JP2010039911A - Operation lever load application device - Google Patents

Operation lever load application device Download PDF

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JP2010039911A
JP2010039911A JP2008204229A JP2008204229A JP2010039911A JP 2010039911 A JP2010039911 A JP 2010039911A JP 2008204229 A JP2008204229 A JP 2008204229A JP 2008204229 A JP2008204229 A JP 2008204229A JP 2010039911 A JP2010039911 A JP 2010039911A
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reaction force
operation lever
force application
application member
rotation
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Tomomasa Shimizu
智巨 清水
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Tokai Rika Co Ltd
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Tokai Rika Co Ltd
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  • Rotary Switch, Piano Key Switch, And Lever Switch (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a plurality of reaction force modes by applying a definite reaction force to an operation lever. <P>SOLUTION: An operation lever load application device 1 is configured of a first reaction force application member 6; a second reaction force application member 7; a motor 11; a first contact sensor 12; a second contact sensor 13; a rotation detection device 14; and a control circuit. When the first contact sensor 12 detects the contact of an operation lever 2 to the first reaction force application member 6, and the second contact sensor 13 detects the contact of the operation lever 2 to the second reaction force application member 7, the control circuit rotationally drives the motor 11. When the rotation detection device 14 detects one rotation, the control circuit stops the driving of the motor 11. The reaction force application member 6(7) are formed such that the eccentric cam shapes are different between a rear side edge section 6U(7U) and a front side edge section 6M(7M), and tapered so as to be continuously changed in an axial direction. The position of the reaction force application member 6(7) corresponding to the operation lever 2 is changed by a position changing means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は操作レバーの操作時に操作負荷を付与する操作レバー負荷付与装置に関する。   The present invention relates to an operating lever load applying device that applies an operating load when operating an operating lever.

従来、操作レバーにおける操作負荷付与調整装置は、使用者が操作したときに、使用者に操作感を与えるためのものである。例えば特許文献１に記載の該操作レバー負荷付与装置は、揺動される操作レバーの基端部の揺動体を設け、この揺動体の一端側と、他端側とに、それぞれ、プッシュロッド、ばね、モータ、モータの回転を上下動に変換する上下動機構（ボールねじ機構）などを設け、操作レバーが一方向へ揺動されると、この揺動体の一端部を前記プッシュロッドを介し前記ばねで元方向へ付勢すると共に、前記モータを回転させ、上下動機構によりばねの圧縮度を変化させて付勢を調整する構成としている（例えば特許文献１）。   2. Description of the Related Art Conventionally, an operation load application adjusting device in an operation lever is for giving an operational feeling to a user when operated by the user. For example, the operation lever load applying device described in Patent Document 1 includes a rocking body at a base end portion of a rocking operation lever. A push rod is provided on one end side and the other end side of the rocking body, respectively. A spring, a motor, a vertical movement mechanism (ball screw mechanism) that converts the rotation of the motor into a vertical movement is provided, and when the operation lever is swung in one direction, one end of the rocking body is connected to the above-described push rod via the push rod. The spring is biased in the original direction, and the motor is rotated, and the bias is adjusted by changing the compression degree of the spring by a vertical movement mechanism (for example, Patent Document 1).

また、特許文献２に記載の操作抵抗感知型ジョイスティック装置は、ジョイスティック部材が軽く操作できないように、ジョイスティック部材の一方向側と他方向側とに、それぞれ油圧シリンダを設け、これら油圧シリンダによりジョイスティック部材に操作抵抗を与えるようにしている。
特開平８−２５５０３２号公報 特開平６−１４９４００号公報 Further, the operation resistance sensing joystick device described in Patent Document 2 is provided with hydraulic cylinders on one side and the other side of the joystick member so that the joystick member cannot be operated lightly. The operation resistance is given to.
JP-A-8-255032 JP-A-6-149400

上記特許文献１の構成では、ばね力によってスローな操作抵抗を得ることが可能であるが、ばね力に依存しているため、クリック感のような明確な反力を得ることはできないという欠点があった。
また上記特許文献２の構成においても、油圧シリンダにより操作抵抗を付与できるものの、クリック感のような明確な反力を得ることはできないという欠点があった。また、上記いずれの構成においても、反力付与が画一的であった。 In the configuration of Patent Document 1, it is possible to obtain a slow operation resistance by a spring force, but since it depends on the spring force, there is a drawback that a clear reaction force such as a click feeling cannot be obtained. there were.
The configuration of Patent Document 2 also has a drawback that a clear reaction force such as a click feeling cannot be obtained, although an operating resistance can be provided by a hydraulic cylinder. In any of the above configurations, the reaction force is uniform.

本発明は上述の事情に鑑みてなされたものであり、その目的は、操作レバーに明確な反力を付与することができ、且つ反力形態を無段階に選択的に得ることができる操作レバー負荷付与装置を提供することにある。   The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation lever that can give a clear reaction force to the operation lever and can selectively obtain a reaction force form steplessly. The object is to provide a load applying device.

請求項１の発明は、一端部を中心として揺動可能に設けられ、通常は元位置で立設状態にあり、他端部が操作力を受けて所定方向へ操作される操作レバーを備え、該操作レバーに対する前記所定方向への操作時に、操作負荷を付与する操作レバー負荷付与装置であって、短径部分及び長径部分を備えた偏心カム形状をなし、前記操作レバーの前記元位置で該操作レバーと離間し、該操作レバーの前記所定方向の揺動時に該操作レバーと前記短径部分が当接する反力付与部材と、この反力付与部材を回転させるモータと、前記操作レバーが前記反力付与部材に当接したことを検出する当接検出手段と、前記反力付与部材の１回転を検出する回転検出手段と、前記当接検出手段が前記当接を検出したときに、前記モータを回転駆動させ、前記回転検出手段が前記反力付与部材の１回転を検出したときに前記モータの駆動を停止させる制御手段とを備え、前記反力付与部材は、軸方向の一端部と他端部とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、前記操作レバーに対して前記反力付与部材の対応位置を変更する位置変更手段を設けてなるところに特徴を有する。   The invention of claim 1 is provided with an operating lever that is provided so as to be swingable around one end, and is normally in an upright state at the original position, and the other end is operated in a predetermined direction by receiving an operating force, An operation lever load applying device that applies an operation load when the operation lever is operated in the predetermined direction. The operation lever load application device has an eccentric cam shape having a short diameter portion and a long diameter portion, and the operation lever is at the original position of the operation lever. A reaction force application member that is spaced apart from the operation lever and abuts the operation lever and the short diameter portion when the operation lever swings in the predetermined direction, a motor that rotates the reaction force application member, and the operation lever includes the operation lever Contact detection means for detecting contact with the reaction force application member, rotation detection means for detecting one rotation of the reaction force application member, and when the contact detection means detects the contact, The motor is driven to rotate, and the rotation Control means for stopping the driving of the motor when the output means detects one rotation of the reaction force application member, and the reaction force application member has an eccentric cam at one end and the other end in the axial direction. The size of the shape is different, and the eccentric cam shape between the one end and the other end is formed into a tapered shape that continuously changes in the axial direction, and the reaction force applying member corresponds to the operation lever. It is characterized in that it is provided with position changing means for changing the position.

この請求項１の発明によれば、使用者が操作レバーを所定方向へ操作すると、該操作レバーが反力付与部材の短径部分に当接し、この当接を当接検出手段が検出する。すると制御手段がモータを回転駆動させ、回転検出手段が、反力付与部材の１回転を検出したところで該モータの駆動を停止させる。従って、反力付与部材が１回転し、この１回転のうちに、反力付与部材の長径部分が操作レバーを前記所定方向と反対方向へ押し戻すようになり、明確な反力を呈示することができる。さらに、前記反力付与部材が、軸方向の一端部と他端部とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、前記操作レバーに対して前記反力付与部材の対応位置を変更する位置変更手段を設けているから、前記操作レバーに対する前記反力付与部材の対応位置を変更することによって、反力呈示角度範囲や、異なる反力形態の切替を行うことが可能となり、反力バリエーションを種々を選択的に呈示させることができ、特に、反力形態を無段階に選択的に呈示でき、使い勝手が良い。   According to the first aspect of the present invention, when the user operates the operation lever in a predetermined direction, the operation lever contacts the short diameter portion of the reaction force applying member, and the contact detection means detects this contact. Then, the control means drives the motor to rotate, and the rotation detection means stops driving the motor when one rotation of the reaction force applying member is detected. Therefore, the reaction force applying member makes one rotation, and within this one rotation, the long diameter portion of the reaction force applying member pushes the operating lever back in the direction opposite to the predetermined direction, thereby presenting a clear reaction force. it can. Further, the reaction force applying member has different eccentric cam shapes at one end and the other end in the axial direction, and the eccentric cam shape between the one end and the other end is continuous in the axial direction. Since the position change means for changing the corresponding position of the reaction force applying member with respect to the operation lever is provided, the corresponding position of the reaction force applying member with respect to the operation lever is changed. By doing so, it is possible to switch between reaction force presentation angle ranges and different reaction force forms, and various reaction force variations can be selectively presented, and in particular, the reaction force forms can be selectively selected steplessly. It is easy to use.

請求項２の発明は、一端部を中心として一方向及び他方向へ揺動可能に設けられ、通常は元位置で立設状態にあり、他端部が操作力を受けて一方向及び他方向へ操作される操作レバーを備え、該操作レバーに対する操作時に、操作負荷を付与する操作レバー負荷付与装置であって、短径部分及び長径部分を備えた偏心カム形状をなし、前記操作レバーの前記中立位置で該操作レバーと離間し、該操作レバーの前記一方向の揺動時に該操作レバーと前記短径部分が当接する第１の反力付与部材と、短径部分及び長径部分を備えた偏心カム形状をなし、前記操作レバーの前記中立位置で該操作レバーと離間し、該操作レバーの前記他方向の揺動時に該操作レバーと前記短径部分が当接する第２の反力付与部材と、前記第１の反力付与部材と一体回転するように設けられた第１のギアと、前記第２の反力付与部材と一体回転するように設けられ前記第１のギアと同じ歯数の第２のギアと、これら第１のギアと第２のギアとに噛合する駆動ギアと、前記駆動ギアを回転させるモータと、前記操作レバーが前記第１の反力付与部材に当接したことを検出する第１の当接検出手段と、前記操作レバーが前記第２の反力付与部材に当接したことを検出する第２の当接検出手段と、前記第１の反力付与部材及び第２の反力付与部材の１回転を検出する回転検出手段と、前記第１の当接検出手段が前記当接を検出したとき及び前記第２の当接検出手段が前記当接を検出したときに、前記モータを回転駆動させ、前記回転検出手段が前記１回転を検出したときに前記モータの駆動を停止させる制御手段とを備え、前記第１の反力付与部材及び第２の反力付与部材は、それぞれ、軸方向の一端部と他端部とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、前記操作レバーに対して前記反力付与部材の対応位置を変更する位置変更手段を設けてなるところに特徴を有する。   The invention of claim 2 is provided so as to be swingable in one direction and the other direction around the one end portion, and is normally standing in the original position, and the other end portion receives the operating force in one direction and the other direction. An operating lever load applying device that includes an operating lever operated to the operating lever and applies an operating load when operating the operating lever, wherein the operating lever load applying device has an eccentric cam shape having a short diameter portion and a long diameter portion, and the operation lever A first reaction force applying member that is spaced apart from the operation lever in a neutral position and abuts the operation lever and the short diameter portion when the operation lever swings in the one direction; and a short diameter portion and a long diameter portion. A second reaction force applying member that has an eccentric cam shape, is spaced apart from the operation lever at the neutral position of the operation lever, and contacts the operation lever and the short diameter portion when the operation lever swings in the other direction. And integral rotation with the first reaction force application member A first gear provided to rotate, a second gear having the same number of teeth as the first gear provided to rotate integrally with the second reaction force applying member, and the first gear A drive gear meshing with the second gear, a motor for rotating the drive gear, a first contact detection means for detecting that the operation lever has contacted the first reaction force applying member, Second contact detection means for detecting that the operation lever has contacted the second reaction force applying member, and detecting one rotation of the first reaction force applying member and the second reaction force applying member. The rotation detection means, and when the first contact detection means detects the contact and when the second contact detection means detects the contact, the motor is driven to rotate and the rotation Control means for stopping the driving of the motor when the detecting means detects the one rotation; The first reaction force application member and the second reaction force application member have different eccentric cam shapes at one end and the other end in the axial direction, respectively. The shape of the eccentric cam is formed in a taper shape that continuously changes in the axial direction, and is provided with position changing means for changing the corresponding position of the reaction force applying member with respect to the operation lever. Have

この請求項２の発明によれば、操作レバーを一方向に操作すると、該操作レバーが第１の反力付与部材の短径部分に当接し、この当接を第１の当接検出手段が検出する。すると制御手段がモータを回転駆動させ、回転検出手段が、第１の反力付与部材の１回転を検出したところで、制御手段が、該モータの駆動を停止させる。従って、第１の反力付与部材が１回転し、この１回転のうちに、第１の反力付与部材の長径部分が操作レバーを前記一方向と反対方向へ押し戻すようになり、明確な反力を呈示することができる。   According to the second aspect of the present invention, when the operating lever is operated in one direction, the operating lever comes into contact with the short diameter portion of the first reaction force applying member, and this contact is detected by the first contact detecting means. To detect. Then, the control means drives the motor to rotate, and when the rotation detection means detects one rotation of the first reaction force applying member, the control means stops driving the motor. Accordingly, the first reaction force application member makes one rotation, and within this one rotation, the long diameter portion of the first reaction force application member pushes the operating lever back in the direction opposite to the one direction, and a clear reaction Can present power.

操作レバーを他方向に操作すると、該操作レバーが第２の反力付与部材の短径部分に当接し、この当接を第２の当接検出手段が検出する。すると制御手段がモータを回転駆動させ、回転検出手段が、第２の反力付与部材の１回転を検出したところで、制御手段が該モータの駆動を停止させる。従って、第２の反力付与部材が１回転し、この１回転のうちに、第２の反力付与部材の長径部分が操作レバーを前記他方向と反対方向へ押し戻すようになり、明確な反力を呈示することができる。   When the operation lever is operated in the other direction, the operation lever comes into contact with the short diameter portion of the second reaction force applying member, and this contact is detected by the second contact detection means. Then, the control means drives the motor to rotate, and when the rotation detection means detects one rotation of the second reaction force applying member, the control means stops driving the motor. Therefore, the second reaction force application member makes one rotation, and within this one rotation, the long diameter portion of the second reaction force application member pushes the operation lever back in the direction opposite to the other direction, and a clear reaction Can present power.

従って、往復揺動タイプの操作レバーの操作レバー負荷付与に好適する。この場合、一つのモータにより一方向及び他方向での反力付与を行うことができ、また、一つの回転検出手段により第１の反力付与部材及び第２の反力付与部材の１回転を検出できて、構成の簡単化及びコストの低廉化に寄与できる。   Therefore, it is suitable for applying an operating lever load to a reciprocating swing type operating lever. In this case, the reaction force can be applied in one direction and the other direction by one motor, and one rotation of the first reaction force application member and the second reaction force application member can be performed by one rotation detection means. It can be detected and can contribute to the simplification of the configuration and cost reduction.

さらに、前記第１の反力付与部材及び第２の反力付与部材が、それぞれ、軸方向の一端部と他端部とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、前記操作レバーに対して前記反力付与部材の対応位置を変更する位置変更手段を設けているから、前記操作レバーに対する前記反力付与部材の対応位置を変更することによって、反力呈示角度範囲や、異なる反力形態の切替を行うことが可能となり、反力バリエーションを種々を選択的に呈示させることができ、特に、反力形態を無段階に選択的に呈示でき、使い勝手が良い。   Further, the first reaction force application member and the second reaction force application member have different eccentric cam shapes at one end and the other end in the axial direction, respectively. Is formed in a tapered shape that continuously changes in the axial direction, and is provided with position changing means for changing the corresponding position of the reaction force applying member with respect to the operation lever. By changing the corresponding position of the reaction force applying member with respect to the operation lever, it is possible to switch the reaction force presentation angle range and different reaction force forms, and selectively present various reaction force variations. In particular, the reaction force form can be selectively presented steplessly, which is easy to use.

請求項３の発明は、請求項１の発明において、前記反力付与部材は、これが１回転する間に前記操作レバーの角度変位を正弦波状に変位させるカム形状となっているところに特徴を有する。
この請求項３の発明によれば、違和感の無い反力を呈示できる。
請求項４の発明は、請求項１の発明において、前記反力付与部材が、その軸方向の一端部と他端部とで、長径部分における径寸法が異なるところに特徴を有する。 The invention of claim 3 is characterized in that, in the invention of claim 1, the reaction force applying member has a cam shape that displaces the angular displacement of the operation lever in a sine wave form during one rotation of the reaction force applying member. .
According to the invention of claim 3, a reaction force without a sense of incongruity can be presented.
The invention according to claim 4 is characterized in that, in the invention according to claim 1, the reaction force applying member has different diameters at the major axis portion at one end and the other end in the axial direction.

この請求項４の発明によれば、反力付与角度範囲を変更することができる。
請求項５の発明は、請求項２の発明において、前記モータは一方向に回転駆動され、前記第１の反力付与部材及び第２の反力付与部材は、これらが１回転する間に前記操作レバーの角度変位を正弦波状に変位させるカム形状となっているところに特徴を有する。 According to the invention of claim 4, the reaction force application angle range can be changed.
According to a fifth aspect of the invention, in the second aspect of the invention, the motor is rotationally driven in one direction, and the first reaction force application member and the second reaction force application member are It is characterized by a cam shape that displaces the angular displacement of the operating lever in a sine wave shape.

この請求項４の発明によれば、モータが一方向に回転する構成でありながら、前記第１の反力付与部材及び第２の反力付与部材のいずれも、操作レバーに対して、正弦波状に角度変位させることができて、一方向及び他方向の双方とも、違和感の無い反力を呈示できる。   According to the fourth aspect of the present invention, although the motor rotates in one direction, both the first reaction force application member and the second reaction force application member are sinusoidal with respect to the operation lever. It is possible to cause an angular displacement, and it is possible to present a reaction force with no sense of incongruity in both one direction and the other direction.

請求項６の発明は、請求項２の発明において、前記第１の反力付与部材及び第２の反力付与部材が、それぞれ、その軸方向の一端部と他端部とで、長径部分における径寸法が異なるところに特徴を有する。
この請求項６の発明によれば、一方向及び他方向の双方とも、反力付与角度範囲を変更することができる。 The invention according to claim 6 is the invention according to claim 2, wherein the first reaction force application member and the second reaction force application member are respectively in the major axis portion at one end portion and the other end portion thereof in the axial direction. It is characterized by different diameter dimensions.
According to the invention of claim 6, the reaction force application angle range can be changed in both the one direction and the other direction.

本発明の操作レバー負荷付与装置によれば、操作レバーに明確な反力を付与することができ、且つ反力形態を無段階に選択的に得ることができる。   According to the operation lever load applying device of the present invention, a clear reaction force can be applied to the operation lever, and the reaction force form can be selectively obtained steplessly.

以下、本発明の第１の実施例につき図１ないし図１４を参照して説明する。図１〜図７に示す操作レバー負荷付与装置１は、操作レバー２に対して操作負荷を付与するものである。操作レバー２は、一端部（下端部）に球体部２ａを備え、この球体部２ａがベース３に設けられた球体受４に揺動可能に保持されており、従って、該操作レバー２は、一端部を中心として一方向（矢印Ｌ方向）及び他方向（矢印Ｒ方向）へ揺動可能に設けられている。この操作レバー２は、例えば車両における表示器の例えば縦に並べられた、あるいは横に並べられた表示アイコンなどを指示するためなどに用いられる。   The first embodiment of the present invention will be described below with reference to FIGS. The operation lever load applying device 1 shown in FIGS. 1 to 7 applies an operation load to the operation lever 2. The operation lever 2 includes a sphere portion 2a at one end (lower end portion), and the sphere portion 2a is swingably held by a sphere receiver 4 provided on the base 3. Therefore, the operation lever 2 is It is provided so as to be able to swing in one direction (arrow L direction) and the other direction (arrow R direction) around one end. The operation lever 2 is used for instructing, for example, display icons arranged vertically or horizontally on a display in a vehicle, for example.

この操作レバー２は、図示しないばねにより通常は元位置Ｃで立設状態に保持されており、他端部２ｂは、拘束板５の直線状のスリット５ａ内に配置されており、該操作レバー２の揺動方向が前記一方向及び他方向に拘束されると共に、該操作レバー２に対して揺動限度位置を与えるようになっている。この拘束板５は、前記ベース３に図示しない取付手段を介して取付けられている。   The operation lever 2 is normally held upright at the original position C by a spring (not shown), and the other end 2b is disposed in a linear slit 5a of the restraint plate 5, and the operation lever The two swing directions are constrained in the one direction and the other direction, and a swing limit position is given to the operation lever 2. The restraint plate 5 is attached to the base 3 via attachment means (not shown).

前記操作レバー負荷付与装置１は、第１の反力付与部材６と、第２の反力付与部材７と、第１のギア８と、第２のギア９と、駆動ギア１０と、モータ１１と、第１の当接センサ１２と、第２の当接センサ１３と、回転検出装置１４と、制御回路１５（図８参照）と、位置変更装置２３（図４〜図７参照）を備えて構成されている。   The operation lever load applying device 1 includes a first reaction force applying member 6, a second reaction force applying member 7, a first gear 8, a second gear 9, a drive gear 10, and a motor 11. A first contact sensor 12, a second contact sensor 13, a rotation detection device 14, a control circuit 15 (see FIG. 8), and a position changing device 23 (see FIGS. 4 to 7). Configured.

上記第１の反力付与部材６と第１のギア８とは、回転軸１６に一体回転するように設けられている。この回転軸１６の両端部は、側面形状がほぼＵ状をなすフレーム１７の前板部１７ａ及び後板部１７ｂに、該操作レバー２より矢印Ｌ方向側に位置して、回転可能に支持されている。   The first reaction force applying member 6 and the first gear 8 are provided so as to rotate integrally with the rotary shaft 16. Both ends of the rotary shaft 16 are rotatably supported by the front plate portion 17a and the rear plate portion 17b of the frame 17 having a substantially U-shaped side surface, positioned on the arrow L direction side from the operation lever 2. ing.

前記フレーム１７は、前記ベース３に図５の矢印Ｆ方向及び図６のＧ方向へ移動可能に設けられており、該フレーム１７の底板部１７ｃには長孔１７ｄが形成されており、この長孔１７ｄ内に前記球体受４が位置している。
第１の反力付与部材６は、図１〜図６に示すように、軸方向の一端部（後側端部６Ｕ）と他端部（前側端部６Ｍ）とで、偏心カム形状の大きさが異なる。図３には、該後側端部６Ｕの極近くの部分の断面形状を示し、図４には前側端部６Ｍの極近くの断面形状を示している。 The frame 17 is provided in the base 3 so as to be movable in the direction of arrow F in FIG. 5 and in the direction G in FIG. 6. A long hole 17 d is formed in the bottom plate portion 17 c of the frame 17. The spherical body receiver 4 is located in the hole 17d.
As shown in FIGS. 1 to 6, the first reaction force applying member 6 has an eccentric cam shape at one end (rear end 6U) and the other end (front end 6M) in the axial direction. Is different. FIG. 3 shows a cross-sectional shape of the portion near the pole of the rear end 6U, and FIG. 4 shows a cross-section of the portion near the pole of the front end 6M.

前記第１の反力付与部材６の後側端部６Ｕの偏心カム形状について述べると、図３に示すように、後側端部６Ｕは、大別すると、短径部分６ａ（角度範囲Ｈａで示す部分、長径部分に比して短径な部分）と長径部分６ｂ（角度範囲Ｈｂで示す部分）とを備えた偏心カム形状をなしている。   The eccentric cam shape of the rear end portion 6U of the first reaction force application member 6 will be described. As shown in FIG. 3, the rear end portion 6U is roughly divided into a short diameter portion 6a (in the angle range Ha). And an eccentric cam shape having a long diameter portion 6b (a portion indicated by an angle range Hb) and a long diameter portion 6b (a portion indicated by an angle range Hb).

前側端部６Ｍも、大別すると、図４に示すように、短径部分６ａ（角度範囲Ｉａで示す部分、長径部分に比して短径な部分）と長径部分６ｂ（角度範囲Ｉｂで示す部分）とを備えた偏心カム形状をなしており、この場合、長径部分６ｂの最大径寸法は、前記後側端部６Ｕの長径部分６ｂの最大径寸法より若干短く設定されている。   As shown in FIG. 4, the front end 6M is also roughly divided, as shown in FIG. In this case, the maximum diameter of the long diameter portion 6b is set slightly shorter than the maximum diameter of the long diameter portion 6b of the rear end 6U.

そして、第１の反力付与部材６は、該後側端部６Ｕと前側端部６Ｍとの間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成されている（図７参照）。
この第１の反力付与部材６は、前記操作レバー２の前記中立位置Ｃで該操作レバー２と離間し、該操作レバー２の前記矢印Ｌ方向への揺動時に該操作レバー２と前記短径部分６ａが当接する。 The first reaction force applying member 6 is formed in a tapered shape in which the eccentric cam shape between the rear end portion 6U and the front end portion 6M continuously changes in the axial direction (FIG. 7). reference).
The first reaction force applying member 6 is separated from the operation lever 2 at the neutral position C of the operation lever 2, and when the operation lever 2 swings in the arrow L direction, The diameter part 6a contacts.

上記第２の反力付与部材７と第２のギア９とは、回転軸１８に一体回転するように設けられており、この回転軸１８の両端部は、前記フレーム１７の前板部１７ａ及び後板部１７ｂに、該操作レバー２より矢印Ｒ方向側に位置して、回転可能に支持されている。この場合、第２の反力付与部材７は、前記第１の反力付与部材６と同じ形状をなしている。すなわち、第２の反力付与部材７は、図１〜図６に示すように、軸方向の一端部（後側端部７Ｕ）と他端部（前側端部７Ｍ）とで、偏心カム形状の大きさが異なる。図３には、該後側端部７Ｕの極近くの部分の断面形状を示し、図４には前側端部７Ｍの極近くの断面形状を示している。そして、この第２の反力付与部材７は、該後側端部７Ｕと前側端部７Ｍとの間での偏心カム形状が軸方向で連続的に変化する（小さくなる）テーパー状に形成されている。   The second reaction force applying member 7 and the second gear 9 are provided so as to rotate integrally with the rotating shaft 18, and both ends of the rotating shaft 18 are connected to the front plate portion 17 a of the frame 17 and the second plate 9. The rear plate portion 17b is positioned on the arrow R direction side from the operation lever 2 and is rotatably supported. In this case, the second reaction force application member 7 has the same shape as the first reaction force application member 6. That is, as shown in FIGS. 1 to 6, the second reaction force applying member 7 has an eccentric cam shape at one end (rear end 7U) and the other end (front end 7M) in the axial direction. The size of is different. FIG. 3 shows a cross-sectional shape of a portion near the pole of the rear end portion 7U, and FIG. 4 shows a cross-sectional shape of the portion near the pole of the front end portion 7M. The second reaction force applying member 7 is formed in a tapered shape in which the eccentric cam shape between the rear end portion 7U and the front end portion 7M continuously changes (decreases) in the axial direction. ing.

前記他方の反力付与部材７の後側端部７Ｕの偏心カム形状について述べると、図３に示すように、後側端部７Ｕは、大別すると、短径部分７ａ（角度範囲Ｈａで示す部分、長径部分に比して短径な部分）と長径部分７ｂ（角度範囲Ｈｂで示す部分）とを備えた偏心カム形状をなしている。   The eccentric cam shape of the rear end portion 7U of the other reaction force applying member 7 will be described. As shown in FIG. 3, the rear end portion 7U is roughly divided into a short diameter portion 7a (indicated by an angle range Ha). It has an eccentric cam shape including a portion, a portion having a shorter diameter than that of the longer diameter portion) and a longer diameter portion 7b (a portion indicated by an angle range Hb).

前側端部７Ｍも、大別すると、図４に示すように、短径部分７ａ（角度範囲Ｉａで示す部分、長径部分に比して短径な部分）と長径部分７ｂ（角度範囲Ｉｂで示す部分）とを備えた偏心カム形状をなしており、この場合、長径部分７ｂの最大径寸法は、前記後側端部７Ｕの長径部分７ｂの最大径寸法より若干短く設定されている。   As shown in FIG. 4, the front end portion 7M is also roughly divided, as shown in FIG. In this case, the maximum diameter of the long diameter portion 7b is set slightly shorter than the maximum diameter of the long diameter portion 7b of the rear end 7U.

そして、第２の反力付与部材７は、該後側端部７Ｕと前側端部７Ｍとの間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成されている（図７参照）。
この第２の反力付与部材７は、前記操作レバー２の前記中立位置Ｃで該操作レバー２と離間し、該操作レバー２の前記矢印Ｒ方向への揺動時に該操作レバー２と前記短径部分７ａが当接する。 The second reaction force applying member 7 is formed in a tapered shape in which the eccentric cam shape between the rear end portion 7U and the front end portion 7M continuously changes in the axial direction (FIG. 7). reference).
The second reaction force applying member 7 is separated from the operation lever 2 at the neutral position C of the operation lever 2, and when the operation lever 2 swings in the arrow R direction, The diameter part 7a contacts.

この第１の反力付与部材６と、第２の反力付与部材７との角度関係は、１８０度ずれた関係にあり、図３に示すように、第１の反力付与部材６の基準点Ｋは、第２の反力付与部材７ではＫ´で示され、また、第１の反力付与部材７における操作レバー２との最初の当接点Ｓは、第２の反力付与部材７ではＳ´で示される。   The angular relationship between the first reaction force application member 6 and the second reaction force application member 7 is shifted by 180 degrees, and the reference of the first reaction force application member 6 is shown in FIG. The point K is indicated by K ′ in the second reaction force application member 7, and the first contact point S with the operation lever 2 in the first reaction force application member 7 is the second reaction force application member 7. This is indicated by S ′.

第１の反力付与部材６と第２の反力付与部材７とは同じ偏心カム形状であるので、第１の反力付与部材６の偏心カム形状について述べる。まず、後側端部６Ｕのカム形状について述べる。図９に示すように操作レバー２の回動角度（当接位置からの回動角度）をθ（ｔ）［deg］と、第１の反力付与部材６の一方の反力付与部６１の回転角度をα［deg］とし、第１の反力付与部材６の１回転（操作レバー２が当接してからの第１の反力付与部材６の１回転）の設定時間をＢ［ms］（図１０参照）とし、基準点Ｋと操作レバー２の接触点との角度をγ［deg］とし、第１の反力付与部材６の回転中心と上記接触点との距離をＡ［mm］とすると、
時間Ｂに対して、操作レバー２の角度θ（ｔ）が図１０（ａ）で示す正弦波状となるように設定している。なお、本実施例では、前記時間Ｂを４００［ms］とし、一方の反力付与部６１の１回転での操作レバー２の回動角度θ（ｔ）を３０［deg］としている。 Since the first reaction force application member 6 and the second reaction force application member 7 have the same eccentric cam shape, the eccentric cam shape of the first reaction force application member 6 will be described. First, the cam shape of the rear end 6U will be described. As shown in FIG. 9, the rotation angle of the operation lever 2 (the rotation angle from the contact position) is θ (t) [deg], and one reaction force application portion 61 of the first reaction force application member 6 The rotation angle is α [deg], and the set time of one rotation of the first reaction force applying member 6 (one rotation of the first reaction force applying member 6 after the operation lever 2 abuts) is B [ms]. (See FIG. 10), the angle between the reference point K and the contact point of the operation lever 2 is γ [deg], and the distance between the rotation center of the first reaction force applying member 6 and the contact point is A [mm]. Then,
With respect to time B, the angle θ (t) of the control lever 2 is set to be a sine wave as shown in FIG. In the present embodiment, the time B is set to 400 [ms], and the rotation angle θ (t) of the operation lever 2 in one rotation of one reaction force applying unit 61 is set to 30 [deg].

このとき、図１０（ｃ）に示すように、前記距離Ａは、上記操作レバー２の角度θ（ｔ）に対して、直線的に変化するように設定し、また、前記γは、図１０（ｂ）に示すように、定めておく。この場合、時間Ｂに対応する任意の点θ´から、図１０（ｃ）で対応する点Ａ´と、図１０（ｂ）で対応する点γ´とを求め、これらから図１０（ｄ）で示す反力付与部材の径ｄ´が求まる。この径ｄ´の３６０[deg]分が反力付与部６１のカム形状となる。   At this time, as shown in FIG. 10C, the distance A is set so as to change linearly with respect to the angle θ (t) of the operation lever 2, and the γ is set as shown in FIG. As shown in FIG. In this case, a point A ′ corresponding in FIG. 10C and a point γ ′ corresponding in FIG. 10B are obtained from an arbitrary point θ ′ corresponding to the time B, and FIG. The diameter d ′ of the reaction force applying member indicated by is obtained. 360 [deg] of this diameter d ′ is the cam shape of the reaction force applying portion 61.

また、前記第１の反力付与部材６の前側端部６Ｍは、短径部分６ａについては後側端部６Ｕの短径部分６１ａとほぼ同じ形状であるが、該前側端部６Ｍの長径部分６２ｂが後側端部６Ｕの長径部分６ｂより若干短めとなるように設定されている。
この前側端部６Ｍも、時間Ｂに対して、操作レバー２の角度θ（ｔ）が図１１（ａ）で示す正弦波状となるように設定している。なお、該前側端部６Ｍの１回転での操作レバー２の当接位置からの回動角度θ（ｔ）を２５［deg］としている。 Further, the front end portion 6M of the first reaction force applying member 6 has substantially the same shape as the short diameter portion 61a of the rear end portion 6U with respect to the short diameter portion 6a, but the long diameter portion of the front end portion 6M. 62b is set to be slightly shorter than the long diameter portion 6b of the rear end 6U.
This front end portion 6M is also set so that the angle θ (t) of the operation lever 2 becomes a sine wave shape shown in FIG. The rotation angle θ (t) from the contact position of the operation lever 2 in one rotation of the front end 6M is set to 25 [deg].

前記モータ１１は、前記フレーム１７の前板部１７ａ外面に取付けられており、これの回転軸は、該前板部１７ａの孔部を通して、該前板部１７ａ内面側に突出している。このモータ１１の回転軸の突出部に前記駆動ギア１０が一体回転し得るように取付けられており、この駆動ギア１０は前記第１のギア８と第２のギア９とに噛合している。
上記モータ１１は一方向である矢印Ｄ方向へ回転するものであり、従って前記第１のギア８、第２のギア９、第１の反力付与部材６、第２の反力付与部材７は矢印Ｅ方向に回転する。 The motor 11 is attached to the outer surface of the front plate portion 17a of the frame 17, and the rotation shaft of the motor 11 projects to the inner surface side of the front plate portion 17a through the hole of the front plate portion 17a. The drive gear 10 is attached to the projecting portion of the rotating shaft of the motor 11 so as to rotate integrally. The drive gear 10 meshes with the first gear 8 and the second gear 9.
The motor 11 rotates in the direction of arrow D, which is one direction. Therefore, the first gear 8, the second gear 9, the first reaction force applying member 6, and the second reaction force applying member 7 are Rotate in the direction of arrow E.

前記第１の当接センサ１２は、例えばリミットスイッチから構成され、前記拘束板５の下部に、前記操作レバー２の矢印Ｌ方向側の揺動限度位置となるように、取付部１９を介して取付けられている。この第１の当接センサ１２は、前記操作レバー２が第１の反力付与部材６に当接したときに該操作レバー２が該第１の当接センサ１２に当接する位置にあり、もって、この第１の当接センサ１２は、前記操作レバー２が第１の反力付与部材６に当接したことを検出するものである。   The first abutment sensor 12 is composed of, for example, a limit switch, and is attached to the lower portion of the restraint plate 5 via an attachment portion 19 so as to be a rocking limit position of the operation lever 2 on the arrow L direction side. Installed. The first contact sensor 12 is in a position where the operation lever 2 contacts the first contact sensor 12 when the operation lever 2 contacts the first reaction force applying member 6. The first contact sensor 12 detects that the operation lever 2 is in contact with the first reaction force applying member 6.

前記第２の当接センサ１３も、例えばリミットスイッチから構成され、前記拘束板５の下部に、前記操作レバー２の矢印Ｒ方向側の揺動限度位置となるように、取付部２０を介して取付けられている。この第２の当接センサ１３は、前記操作レバー２が第２の反力付与部材７に当接したときに該操作レバー２が該第２の当接センサ１３に当接する位置にあり、もって、この第２の当接センサ１３は、前記操作レバー２が第２の反力付与部材７に当接したことを検出するものである。   The second abutment sensor 13 is also composed of, for example, a limit switch, and is attached to the lower part of the restraint plate 5 via a mounting portion 20 so as to be a swing limit position on the arrow R direction side of the operation lever 2. Installed. The second contact sensor 13 is in a position where the operation lever 2 contacts the second contact sensor 13 when the operation lever 2 contacts the second reaction force applying member 7. The second contact sensor 13 detects that the operation lever 2 is in contact with the second reaction force applying member 7.

前記回転検出装置１４は、前記第１のギア８に付設された反射板２１ａ、２１ｂと、光センサ２２とから構成されている。
前記反射板２１ａは、１回転検出用であり、反射板２１ｂは１／２回転検出用である。前記光センサ２２は、前記フレーム１７の前板部１７ａ外面に取付けられており、該前板部１７ａに形成された孔部１７ｅを通して前記反射板２１ａ、２１ｂを光学的に検出する。光センサ２２が反射光を１回検出すると、第１の反力付与部材６及び第２の反力付与部材７の１／２回転を検出し、２回検出すると、１回転を検出する。 The rotation detection device 14 includes reflectors 21 a and 21 b attached to the first gear 8 and an optical sensor 22.
The reflection plate 21a is for one rotation detection, and the reflection plate 21b is for 1/2 rotation detection. The optical sensor 22 is attached to the outer surface of the front plate portion 17a of the frame 17, and optically detects the reflection plates 21a and 21b through a hole portion 17e formed in the front plate portion 17a. When the optical sensor 22 detects the reflected light once, 1/2 rotation of the first reaction force applying member 6 and the second reaction force applying member 7 is detected, and when detected twice, one rotation is detected.

前記位置変更装置２３は、フレーム１７を図５に示す位置（操作レバー２に対して後側端部６Ｕ及び７Ｕが対向する位置）と、図６に示す位置（操作レバー２に対して前側端部６Ｍ及び７Ｍが対向する位置）との間の任意の位置に移動させるものでる。この位置変更装置２３は、フレーム１７の後板部１７ｂに後方へ指向するように取付けたボールねじ２４と、前記ベース３に設けられた駆動機構２５とを備えて構成されている。   The position changing device 23 has the frame 17 at the position shown in FIG. 5 (position where the rear end portions 6U and 7U face the operation lever 2) and the position shown in FIG. It is moved to an arbitrary position between the positions 6M and 7M. The position changing device 23 includes a ball screw 24 attached to the rear plate portion 17 b of the frame 17 so as to be directed rearward, and a drive mechanism 25 provided on the base 3.

前記駆動機構２５は、機構ケース２５ａ内部に、前記ボールねじ２４と図示しないボールを介して回転可能に噛合するボール軸受（図示せず）及び正逆回転可能な位置選択モータ２６（図８参照）を備えている。この位置選択モータ２６によりボール軸受を一方向回転させることにより、図５の状態のボールねじ２４を矢印Ｆ方向へ移動させ（フレーム１７を同方向へ移動させ）、位置選択モータ２６によりボール軸受を他方向回転させることにより、図６の状態のボールねじ２４を矢印Ｇ方向へ移動させる（フレーム１７を同方向へ移動させる）ものである。この移動位置の制御は、例えば図示しないエンコーダによりボール軸受の回転数を検出することで行う。なお、この移動位置を指令する手段として移動位置設定スイッチ２７（図８参照）を備えている。   The drive mechanism 25 includes a ball bearing (not shown) that meshes with the ball screw 24 via a ball (not shown) and a position selection motor 26 (see FIG. 8) that can rotate forward and backward. It has. By rotating the ball bearing in one direction by this position selection motor 26, the ball screw 24 in the state of FIG. 5 is moved in the direction of arrow F (the frame 17 is moved in the same direction), and the ball bearing is moved by the position selection motor 26. By rotating in the other direction, the ball screw 24 in the state of FIG. 6 is moved in the direction of arrow G (the frame 17 is moved in the same direction). This movement position is controlled by, for example, detecting the rotation speed of the ball bearing with an encoder (not shown). A moving position setting switch 27 (see FIG. 8) is provided as means for instructing the moving position.

前記制御回路１５（図８参照）は、ＣＰＵ、ＲＯＭ、ＲＡＭなどを備えたマイクロコンピュータなどを含んで構成されており、この制御回路１５は、制御手段として機能するものである。   The control circuit 15 (see FIG. 8) includes a microcomputer having a CPU, ROM, RAM, and the like, and this control circuit 15 functions as a control means.

この制御回路１５の入力側に、前記第１の当接センサ１２、第２の当接センサ１３、光センサ２２が接続されているとともに、前記移動位置設定スイッチ２７が接続されている。また制御回路１５の出力側にモータ１１及び前記位置選択モータ２６が接続されている。   The first contact sensor 12, the second contact sensor 13, and the optical sensor 22 are connected to the input side of the control circuit 15, and the movement position setting switch 27 is connected. The motor 11 and the position selection motor 26 are connected to the output side of the control circuit 15.

前記制御回路１５の制御内容を図１２のフローチャートを参照して述べる。ステップＳ１で前記第１の当接センサ１２が、第１の反力付与部材６に対する操作レバー２の当接を検出したか否かを判断し、当接を検出していなければ、ステップＳ２で、第２の当接センサ１３が、第２の反力付与部材７に対する操作レバー２の当接を検出したか否かを判断する。   The control contents of the control circuit 15 will be described with reference to the flowchart of FIG. In step S1, it is determined whether or not the first contact sensor 12 detects the contact of the operation lever 2 with respect to the first reaction force applying member 6. If the contact is not detected, the process proceeds to step S2. Then, it is determined whether or not the second contact sensor 13 detects the contact of the operation lever 2 with respect to the second reaction force applying member 7.

そして、ステップＳ１またはステップＳ２で前記当接が検出されると、ステップＳ３に移行してモータ１１を回転駆動させる。そして、ステップＳ４で、前記回転検出センサ４が前記１回転を検出したときに、ステップＳ５で前記モータ１１の駆動を停止させる。   When the contact is detected in step S1 or step S2, the process proceeds to step S3 to drive the motor 11 to rotate. In step S4, when the rotation detection sensor 4 detects the one rotation, the driving of the motor 11 is stopped in step S5.

上記構成の作用を説明する。例えば反力付与のために第１の反力付与部材６の後側端部６Ｕ部分を使用する場合を説明する。この場合、フレーム１７は、位置変更装置２３により、図５に示す位置に移動されている。   The operation of the above configuration will be described. For example, the case where the rear side end portion 6U of the first reaction force application member 6 is used for reaction force application will be described. In this case, the frame 17 is moved to the position shown in FIG.

使用者が、操作レバーを図１の元位置状態から例えば矢印Ｌ方向に操作すると、図１３（ａ）で示すように、該操作レバー２が第１の反力付与部材６の後側端部６Ｕの短径部分６ａに当接し、この当接を第１の当接検出センサ１２が検出する。すると制御回路１５がモータ１１を矢印Ｄ方向（図１参照）へ回転駆動させる。これにより、駆動ギア１０、第１のギア８及び第２のギア９が回転し、第１の反力付与部材６及び第２の反力付与部材７が矢印Ｅ方向へ回転する（第１の反力付与部材６の後側端部６Ｕの回転途中（１／２回転前）状態を図１３（ｂ）に示す）。これにより操作レバー２が第１の反力付与部材６の後側端部６Ｕの長径部分６１ｂにより操作方向（矢印Ｌ方向）とは反対方向である矢印ＬＢ方向へ押し戻され、つまり、明確な反力が付与される。   When the user operates the operation lever from the original position in FIG. 1 in the direction of the arrow L, for example, the operation lever 2 moves to the rear end portion of the first reaction force applying member 6 as shown in FIG. The first contact detection sensor 12 detects the contact with the 6U short diameter portion 6a. Then, the control circuit 15 drives the motor 11 to rotate in the direction of arrow D (see FIG. 1). As a result, the drive gear 10, the first gear 8, and the second gear 9 rotate, and the first reaction force application member 6 and the second reaction force application member 7 rotate in the direction of arrow E (first FIG. 13B shows a state during rotation of the rear end portion 6U of the reaction force applying member 6 (before half rotation). As a result, the operating lever 2 is pushed back in the direction of the arrow LB opposite to the operating direction (arrow L direction) by the long diameter portion 61b of the rear end 6U of the first reaction force applying member 6. Power is granted.

該後側端部６Ｕが１／２回転した時点では、図１３（ｃ）で示すように、前記操作レバー２はほぼ直立状態となる。そして、同図（ｄ）の途中状態を経て、同図（ｅ）の状態となると、回転検出装置１４が該第１の反力付与部材６の１回転を検出し、制御回路１５が、モータ１１の駆動を停止させる。   As shown in FIG. 13C, when the rear end 6U has made a half turn, the operation lever 2 is almost upright. Then, when the state shown in FIG. 5E is reached after the intermediate state shown in FIG. 4D, the rotation detecting device 14 detects one rotation of the first reaction force applying member 6 and the control circuit 15 11 is stopped.

このように本実施例によれば、使用者が操作レバー２を操作すると、操作限度位置（当接位置、図１３（ａ）参照）から一旦押し戻されて、再度操作限度位置に戻る（その間の操作レバー２の回動角度は３０度である）。この操作の間に明確な反力を呈示することができる。なお、操作レバー２が矢印Ｒ方向へ操作された場合には、第２の反力付与部材７に当接するが、この場合も同様に、矢印Ｒ方向の操作限度位置から一旦押し戻されて、再度操作限度位置に戻り、この操作の間に明確な反力を呈示することができる。   Thus, according to the present embodiment, when the user operates the operation lever 2, it is once pushed back from the operation limit position (contact position, see FIG. 13 (a)), and again returns to the operation limit position (during that time). The rotation angle of the operation lever 2 is 30 degrees). A clear reaction force can be presented during this operation. When the operation lever 2 is operated in the direction of the arrow R, it abuts against the second reaction force applying member 7. Similarly, in this case, the operation lever 2 is once pushed back from the operation limit position in the direction of the arrow R, and again. It is possible to return to the operating limit position and present a clear reaction force during this operation.

次に、反力付与のために前側端部６Ｍを使用するものとした場合、フレーム１７は、位置変更装置２３により、図６に示す位置に移動される。
この位置状態で、使用者が、操作レバーを図１の元位置状態から例えば矢印Ｌ方向に操作すると、図１４（ａ）で示すように、該操作レバー２が第１の反力付与部材６の前側端部６Ｍの短径部分６ａに当接し、この当接を第１の当接検出センサ１２が検出する。すると制御回路１５がモータ１１を矢印Ｄ方向（図１参照）へ回転駆動させる。これにより、駆動ギア１０、第１のギア８及び第２のギア９が回転し、第１の反力付与部材６及び第２の反力付与部材７が矢印Ｅ方向へ回転する（第１の反力付与部材６の回転途中（１／２回転前）状態を図１４（ｂ）に示す）。これにより操作レバー２が第１の反力付与部材６の前側端部６Ｍの長径部分６ｂにより操作方向（矢印Ｌ方向）とは反対方向である矢印ＬＢ方向へ押し戻され、つまり、明確な反力が付与される。この場合には、前述の後側端部６Ｕでの反力より、反力角度範囲が小さくなる。 Next, when the front end 6M is used for applying reaction force, the frame 17 is moved to the position shown in FIG.
In this position state, when the user operates the operation lever from the original position state of FIG. 1 in the direction of the arrow L, for example, the operation lever 2 is moved to the first reaction force applying member 6 as shown in FIG. The first contact detection sensor 12 detects the contact with the short diameter portion 6a of the front end 6M. Then, the control circuit 15 drives the motor 11 to rotate in the direction of arrow D (see FIG. 1). As a result, the drive gear 10, the first gear 8, and the second gear 9 rotate, and the first reaction force application member 6 and the second reaction force application member 7 rotate in the direction of arrow E (first The state during rotation of the reaction force applying member 6 (before ½ rotation) is shown in FIG. As a result, the operation lever 2 is pushed back in the direction of the arrow LB opposite to the operation direction (the direction of the arrow L) by the long diameter portion 6b of the front end 6M of the first reaction force application member 6, that is, a clear reaction force Is granted. In this case, the reaction force angle range becomes smaller than the reaction force at the rear end 6U.

第１の反力付与部材６が１／２回転した時点では、図１４（ｃ）で示すように、前記操作レバー２は、当接位置から２５度戻った位置にある。そして、同図（ｄ）の途中状態を経て、同図（ｅ）の状態となると、回転検出装置１４が該第１の反力付与部材６の１回転を検出し、制御回路１５が、モータ１１の駆動を停止させる。   At the time when the first reaction force application member 6 has made a half rotation, as shown in FIG. 14C, the operation lever 2 is at a position returned by 25 degrees from the contact position. Then, when the state shown in FIG. 5E is reached after the intermediate state shown in FIG. 4D, the rotation detecting device 14 detects one rotation of the first reaction force applying member 6 and the control circuit 15 11 is stopped.

また、前記第１の反力付与部材６及び第２の反力付与部材７の軸方向途中部が操作レバー２に対向するようにフレーム１７を移動させると、この移動位置に応じて、操作レバー２の戻り角度（反力呈示角度範囲）が３０度と２５度の間のいずれかの角度となる。   Further, when the frame 17 is moved such that the middle part in the axial direction of the first reaction force application member 6 and the second reaction force application member 7 faces the operation lever 2, the operation lever is changed according to the movement position. The return angle 2 (reaction force presenting angle range) is any angle between 30 degrees and 25 degrees.

このように本実施例によれば、操作レバー２を矢印Ｌ方向に操作すると、該操作レバー２が第１の反力付与部材６の短径部分６ａに当接し、この当接を第１の当接センサ１２が検出する。すると制御回路１５がモータ１１を回転駆動させ、回転センサ１４、第１の反力付与部材６の１回転を検出したところで、制御回路１５が、該モータ１１の駆動を停止させる。従って、第１の反力付与部材６が１回転し、この１回転のうちに、第１の反力付与部材６の長径部分６ｂが操作レバー２を前記Ｌ方向と反対方向へ押し戻すようになり、明確な反力を呈示することができる。   Thus, according to the present embodiment, when the operation lever 2 is operated in the direction of the arrow L, the operation lever 2 abuts on the short diameter portion 6a of the first reaction force application member 6, and this abutment is the first The contact sensor 12 detects. Then, when the control circuit 15 rotates the motor 11 and detects one rotation of the rotation sensor 14 and the first reaction force applying member 6, the control circuit 15 stops driving the motor 11. Therefore, the first reaction force application member 6 makes one rotation, and the long diameter portion 6b of the first reaction force application member 6 pushes the operation lever 2 back in the direction opposite to the L direction. A clear reaction force can be presented.

また、操作レバー２を矢印Ｒ方向に操作すると、該操作レバー２が第２の反力付与部材７の短径部分７ａに当接し、以下、前述と同様に、制御回路１５、モータ１１及び第２の反力付与部材７が動作し、第２の反力付与部材７が１回転し、この１回転のうちに、第２の反力付与部材７の長径部分７ｂが操作レバー２を前記矢印Ｒ方向と反対方向へ押し戻すようになり、明確な反力を呈示することができる。   When the operation lever 2 is operated in the direction of the arrow R, the operation lever 2 comes into contact with the short diameter portion 7a of the second reaction force applying member 7, and the control circuit 15, the motor 11 and the The second reaction force applying member 7 operates, and the second reaction force applying member 7 makes one rotation. During this one rotation, the long diameter portion 7b of the second reaction force applying member 7 moves the operation lever 2 to the arrow. It pushes back in the direction opposite to the R direction, and a clear reaction force can be presented.

さらに、前記第１の反力付与部材６及び第２の反力付与部材７が、それぞれ、軸方向の一端部（後側端部６Ｕ、７Ｕ）と他端部（前側端部６Ｍ、７Ｍ）とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、前記操作レバー２に対して前記反力付与部材６、７の対応位置を変更する位置変更装置２４を設けているから、前記操作レバー２に対する前記反力付与部材６、７の対応位置を変更することによって、反力呈示角度範囲の切り替えや、異なる反力形態の切替を行うことが可能となり、反力バリエーションを種々を選択的に呈示させることができ、特に、反力形態を無段階に選択的に呈示でき、使い勝手が良い。   Further, the first reaction force application member 6 and the second reaction force application member 7 are respectively provided with one axial end portion (rear side end portions 6U, 7U) and the other end portion (front end portions 6M, 7M). The eccentric cam shape has a different size, and the eccentric cam shape between the one end portion and the other end portion is formed into a tapered shape that continuously changes in the axial direction. Since the position changing device 24 for changing the corresponding position of the reaction force applying members 6 and 7 is provided, the reaction force presentation angle range can be changed by changing the corresponding position of the reaction force applying members 6 and 7 with respect to the operation lever 2. It is possible to switch between different reaction force forms, and various reaction force variations can be selectively presented. Especially, the reaction force forms can be selectively presented steplessly, which is easy to use. .

また、本実施例によれば、前記第１の反力付与部材６が、その軸方向の後側端部６Ｕと、前側端部６Ｍとで、長径部分６ｂにおける径寸法が異なっているから、反力付与角度範囲を変更することができる。第２の反力付与部材７も同様の構成であるから、同様の効果を奏する。   Further, according to the present embodiment, the first reaction force applying member 6 is different in the radial dimension of the long diameter portion 6b between the axial rear end 6U and the front end 6M. The reaction force application angle range can be changed. Since the 2nd reaction force provision member 7 is also the same structure, there exists the same effect.

また、本実施例によれば、反力付与部材６及び７は、これが１回転する間に操作レバー２の角度変位を正弦波状に変位させるカム形状となっているから、違和感の無い反力を呈示できる。特に、モータ１１が一方向に回転する構成でありながら、前記第１の反力付与部材６及び第２の反力付与部材７のいずれも、操作レバー２に対して、正弦波状に角度変位させることができて、一方向及び他方向の双方とも、違和感の無い反力を呈示できる。   In addition, according to the present embodiment, the reaction force applying members 6 and 7 have a cam shape that displaces the angular displacement of the operation lever 2 in a sine wave shape during one rotation of the reaction force applying members 6 and 7, so Can be presented. In particular, although the motor 11 is configured to rotate in one direction, both the first reaction force application member 6 and the second reaction force application member 7 are angularly displaced in a sinusoidal manner with respect to the operation lever 2. It is possible to present a reaction force with no sense of incongruity in both the one direction and the other direction.

また本実施例によれば、操作レバー２が矢印Ｌ及びＲ方向つまり往復揺動タイプであり、その両方向について第１の反力付与部材６及び７により反力を付与でき、往復揺動タイプの操作レバー２の操作レバー負荷付与に好適する。この場合、一つのモータ１１により一方向及び他方向での反力付与を行うことができ、また、一つの回転検出センサ１４により第１の反力付与部材６及び第２の反力付与部材７の１回転を検出できて、構成の簡単化及びコストの低廉化に寄与できる。さらに、モータ１１を一方向へのみ回転させるから回転方向切換え手段が不要である。   Further, according to this embodiment, the operating lever 2 is in the directions of the arrows L and R, that is, the reciprocating swing type, and the reaction force can be applied by the first reaction force applying members 6 and 7 in both directions. This is suitable for applying an operation lever load to the operation lever 2. In this case, reaction force can be applied in one direction and the other direction by one motor 11, and the first reaction force application member 6 and the second reaction force application member 7 can be obtained by one rotation detection sensor 14. Can be detected, contributing to simplification of the configuration and cost reduction. Furthermore, since the motor 11 is rotated only in one direction, no rotation direction switching means is required.

なお、本発明は上記実施例に限定されるものではなく、操作レバー２が元位置から一方向へ操作されたときにのみ反力を付与するようにしても良い。また、後側端部６Ｕ、７Ｕを使用する場合、回転検出装置１４で第１の反力付与部材６及び第２の反力付与部材７の１／２回転を検出したとき（図１３（ｃ）の状態）でモータ１１を止めると、両反力付与部材６、７で操作レバー２を動き止めすることが可能となる。   In addition, this invention is not limited to the said Example, You may make it provide reaction force, only when the operation lever 2 is operated to one direction from the original position. Further, when the rear end portions 6U and 7U are used, when the rotation detecting device 14 detects ½ rotation of the first reaction force applying member 6 and the second reaction force applying member 7 (FIG. 13 (c) When the motor 11 is stopped in the state of), the operation lever 2 can be stopped by the reaction force applying members 6 and 7.

また、本発明の第２の実施例として示す図１５のように、第１の反力付与部材３１、第２の反力付与部材３２を単に楕円カム形状に形成しても良い。この場合、第１の反力付与部材３１における後側端部には符号３１Ｕを付し、前側端部には符号３１Ｍを付し、第２の反力付与部材３２における後側端部には符号３２Ｕを付し、前側端部には３２Ｍを付している。   Further, as shown in FIG. 15 showing the second embodiment of the present invention, the first reaction force application member 31 and the second reaction force application member 32 may be simply formed in an elliptic cam shape. In this case, the rear end portion of the first reaction force application member 31 is denoted by reference numeral 31U, the front end portion is denoted by reference numeral 31M, and the rear end portion of the second reaction force application member 32 is denoted by Reference numeral 32U is attached, and 32M is attached to the front end.

また、前記第１の実施例では、第１の反力付与部材６、第２の反力付与部材７、ギア８、９、１０、モータ１１をフレーム１７でユニット化して移動させるようにしたが、第１の反力付与部材６、第２の反力付与部材７のみを軸方向へ移動させるようにしても良く、この場合、位置変更手段としてはソレノイドを用いるようにしても良い。   In the first embodiment, the first reaction force application member 6, the second reaction force application member 7, the gears 8, 9, 10 and the motor 11 are moved as a unit by the frame 17. Only the first reaction force applying member 6 and the second reaction force applying member 7 may be moved in the axial direction. In this case, a solenoid may be used as the position changing means.

すなわち、本発明の第３の実施例として示す図１６（ａ）のように、反力付与部材３３を軸３４に軸方向に移動可能に設け、且つ、該反力付与部材３３と軸３４とは、軸３４に設けた係合子３５により一体回転するようにしている。前記反力付与部材３３はばね３６により常時矢印Ｐ方向へ付勢されている。該反力付与部材３３の後側端部３３Ｕには磁性板３７を取着しており、この磁性板３７は電磁ソレノイド３８により電磁吸引可能となっている。   That is, as shown in FIG. 16A shown as the third embodiment of the present invention, the reaction force application member 33 is provided on the shaft 34 so as to be movable in the axial direction, and the reaction force application member 33 and the shaft 34 are provided. Are integrally rotated by an engagement member 35 provided on the shaft 34. The reaction force application member 33 is always urged in the direction of arrow P by a spring 36. A magnetic plate 37 is attached to the rear end portion 33U of the reaction force applying member 33. The magnetic plate 37 can be electromagnetically attracted by an electromagnetic solenoid 38.

前記係合子３５は、反力付与部材３３に軸方向に形成した係合凹凸部３３ａのいずれかと係合可能である。
前記電磁ソレノイド３８への印加電流を変えることにより、電磁吸引力が変化するものであり、この吸引力と前記ばね３６のばね力とがつり合ったところで、反力付与部材３３が移動が止まる。従って、前記印加電流によって、前記反力付与部材３３の移動位置を決めることが可能である。同図（ｃ）では、反力付与部材３３が後方向へ移動された状態を示しており、この状態で軸３４が一方向回転（矢印Ｑ方向回転）されると、その移動位置で係合子３５が係合凹凸部３３ａのいずかの部分に係合し、該移動位置がふらつくことなく反力付与部材３３を回転させることができる。 The engagement element 35 can be engaged with any one of the engagement uneven portions 33 a formed in the reaction force applying member 33 in the axial direction.
By changing the current applied to the electromagnetic solenoid 38, the electromagnetic attractive force changes. When the attractive force and the spring force of the spring 36 are balanced, the reaction force applying member 33 stops moving. Therefore, the moving position of the reaction force applying member 33 can be determined by the applied current. FIG. 4C shows a state in which the reaction force applying member 33 is moved in the backward direction. When the shaft 34 is rotated in one direction (rotation in the arrow Q direction) in this state, the engagement element is moved at the moving position. 35 engages with any part of the engaging uneven portion 33a, and the reaction force applying member 33 can be rotated without the movement position fluctuating.

また、上記第１の実施例の操作レバー付加付与装置１とほぼ同じ構成の２つの操作レバー付加付与装置を直交する向きで且つ上下に並べて配置する構成としても良い。この場合、拘束板５には、直交する方向にスリットを形成すると良い。   Moreover, it is good also as a structure which arrange | positions two operation lever addition provision apparatuses of the substantially the same structure as the operation lever addition provision apparatus 1 of the said 1st Example in the orthogonal direction and arranged up and down. In this case, the constraining plate 5 may be formed with slits in the orthogonal direction.

その他、本発明は上記各実施例に限定されるものでなく、次のように変更しても良い。当接検出手段は、リミットスイッチでなく光センサなどでも良い。また回転検出手段は磁気センサなどでも良い。位置変更手段としては、反力付与部材のみを軸方向に移動させる構成としても良い。また、反力付与部は２つ以上でも良い。前記反力付与部材のその軸方向の一端部と、他端部とで、長径部分における径寸法を異ならせたが、短径部分における径寸法を異ならせるようにしても良い。   In addition, the present invention is not limited to the above embodiments, and may be modified as follows. The contact detection means may be an optical sensor instead of a limit switch. The rotation detecting means may be a magnetic sensor. As the position changing means, only the reaction force applying member may be moved in the axial direction. Further, the number of reaction force applying units may be two or more. Although the diameter dimension in the major axis portion is different between the one end portion and the other end portion in the axial direction of the reaction force applying member, the diameter dimension in the minor axis portion may be different.

本発明の第１の実施例を示す操作レバー負荷付与装置全体の斜視図The perspective view of the whole operation lever load provision apparatus which shows 1st Example of this invention. フレームを省略して示す全体の斜視図Overall perspective view with the frame omitted 図５の矢印Ｔ−Ｔ線断面図Cross-sectional view taken along line TT in FIG. 図６の矢印Ｕ−Ｕ線断面図6 is a cross-sectional view taken along the line U-U in FIG. 一方の反力付与部が操作レバーに対応する状態での全体の縦断側面図Overall longitudinal side view with one reaction force applying part corresponding to the control lever 他方の反力付与部が操作レバーに対応する状態での全体の縦断側面図Overall longitudinal side view with the other reaction force applying part corresponding to the operating lever 全体の平面図Overall plan view 電気的構成のブロック図Electrical configuration block diagram 一方の反力付与部の回転角などのパラメータを説明するための図The figure for explaining parameters such as the rotation angle of one reaction force giving part （ａ）は一方の反力付与部のカム形状を説明するための１回転の時間と操作レバーの角度との関係を示す図、（ｂ）は基準点と操作レバーの接触点との角度を示す図、（ｃ）は回転中心と操作レバー接触点との距離を示す図、（ｄ）は反力付与部材の径を示す図(A) is a figure which shows the relationship between the time of 1 rotation for demonstrating the cam shape of one reaction force provision part, and the angle of an operation lever, (b) shows the angle of the reference point and the contact point of an operation lever. The figure which shows, (c) is a figure which shows the distance of a rotation center and an operation lever contact point, (d) is a figure which shows the diameter of a reaction force provision member. （ａ）は他方の反力付与部のカム形状を説明するための１回転の時間と操作レバーの角度との関係を示す図、（ｂ）は基準点と操作レバーの接触点との角度を示す図、（ｃ）は回転中心と操作レバー接触点との距離を示す図、（ｄ）は反力付与部材の径を示す図(A) is a figure which shows the relationship between the time of 1 rotation for demonstrating the cam shape of the other reaction force provision part, and the angle of an operation lever, (b) shows the angle of the reference point and the contact point of an operation lever. The figure which shows, (c) is a figure which shows the distance of a rotation center and an operation lever contact point, (d) is a figure which shows the diameter of a reaction force provision member. 制御内容を示す図Diagram showing control details 作用説明のための一方の反力付与部の動作図Operation diagram of one reaction force application section for explanation of action 作用説明のための他方の反力付与部の動作図Operation diagram of the other reaction force application unit for explanation of operation 本発明の第２の実施例を示す図３相当図FIG. 3 equivalent view showing a second embodiment of the present invention. 本発明の第３の実施例を示し、（ａ）は反力付与部材及び電磁ソレノイド部分の横断平面図、（ｂ）は（ａ）の矢印Ｖ−Ｖ線に沿う断面図、（ｃ）は動作説明のための断面図3 shows a third embodiment of the present invention, (a) is a cross-sectional plan view of the reaction force applying member and the electromagnetic solenoid part, (b) is a cross-sectional view taken along line V-V in (a), (c) is Sectional view for explaining operation

符号の説明Explanation of symbols

図面中、１は操作レバー負荷付与装置、２は操作レバー、５は拘束板、６は第１の反力付与部材、６１は一方の反力付与部、６２は他方の反力付与部、７は第２の反力付与部材、７１は一方の反力付与部、７２は他方の反力付与部、８は第１のギア、９は第２のギア、１０は駆動ギア、１１はモータ、１２は第１の当接センサ（第１の当接検出手段）、１３は第２の当接センサ（第２の当接検出手段）、１４は回転センサ（回転検出手段）、１４は制御回路（制御手段）、２３は位置変更装置（位置変更手段）、３１は第１の反力付与部材、３２は第２の反力付与部材を示す。   In the drawings, 1 is an operating lever load applying device, 2 is an operating lever, 5 is a restraining plate, 6 is a first reaction force applying member, 61 is one reaction force applying portion, 62 is the other reaction force applying portion, 7 Is a second reaction force application member, 71 is one reaction force application unit, 72 is the other reaction force application unit, 8 is a first gear, 9 is a second gear, 10 is a drive gear, 11 is a motor, Reference numeral 12 denotes a first contact sensor (first contact detection means), 13 denotes a second contact sensor (second contact detection means), 14 denotes a rotation sensor (rotation detection means), and 14 denotes a control circuit. (Control means), 23 is a position change device (position change means), 31 is a first reaction force application member, and 32 is a second reaction force application member.

Claims (6)

一端部を中心として揺動可能に設けられ、通常は元位置で立設状態にあり、他端部が操作力を受けて所定方向へ操作される操作レバーを備え、該操作レバーに対する前記所定方向への操作時に、操作負荷を付与する操作レバー負荷付与装置であって、
短径部分及び長径部分を備えた偏心カム形状をなし、前記操作レバーの前記元位置で該操作レバーと離間し、該操作レバーの前記所定方向の揺動時に該操作レバーと前記短径部分が当接する反力付与部材と、
この反力付与部材を回転させるモータと、
前記操作レバーが前記反力付与部材に当接したことを検出する当接検出手段と、
前記反力付与部材の１回転を検出する回転検出手段と、
前記当接検出手段が前記当接を検出したときに、前記モータを回転駆動させ、前記回転検出手段が前記反力付与部材の１回転を検出したときに前記モータの駆動を停止させる制御手段と
を備え、
前記反力付与部材は、軸方向の一端部と他端部とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、
前記操作レバーに対して前記反力付与部材の対応位置を変更する位置変更手段を設けてなる操作レバー負荷付与装置。 Provided with an operating lever that is swingable about one end and is normally erected at the original position, and the other end receives an operating force and is operated in a predetermined direction, and the predetermined direction relative to the operating lever An operation lever load applying device that applies an operation load during operation to
An eccentric cam shape having a short diameter portion and a long diameter portion is formed. The operation lever is separated from the operation lever at the original position of the operation lever, and the operation lever and the short diameter portion are moved when the operation lever swings in the predetermined direction. A reaction force applying member that abuts;
A motor for rotating the reaction force application member;
Contact detection means for detecting that the operation lever has contacted the reaction force application member;
Rotation detecting means for detecting one rotation of the reaction force applying member;
Control means for rotating the motor when the contact detection means detects the contact and stopping the driving of the motor when the rotation detection means detects one rotation of the reaction force applying member; With
The reaction force applying member has different eccentric cam shapes at one end and the other end in the axial direction, and the eccentric cam shape between the one end and the other end is continuously continuous in the axial direction. Formed in a changing taper shape,
An operation lever load applying device provided with position changing means for changing a corresponding position of the reaction force applying member with respect to the operation lever. 一端部を中心として一方向及び他方向へ揺動可能に設けられ、通常は元位置で立設状態にあり、他端部が操作力を受けて一方向及び他方向へ操作される操作レバーを備え、該操作レバーに対する操作時に、操作負荷を付与する操作レバー負荷付与装置であって、
短径部分及び長径部分を備えた偏心カム形状をなし、前記操作レバーの前記中立位置で該操作レバーと離間し、該操作レバーの前記一方向の揺動時に該操作レバーと前記短径部分が当接する第１の反力付与部材と、
短径部分及び長径部分を備えた偏心カム形状をなし、前記操作レバーの前記中立位置で該操作レバーと離間し、該操作レバーの前記他方向の揺動時に該操作レバーと前記短径部分が当接する第２の反力付与部材と、
前記第１の反力付与部材と一体回転するように設けられた第１のギアと、
前記第２の反力付与部材と一体回転するように設けられ前記第１のギアと同じ歯数の第２のギアと、
これら第１のギアと第２のギアとに噛合する駆動ギアと、
前記駆動ギアを回転させるモータと、
前記操作レバーが前記第１の反力付与部材に当接したことを検出する第１の当接検出手段と、
前記操作レバーが前記第２の反力付与部材に当接したことを検出する第２の当接検出手段と、
前記第１の反力付与部材及び第２の反力付与部材の１回転を検出する回転検出手段と、
前記第１の当接検出手段が前記当接を検出したとき及び前記第２の当接検出手段が前記当接を検出したときに、前記モータを回転駆動させ、前記回転検出手段が前記１回転を検出したときに前記モータの駆動を停止させる制御手段と
を備え、
前記第１の反力付与部材及び第２の反力付与部材は、それぞれ、軸方向の一端部と他端部とで、偏心カム形状の大きさが異なり、該一端部と他端部との間での偏心カム形状が軸方向で連続的に変化するテーパー状に形成され、
前記操作レバーに対して前記反力付与部材の対応位置を変更する位置変更手段を設けてなる操作レバー負荷付与装置。 An operating lever that is swingable in one direction and the other direction around one end and is normally standing at the original position, and the other end receives an operating force and is operated in one direction and the other direction. An operation lever load applying device that applies an operation load when operating the operation lever,
An eccentric cam shape having a short diameter portion and a long diameter portion is formed, and is separated from the operation lever at the neutral position of the operation lever. When the operation lever swings in the one direction, the operation lever and the short diameter portion are A first reaction force application member that abuts;
It has an eccentric cam shape having a short diameter part and a long diameter part, is separated from the operation lever at the neutral position of the operation lever, and when the operation lever swings in the other direction, the operation lever and the short diameter part are A second reaction force application member that abuts;
A first gear provided to rotate integrally with the first reaction force application member;
A second gear having the same number of teeth as the first gear, provided to rotate integrally with the second reaction force application member;
A drive gear meshing with the first gear and the second gear;
A motor for rotating the drive gear;
First contact detection means for detecting that the operation lever is in contact with the first reaction force application member;
Second contact detection means for detecting that the operation lever has contacted the second reaction force application member;
Rotation detection means for detecting one rotation of the first reaction force application member and the second reaction force application member;
When the first contact detection means detects the contact and when the second contact detection means detects the contact, the motor is driven to rotate, and the rotation detection means performs the one rotation. Control means for stopping the driving of the motor when detecting
The first reaction force application member and the second reaction force application member have different eccentric cam shapes at one end and the other end in the axial direction, respectively. The eccentric cam shape between them is formed into a tapered shape that continuously changes in the axial direction,
An operation lever load applying device provided with position changing means for changing a corresponding position of the reaction force applying member with respect to the operation lever. 前記反力付与部材は、これが１回転する間に前記操作レバーの角度変位を正弦波状に変位させるカム形状となっていることを特徴とする請求項１に記載の操作レバー負荷付与装置。   2. The operating lever load applying device according to claim 1, wherein the reaction force applying member has a cam shape that displaces the angular displacement of the operating lever in a sine wave shape during one rotation of the reaction force applying member. 前記反力付与部材は、その軸方向の一端部と他端部とでは、長径部分における径寸法が異なることを特徴とする請求項１に記載の操作レバー負荷付与装置。   2. The operating lever load applying device according to claim 1, wherein the reaction force applying member has different diameters at the major axis portion at one end and the other end in the axial direction. 前記モータは一方向に回転駆動され、
前記第１の反力付与部材及び第２の反力付与部材は、これらが１回転する間に前記操作レバーの角度変位を正弦波状に変位させるカム形状となっていることを特徴とする請求項２に記載の操作レバー負荷付与装置。 The motor is rotationally driven in one direction,
The first reaction force application member and the second reaction force application member have a cam shape that displaces an angular displacement of the operation lever in a sine wave shape during one rotation of the first reaction force application member and the second reaction force application member. 2. The operation lever load applying device according to 2. 前記第１の反力付与部材及び第２の反力付与部材は、それぞれ、その軸方向の一端部と他端部とでは、長径部分における径寸法が異なることを特徴とする請求項２に記載の操作レバー負荷付与装置。   The first reaction force application member and the second reaction force application member have different diameters in the major axis portion at one end and the other end in the axial direction, respectively. Operation lever load applying device.
JP2008204229A 2008-08-07 2008-08-07 Operation lever load application device Pending JP2010039911A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2362479A1 (en) 2010-02-25 2011-08-31 Sanyo Electric Co., Ltd. Power storage system
JP2015075848A (en) * 2013-10-08 2015-04-20 株式会社神戸製鋼所 Operation device with function of giving operation resistance

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2362479A1 (en) 2010-02-25 2011-08-31 Sanyo Electric Co., Ltd. Power storage system
JP2015075848A (en) * 2013-10-08 2015-04-20 株式会社神戸製鋼所 Operation device with function of giving operation resistance

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