers 105 and 106 side, a speed increasing gear mechanism is configured. That is, the rotational driving force when the motors 101 and 102 are driven to rotate at high speed is decelerated by the gears 109 and 110 and the gear portions 105b and 106b and transmitted from the driving levers 105 and 106 to the operation lever 108. The rotational force when the operation lever 108 is manually operated by the operator is accelerated by the gear portions 105b and 106b and the gears 109 and 110 and transmitted from the drive levers 105 and 106 to the rotation shafts of the motors 101 and 102. . Here, since heavy objects such as an electromagnetic core and an electromagnetic coil are attached to the rotation shafts of the motors 101 and 102, the rotation shafts of the motors 101 and 102 are driven to rotate at a high speed as the operation lever 108 is swung. As a result, large inertial energy is stored in the motors 101 and 102.

  Therefore, when the known stopper structure disclosed in Patent Document 2 or the like is applied to such a force sense imparting type input device, the operation lever 108 swayed by the operator comes into contact with the stopper and the drive lever 105, When the rotation operation of 106 stops, the force to rotate the drive levers 105 and 106 by the inertia energy stored in the motors 101 and 102 acts on the meshing positions of the gears 109 and 110 and the gear portions 105b and 106b. . That is, the positions of the drive levers 105 and 106 supported by the support so as to be rotatable about the bearing portions (support shafts 105a and 106a) are regulated by the operation lever 108 connected to one end contacting the stopper. Since the portion opposite to the operation lever 108 tries to rotate by receiving large inertia energy from the motors 101 and 102 through the bearing portion in the state, the drive lever 105 is operated every time the operation lever 108 is swung. , 106 has a problem that a large load is applied to the bearing portion and the life of the bearing portion is shortened.

  The present invention has been made in view of the actual situation of the prior art, and an object of the present invention is to reduce the load applied to the bearing portion of the driving body that rotates in conjunction with the swinging operation of the operation lever, thereby extending the life. An object of the present invention is to provide a haptic input device that can be realized.

  In order to achieve the above object, a force sense imparting type input device of the present invention includes an operation lever that is manually operated by an operator, a driver that rotates in conjunction with the operation of swinging the operation lever, A support body that rotatably supports the driving body with a bearing portion as a fulcrum, a transmission plate that is integrated with the driving body and has a gear portion that extends in an arc shape around the bearing portion on the tip side, and the gear portion And a motor for applying an external force to the operation lever via a meshing gear. A stopper is provided in the plane of rotation of the transmission plate so as to oppose the transmission plate, and the operation lever is swung in an arbitrary direction. When the transmission plate is in contact with the stopper, the swing angle of the operation lever is defined.

  In the force sense input device configured as described above, when the operating lever is swung in an arbitrary direction, the driving body and the transmission plate rotate integrally around the bearing portion in conjunction with the operation lever. At the point of contact with the stopper facing the rotation direction, the rotation of the driving body stops and the swing angle of the operation lever is defined. During this time, since the rotation of the drive body is accelerated by the gear portion and transmitted to the motor, when the rotation of the drive body stops, the inertia energy stored in the motor is used as a force to rotate the transmission plate. This rotational force is received by a stopper that abuts against the transmission plate. That is, since both the stopper that defines the swing angle of the operation lever and the gear portion that receives the inertia energy of the motor are in the same rotation plane of the transmission plate, the drive member and the bearing portion that is the rotation center of the transmission plate are engaged. The load from the motor is reduced, and the life of the bearing portion can be extended.

  In the above configuration, two sets of power transmission mechanisms, each including the drive body, the transmission plate, and the motor, are provided, and the pair of drive bodies provided in both the power transmission mechanisms are orthogonal to each other. Thus, it is preferable to support the support body and provide a plurality of the stoppers on the support body to prevent the two drive bodies from being twisted by a load from the motor. In this case, a total of four stoppers corresponding to the pair of transmission plates may be individually provided on the support, but one of each of these stoppers serves as a common stopper, and this common stopper is orthogonal to the pair of transmission plates. If the support is provided at the crossing position of the two rotation planes, the rotation angle on one direction side of both transmission plates can be defined using one common stopper, so the number of stoppers required is reduced. Is possible.

  The force sense input device of the present invention supports a drive body that rotates in conjunction with the swinging operation of the operation lever, and supports the support body so as to be rotatable about a bearing portion as a support, and a transmission integrated with the drive body. The gear part engraved on the front end side of the plate is engaged with the gear on the motor side, and this transmission plate is brought into contact with a stopper disposed opposite to the rotation plane so that the swing angle of the operation lever is defined. Since it is configured, both the stopper that defines the swing angle of the operation lever and the gear portion that receives the inertia energy of the motor can be set within the same rotation plane of the transmission plate. The load from the motor applied to the bearing portion that is the center of rotation is reduced, and the life of the bearing portion can be extended.

  An embodiment of the invention will be described with reference to the drawings. FIG. 1 is an external view of a haptic input device according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view of the haptic input device. 3 is a perspective view of the haptic input device, FIG. 4 is a perspective view of the haptic input device with a part of the support omitted, and FIG. 5 is a plan view of the haptic input device. FIG. 6 is an explanatory view showing a stopper structure provided in the force sense imparting type input device, and FIGS. 7 and 8 are operation explanatory views of the stopper structure.

  As shown in FIG. 1, the haptic input device according to the present embodiment is included in the outer case 1 in a state in which the operation lever 2 that is a part of the component is protruded from the through hole 1a. The exterior case 1 is installed at an appropriate place such as a center console of an automobile.

  As shown in FIGS. 2 to 5, this haptic input device includes a main frame 3, a sub frame 4, and a lower frame 5 formed of a metal plate having high mechanical strength such as aluminum. , 4 and 5 constitute a support. The main frame 3 is integrally formed with two standing walls 3a and 3b which are continuous in a plane orthogonal to each other, and a common stopper 6 is screwed at the upper corner of the main frame 3 where the standing walls 3a and 3b intersect. It is fixed using. In addition, the subframe 4 is fixed to the upper inner side surfaces of the upright walls 3a and 3b via independent spacers 8 using a plurality of screws 9, respectively. Sufficient space is secured. Two support walls 4a and 4b are formed in the subframe 4 so as to be bent in an inverted L shape in a plan view. As shown in FIG. 5, the support body has both standing walls 3a and 3b and a subframe. A support portion having a rectangular shape in plan view is formed by the support walls 4 a and 4 b of the frame 4. The first and second driving bodies 11 and 12 are arranged inside the support portion so that the rotation axes thereof are orthogonal to each other, and the shaft portions 11a at both upper ends of the first driving body 11 are provided on the support portion. The upright walls 3a and the support walls 4a facing each other are rotatably supported, and the shaft portions 12a at the upper ends of the second driving body 12 are rotatably supported by the opposed standing walls 3b and 4b. ing. The operating lever 2 is connected to the intersection of the first and second driving bodies 11 and 12, and as described above, the operating lever 2 is inserted through the through hole 1a and protrudes outside the outer case 1. (See FIG. 1). The first and second driving bodies 11 and 12 constitute a power conversion mechanism that converts the swinging motion of the operating lever 2 into two orthogonal rotational motions, and the central portion of the operating lever 2 is the first driving body. The operation lever 2 is inserted into a long hole 12 a formed in the lower part of the second driving body 12. Therefore, when the operation lever 2 is swung in an arbitrary direction, the first and second drive bodies 11 and 12 rotate around the bearing portions (shaft portions 11a and 12a) as fulcrums according to the swing direction.

  A fan-shaped first transmission plate 14 is screwed to one side of the first drive body 11, and a bearing portion (shaft portion 11 a) of the drive body 11 is attached to the tip of the first transmission plate 14. A gear portion 14a extending in an arc shape as a center is engraved. The first transmission plate 14 rotates between the independent spacer 8 fixed to the upright wall 3a of the main frame 3 and the common stopper 6 along the inner surface of the upright wall 3a, and the first transmission plate 14 rotates. When the end face in the direction comes into contact with the shared stopper 6 or the independent spacer 8, the rotation of the first driver 11 stops. Further, a detection plate 15 is screwed to the other side surface of the first driver 11, and a shielding portion formed at the lower end of the detection plate 15 protrudes in the opposite direction to the first transmission plate 14. Similarly, a fan-shaped second transmission plate 16 is screwed to one side surface of the second drive body 12, and a bearing portion (shaft portion) of the drive body 12 is attached to the tip of the second transmission plate 16. 12a) is engraved with a gear portion 16a extending in an arc shape around the center. The second transmission plate 16 rotates between the independent spacer 8 fixed to the upright wall 3b of the main frame 3 and the common stopper 6 along the inner surface of the upright wall 3b, and the second transmission plate 16 rotates. When the end face in the direction comes into contact with the common stopper 6 or the independent spacer 8, the rotation of the second driving body 16 stops. Further, a detection plate 17 is screwed to the other side surface of the second driving body 12, and a shielding portion formed at the lower end of the detection plate 17 protrudes in the opposite direction to the second transmission plate 16.

  First and second motors 18 and 19 are mounted on the lower frame 5 which is a constituent member of the support, and the motors 18 and 19 are arranged so that their rotational axes are orthogonal to each other. A gear 20 is fixed to the rotating shaft of the first motor 18, and the gear 20 is formed on the first transmission plate 14 integrated with the first driver 11 inside the upright wall 3 a of the main frame 3. It meshes with the gear portion 14a. When viewed from the first motor 18, the gear 20 and the gear portion 14 a constitute a reduction gear train, and the rotational driving force of the first motor 18 is decelerated by the reduction gear train and is transmitted from the first transmission plate 14. It is transmitted to the first driver 11. Similarly, a gear 21 is fixed to the rotating shaft of the second motor 19, and this gear 21 is integrated with the second drive body 12 inside the upright wall 3 b of the main frame 3. It meshes with the gear portion 16a of the plate 16. The gear 21 and the gear portion 16 a constitute a reduction gear train as viewed from the second motor 19, and the rotation of the second motor 19 is decelerated by the reduction gear train and is then transmitted from the second transmission plate 16 to the second transmission plate 16. Is transmitted to the driving body 12.

  The gear 20 fixed to the rotation shaft of the first motor 18 protrudes outward through the upright wall 3a of the main frame 3, and a first code plate 22 is press-fitted and fixed to the tip of the gear 20. Has been. The first transmission plate 14 and the gear 20 described above constitute a speed increasing gear train as viewed from the first driving body 11, and the rotation of the first driving body 11 is accelerated by this speed increasing gear train. It is transmitted to the first code plate 22. Similarly, a gear 21 fixed to the rotating shaft of the second motor 19 protrudes outward through the standing wall 3 b of the main frame 3, and a second code plate 23 is formed at the tip of the gear 21. It is press-fitted and fixed. The second transmission plate 16 and the gear 21 described above constitute a speed increasing gear train as viewed from the second driving body 12, and the rotation of the second driving body 12 is accelerated by the speed increasing gear train. And transmitted to the second code plate 23.

  A circuit board 24 is attached to the lower end of the main frame 3, and first and second photo interrupters 25 and 26 are mounted on the circuit board 24. The first photo interrupter 25 and the first code plate 22 constitute a first optical rotary encoder, and the second photo interrupter 26 and the second code plate 23 constitute a second optical rotary encoder. ing. Both photo interrupters 25 and 26 are provided with an LED (light emitting element) and a phototransistor (light receiving element) (not shown), respectively, and these LED and the phototransistor are opposed to each other through recesses 25a and 26a. A large number of slits are formed in the outer peripheral portions of the first and second code plates 22 and 23, and these code plates 22 and 23 are respectively recessed portions 25a and 25a of the corresponding first and second photo interrupters 25 and 26, respectively. The inside of 26a is rotated.

  In addition to the first and second photointerrupters 25 and 26, a pair of photointerrupters 27 and 28 are mounted on the circuit board 24, and the first driver 11 is in the recess of one photointerrupter 27. The shielding portion of the detection plate 15 fixed to the second driving body 12 passes through the concave portion of the other photo interrupter 28. Therefore, when the shielding portions of both detection plates 15 and 17 are located in the recesses of the photo interrupters 27 and 28, the light of the LED is blocked by the shielding portions of the detection plates 15 and 17 and off from the photo interrupters 27 and 28. When a signal is output and the shield is at a position away from the recess, the light from the LED is received by the phototransistor and an on signal is output from the photointerrupters 27 and 28.

  The detection signals output from the photo interrupters 25, 26, 27, and 28 described above are taken into a control unit (not shown), which controls the first and second driving based on the detection signals of the photo interrupters 27 and 28. The absolute positions of the bodies 11 and 12 are calculated, and the rotation direction and rotation of the first and second drive bodies 11 and 12 are detected from the detection signals of the first and second photo interrupters 25 and 26 with reference to the absolute positions. The amount, that is, the swing direction and swing amount (swing angle) of the operation lever 2 are calculated. The control unit determines a control signal based on data or a program stored in the memory, and outputs the control signal to the first and second motors 18 and 19. This control signal is a signal corresponding to the operation feeling given to the operation lever 2, and the type of the signal includes generation of vibration, change of operating force (resistance force or thrust force), and the like. The circuit components of the control unit are mounted on the back surface of the circuit board 24 or another circuit board (not shown).

  Next, the operation of the force sense input device configured as described above will be described.

  First, when the system of the haptic input device is activated (powered on), the control unit takes in the detection signals of the photo interrupters 27 and 28 and outputs the control signals to the first and second motors 18 and 19. The first and second motors 18 and 19 rotate the first and second drive bodies 11 and 12 to automatically return the operation lever 2 to the neutral position. In this case, the first and second motors 18 and 19 may rotate and drive the first and second driving bodies 11 and 12 so that the outputs of the photo interrupters 27 and 28 are switched from OFF to ON. Becomes a neutral position when both the outputs of the photo interrupters 27 and 28 are switched from OFF to ON, and the control unit stores the position as a reference position (absolute position) of the operation lever 2.

  When the operator swings the operation lever 2 protruding from the through hole 1a of the outer case 1 in an arbitrary direction with the operation lever 2 automatically returned to the neutral position in this way, the swing direction of the operation lever 2 Accordingly, the first and second drive bodies 11 and 12 rotate around the respective bearing portions (shaft portions 11a and 12a). For example, when the operation lever 2 is swung in the XX direction in FIG. 5, only the first drive body 11 rotates in the same direction, and when the operation lever 2 is swung in the YY direction, the second drive body. Only 12 rotates in the same direction, and when the operation lever 2 is swung in the XY direction (between the X direction and the Y direction), the first and second driving bodies 11 and 12 rotate together. Then, the rotation of the first driving body 11 is accelerated by the gear portion 14a and the gear 20 of the first transmission plate 14 and transmitted to the first code plate 22, and the rotation of the second driving body 12 is second. The transmission plate 16 is accelerated by the gear portion 16a and the gear 21 and transmitted to the second code plate 23, so that it is continuously turned on from the photo interrupters 28 and 26 of the first and second optical rotary encoders. / Off signal is input to the control unit as a detection signal.

  Based on the relative position obtained from the detection signals of the first and second photo interrupters 25 and 26 and the absolute position obtained from the detection signals of the photo interrupters 27 and 28 described above, the control unit performs the first and second driving. The rotation direction and amount of rotation of the bodies 11 and 12 are calculated, and predetermined control signals are output to the first and second motors 18 and 19. For example, when the operation lever 2 is swung by a predetermined amount in a predetermined direction, the rotation of the first and second motors 18 and 19 is caused to rotate with the gears 20 and 11 and the first and second transmission plates 14 and 14. 6 is decelerated by the gear portions 14a and 16a and transmitted to the first and second drive bodies 11 and 12, and the operating force that resists the swinging direction of the operating lever 2 via these drive bodies 11 and 12 is provided. Is given to the operator who manually operates the operating lever 2 as a click feeling.

  In the swinging operation of the operating lever 2 described above, the swing angle (swinging operation amount) from the neutral position of the operating lever 2 is such that the first and second transmission plates 14 and 16 are the common stopper 6 or the independent spacer 8. It is prescribed | regulated by contacting. This will be described with reference to FIGS. 6 to 8. As shown in FIG. 6, when the operation lever 2 is in the neutral position, the gear 20 fixed to the rotation shaft of the first motor 18 is the first transmission plate. The first transmission plate 14 is separated from the independent spacer 8 fixed to the upright wall 3 a of the main frame 3 and the common stopper 6. Similarly, the gear 21 fixed to the rotation shaft of the second motor 19 is meshed with substantially the center of the gear portion 16 a of the second transmission plate 16, and the second transmission plate 16 is an upright wall of the main frame 3. Both are separated from the independent spacer 8 fixed to 3b and the common stopper 6.

  When the operation lever 2 is swung from the neutral position in the direction of the arrow X1 in FIG. 6 (left side in the X direction in FIG. 5), for example, the first driver 11 and the first transmission plate 14 are centered on the shaft portion 11a. As shown in FIG. 7, the first transmission plate 14 that rotates integrally in the counterclockwise direction of the drawing and rotates along the inner surface of one of the standing walls 3 a has an independent stopper 8 that faces the rotation direction. At the time of contact, the rotational operation of the first driving body 11 stops and the swing angle of the operation lever 2 in the X1 direction is defined. During this time, the rotation of the first driving body 11 is accelerated by the gear portion 14a of the first transmission plate 14 and the gear 20 and transmitted to the first code plate 22. At the same time, the rotation shaft of the first motor 18 is rotated. Therefore, the inertial energy stored in the first motor 18 is a force for rotating the first transmission plate 14 when the swing angle of the operation lever 2 is defined. The rotational force acting on the gear portion 14 a is received by the independent stopper 8 that contacts the first transmission plate 14. On the contrary, when the operation lever 2 is swung from the neutral position in the direction of the arrow X2 in FIG. 6 (right side in the X direction in FIG. 5), the first driver 11 and the first transmission plate 14 move the shaft portion 11a. When the first transmission plate 14 comes into contact with the shared stopper 6 facing the rotation direction as shown in FIG. Is stopped, and the swing angle of the operation lever 2 in the X2 direction is defined. In this case as well, when the swing angle of the operating lever 2 is defined, the inertia energy stored in the first motor 18 acts on the gear portion 14a as a force to rotate the first transmission plate 14. The rotational force is received by the common stopper 6 that contacts the first transmission plate 14. Thus, the pair of stoppers (common stopper 6 and independent spacer 8) that define the swing angle of the operating lever 2 and the gear portion 14a that receives the inertial energy of the first motor 18 are both the first transmission plate 14. Since the first motor 18 and the first transmission plate 14 are installed in the same rotation plane, the load from the first motor 18 applied to the shaft portion 11a which is the bearing portion of the first transmission body 11 and the first transmission plate 14 is reduced. The twist of the drive body 11 can be prevented, and the life of the bearing portion (shaft portion 11a) of the first drive body 11 can be extended.

  Although not shown, the same applies when the operating lever 2 is swung in the Y-Y direction of FIG. 5, and the second driving body 12 and the second transmission plate 16 are accompanied by the swinging operation of the operating lever 2. Is rotated integrally with the shaft portion 12a in the same direction, and the second transmission plate 16 that rotates along the inner surface of the other upright wall 3b is connected to the common stopper 6 or the independent stopper 8 facing the rotation direction. At the time of contact, the rotation operation of the second driving body 12 stops and the swing angle of the operation lever 2 in the YY direction is defined. In this case as well, when the swing angle of the operation lever 2 is defined, the inertia energy stored in the second motor 19 acts on the gear portion 16a as a force to rotate the second transmission plate 16. Since the rotational force is received by the common stopper 6 or the independent stopper 8 that contacts the second transmission plate 14, the second driving body 12 and the second transmission plate 16 are applied to the shaft portion 12a that is the bearing portion. The load from the second motor 19 can be reduced, the twist of the second drive body 12 can be prevented, and the life of the bearing portion (shaft portion 12a) of the second drive body 12 can be extended.

  In the above-described embodiment, the case where the first and second transmission plates 14 and 16 are integrated with the first and second drive bodies 11 and 12 by screwing has been described. The first driver 11 and the first transmission plate 14, and the second driver 12 and the second transmission plate 16 may be integrated in advance.

  In the above-described embodiment, the rotation angle on one direction side of the first and second transmission plates 14 and 16 is defined by one common stopper 6. It is also possible to use a stopper. In this case, the rotation angles on both sides of the first and second transmission plates 14 and 16 are defined using a total of four independent stoppers.

1 is an external view of a haptic input device according to an embodiment of the present invention. FIG. FIG. 3 is an exploded perspective view of the force sense input device. It is a perspective view of this force sense giving type input device. It is a perspective view which abbreviate | omits and shows a part of support body from this force sense provision type input device. It is a top view of this force sense giving type input device. It is explanatory drawing which shows the stopper structure with which this force sense provision type input device is equipped. It is operation | movement explanatory drawing of this stopper structure. It is operation | movement explanatory drawing of this stopper structure. It is a top view which shows the internal structure of the force sense provision type input device which concerns on a prior art example.

Explanation of symbols

2 Operation lever 3 Main frame 3a, 3b Standing wall 4 Subframe 4a, 4b Support wall 5 Lower frame 6 Shared stopper 8 Independent spacer 11 First drive body 12 Second drive body 11a, 12a Shaft portion 14 First transmission Plate 16 Second transmission plate 14a, 16a Gear portion 18 First motor 19 Second motor 20, 21 Gear

Claims (3)

An operation lever that is manually swung by an operator, a drive body that rotates in conjunction with the rocking operation of the operation lever, a support body that rotatably supports the drive body with a bearing portion as a fulcrum, and the drive A transmission plate having a gear portion integrated with the body and extending in an arc shape around the bearing portion on the tip side, and a motor for applying an external force to the operation lever via a gear meshing with the gear portion,
A stopper is provided in the plane of rotation of the transmission plate through the transmission plate. When the operation lever is swung in an arbitrary direction, the transmission plate abuts against the stopper, thereby swinging the operation lever. A force sense input device characterized in that a moving angle is defined.   2. The drive unit according to claim 1, wherein two sets of power transmission mechanisms, each including the drive body, the transmission plate, and the motor, are provided, and the pair of drive bodies provided in both the power transmission mechanisms are arranged with respect to each other. And a plurality of the stoppers are provided on the support body so as to be orthogonal to each other.   3. The haptic input device according to claim 2, wherein one of the plurality of stoppers is provided at a crossing position between two rotation planes of the pair of transmission plates orthogonal to each other.

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