JP2017146843A - Operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation device capable of obtaining a good operation feeling by using a magnetic viscous fluid.SOLUTION: An operation device 100 includes: an operation body 11 acting in an operation direction; a support body 3 freely supporting an action of the operation body 11; and a movable load application mechanism F5. The movable load application mechanism F5 includes: a movable member 55 engaged with a movable shaft 11 of the operation body 11; a magnetism generation mechanism FM5 having a coil 35 for generating a magnetic field and a first yoke 15 provided so as to surround the coil 35; and a magnetic viscous fluid 75 for changing viscous according to the strength of the magnetic field filled into a first gap 5 ga between the first yoke 15 and the movable member 55. The first yoke 15 and the coil 35 are disposed at the outside of the movable member 55 with the movable shaft 11 as a center viewed from a cross-section side in an initial stage, and at least a part of the movable member 55 and the first yoke 15 include an arc-shaped portion so as to form the first gap 5 ga.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an operation device that can give an operation feeling to an operator when the operator operates.

  In recent years, when an operator operates an operation member, an external force (force sense) such as a resistance force or a thrust according to the operation amount or operation direction of the operation member is applied to improve the operation feeling. Various operation devices with a force feedback function have been proposed so that the operation can be reliably performed. In particular, when operating an in-vehicle control device such as an air conditioner, audio, or navigation, it is often the case that a blind operation is performed rather than an operation while visually recognizing, and a force sense is given to an operation member (operation knob). It was also effective in terms of safety.

  A manual input device 800 for an automobile using such an operation device is proposed in Patent Document 1 (conventional example 1). FIG. 15 is a view for explaining the manual input device 800 of the conventional example 1, and is a longitudinal sectional view showing the main part of the basic configuration.

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

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

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

  A manual brake 911 shown in FIG. 16 passes through a housing 913 having a first housing chamber 915 and a second housing chamber 917, a closing plate 919 that closes the open end side of the housing 913, and the second housing chamber 917. A shaft 923 extending to the first housing chamber 915, a rotor 921 provided integrally with the end of the shaft 923 and arranged in parallel in the first housing chamber, and provided in the first housing chamber 915. A magnetic field generator 929 immediately adjacent to the outer periphery of the rotor 921, a magnetic field responsive material 941 provided in the first housing chamber 915 and filled to surround the rotor 921, and a second housing chamber 917. And control means 925 for controlling and monitoring the brake operation. The magnetic field generator 929 includes a coil 931 and a pole piece 933 arranged so as to surround three sides of the coil 931.

  When the coil 931 is energized, a magnetic flux J37 indicated by a broken line in FIG. 16 is generated. With the generation of the magnetic flux J37, soft magnetic or magnetizable particles in the magnetic field responsive material 941 move along the magnetic flux J37. Will be arranged. For this reason, the resistance given to the rotor 921 by the magnetic field response material 941 increases with respect to the direction of cutting this arrangement, that is, the rotational direction of the rotating rotor 921. Therefore, the manual brake 911 has a braking action that stops the rotation operation of the shaft 923 using the magnetic field response material 941 and the rotor 921.

JP 2003-50639 A JP 2005-507061 gazette

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

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

  In order to solve this problem, an operating device of the present invention includes an operating member having an operating body that moves in an operating direction by an operation of an operator, a support that freely supports the operation of the operating body, and the operation A movable load applying mechanism that applies a load to the motion of the body, the operating body having a movable shaft that enables the operation, the movable load applying mechanism, The movable member that engages with the movable shaft and performs the above-described operation, the magnetism generating mechanism that faces the movable member across the gap, and the viscosity changes according to the strength of the magnetic field that exists in at least a part of the gap. A magnetorheological fluid, and the magnetism generating mechanism includes a coil that generates a magnetic field by energization, and a first yoke that is provided to surround the coil and disposed on one side of the movable member, A first gap that is the gap between the first yoke and the movable member. In an initial state in which the gap is filled with the magnetorheological fluid and the operation is not performed, the center of the movable shaft is a virtual cross section that penetrates vertically, and the movable shaft is centered on the movable shaft and the movable member is more than the movable member. The first yoke and the coil are disposed outside, and at least a part of the movable member and the first yoke has an arc shape centered on the shaft center to form the first gap. It is characterized by being.

  According to this, the operating device of the present invention generates a magnetic field by energizing the coil, the magnetic path is formed to extend from the first yoke to the movable member side, and the magnetic particles in the magnetorheological fluid are in the virtual cross-sectional direction. It will be aligned along the magnetic flux. For this reason, the first yoke and the movable member, and the direction crossing the magnetic flux formed between the movable member and the first yoke, for example, the rotation direction around the axis center of the movable shaft, the pressing direction along the axis center, etc. A load is applied to the movable member by the magnetorheological fluid. As a result, a load is applied to the operating body via the movable member and the movable shaft, and a favorable operational feeling can be given to the operator with respect to operations such as a rotation operation and a pressing operation.

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

  According to this, it is possible to form a magnetic path having no magnetic flux density bias with respect to the magnetorheological fluid, and the magnetic field generated by the magnetism generating mechanism can be efficiently applied to the viscosity control. As a result, a load can be uniformly and efficiently applied to the movable member, and a better operational feel can be given to the operator.

  In the operating device of the present invention, the movable member is made of a soft magnetic material.

  According to this, the magnetic path is surely formed from the first yoke to the movable member and from the movable member to the first yoke, and the magnetic particles in the magnetorheological fluid are directed in the direction of the opposing surfaces facing the first yoke and the movable member. Will be aligned. For this reason, a stronger load is applied to the movable member that moves (rotates and slides) in the direction across the opposing surface direction in which the magnetic particles are aligned. As a result, a stronger load is applied to the operating body via the movable member and the movable shaft, and a better operational feeling can be given to the operator.

  In the operating device according to the present invention, the movable member has a cylindrical shape centered on the axial center, and the first yoke has a first opposed portion and a first opposed portion separated from each other on a side facing the movable member. There are two opposing portions, and the first opposing portion and the second opposing portion are arranged in a pressing direction along the movable shaft, and are opposed to the outer peripheral surface of the movable member.

  According to this, the magnetic path is surely formed from the first facing portion of the first yoke to the movable member side, and the magnetic path is surely formed from the movable member side to the second facing portion of the first yoke. Thus, the magnetic particles in the magnetorheological fluid are aligned along the magnetic flux in the virtual cross-sectional direction. For this reason, it is possible to reliably apply a stronger load to the movable member that operates in a direction (rotation direction or pressing direction) intersecting the virtual cross-sectional direction. Thereby, it is possible to give a better operational feeling to the operator with respect to the rotation operation and the pressing operation.

  In the operating device of the present invention, the magnetism generating mechanism has a second yoke facing the inner peripheral surface of the movable member in the cylindrical shape, and the second yoke and the inner peripheral surface of the movable member The second gap is filled with the magnetorheological fluid.

  According to this, it is possible to apply a further load (rotational load or pressing load) to the movable member that rotates and slides (moves in the pressing direction) in the direction across the magnetic flux. As a result, even with an equivalent magnetic field, a greater operational feel can be given to the operator.

  In the operating device of the present invention, the area of the first facing surface facing the magnetorheological fluid in the first facing portion is the same as the area of the second facing surface facing the magnetorheological fluid in the second facing portion. It is characterized by being.

  According to this, the magnetic flux density becomes equal at the entrance and the exit of the magnetic flux, and the magnetic flux generated from the coil can be efficiently applied to control the viscosity of the magnetorheological fluid. Thereby, a load can be equally applied to the rotating movable member, and a better operational feeling can be given to the operator.

  In the operating device of the present invention, the movable member has a spherical shape having a spherical center on the axial center, and the operating body is supported so as to be tiltable about the spherical center, and the first yoke Has a third facing portion and a fourth facing portion that are divided from each other in the direction along the axis center, and the third facing portion and the fourth facing portion are formed on the spherical outer peripheral surface of the movable member. And a third gap between the third and fourth opposing portions and the outer peripheral surface of the movable member is filled with the magnetorheological fluid.

  According to this, the magnetic path is surely formed from the third facing portion of the first yoke to the movable member, and the magnetic path is surely formed from the movable member to the fourth facing portion of the first yoke. The magnetic particles in the magnetorheological fluid are aligned along the magnetic flux formed in the spherical radial direction of the movable member. For this reason, it is possible to reliably apply a stronger load to the movable member that operates in the tangential direction orthogonal to the radial direction. Thereby, it is possible to give a better operational feeling to the operator with respect to the tilting operation.

  In the operating device of the present invention, the movable member is made of a soft magnetic material.

  According to this, a magnetic path is reliably formed from the third facing portion of the first yoke to the movable member and from the movable member to the fourth facing portion of the first yoke, and the magnetic particles in the magnetorheological fluid are separated from the first yoke. The movable member and the movable member are aligned in the facing direction facing each other. For this reason, a stronger load is applied to the movable member that operates (rotates) in a direction crossing the opposing surface direction in which the magnetic particles are aligned. As a result, a stronger load is applied to the operating body via the movable member and the movable shaft, and a better operational feeling can be given to the operator.

  In the operating device of the present invention, the area of the third facing surface facing the magnetorheological fluid in the third facing portion is the same as the area of the fourth facing surface facing the magnetorheological fluid in the fourth facing portion. It is characterized by being.

  According to this, the magnetic flux density becomes equal at the entrance and the exit of the magnetic flux, and the magnetic flux generated from the coil can be efficiently applied to control the viscosity of the magnetorheological fluid. As a result, a load can be uniformly and efficiently applied to the movable member, and a better operational feel can be given to the operator.

  In the operating device of the present invention, a magnetic field is generated by energizing the coil, the magnetic path is formed to extend from the first yoke toward the movable member, and the magnetic particles in the magnetorheological fluid are aligned along the magnetic flux in the virtual cross-sectional direction. It will be. For this reason, the first yoke and the movable member, and the direction crossing the magnetic flux formed between the movable member and the first yoke, for example, the rotation direction around the axis center of the movable shaft, the pressing direction along the axis center, etc. A load is applied to the movable member by the magnetorheological fluid. As a result, a load is applied to the operating body via the movable member and the movable shaft, and a favorable operational feeling can be given to the operator with respect to operations such as a rotation operation and a pressing operation.

It is an upper perspective view of the operating device concerning a 1st embodiment of the present invention. It is a disassembled perspective view of the operating device concerning 1st Embodiment of this invention. FIGS. 3A and 3B are diagrams for explaining the operating device according to the first embodiment of the present invention, in which FIG. 3A is a top view seen from the Z1 side shown in FIG. 1, and FIG. It is the front view seen from the Y2 side shown. It is a figure explaining the operating device concerning 1st Embodiment of this invention, Comprising: It is sectional drawing in the IV-IV line | wire shown to Fig.3 (a). It is a figure explaining the movable load provision mechanism of the operating device concerning 1st Embodiment of this invention, Comprising: It is an expanded sectional view of the P section shown in FIG. FIGS. 6A and 6B are diagrams illustrating a movable load applying mechanism of the operating device according to the first embodiment of the present invention, in which FIG. 6A is an upper perspective view of the movable load applying mechanism, and FIG. It is the bottom view seen from the Z2 side shown to 6 (a). It is a figure explaining the magnetism generating mechanism of the operating device concerning a 1st embodiment of the present invention, and Drawing 7 (a) is an upper perspective view which omitted the upper part side of the 1st yoke shown in Drawing 6 (a). FIG. 7B is a lower perspective view in which the lower side of the first yoke shown in FIG. 6A is omitted. It is a figure explaining the magnetic generation mechanism of the operating device concerning 1st Embodiment of this invention, Comprising: Fig.8 (a) is the top view which looked at Fig.7 (a) from the Z1 side, FIG.8 (b) ) Is a bottom view of FIG. 7B viewed from the Z2 side. FIG. 9A is a diagram for explaining a magnetic generation mechanism of the operating device according to the first embodiment of the present invention, and FIG. 9A is a lower view of the upper side of the first yoke shown in FIG. FIG. 9B is a top perspective view of the lower side of the first yoke shown in FIG. 6A as viewed from the Z1 side. FIG. 10A is a schematic diagram for explaining the magnetorheological fluid of the operating device according to the first embodiment of the present invention, and FIG. 10A is a diagram of the magnetorheological fluid in a state where no magnetic field is applied, and FIG. b) is a diagram of a magnetorheological fluid in a state where a magnetic field is applied. It is a figure explaining the movable load provision mechanism of the operating device concerning 1st Embodiment of this invention, Comprising: It is the graph showing an example of the relationship between the electric current sent through a magnetism generation mechanism, and the torque concerning an operation body. It is an upper perspective view of the operating device concerning 2nd Embodiment of this invention. FIGS. 13A and 13B are diagrams illustrating an operating device according to a second embodiment of the present invention, in which FIG. 13A is a top view seen from the Z1 side shown in FIG. 12, and FIG. It is the front view seen from the Y2 side shown. It is a figure explaining the operating device concerning 2nd Embodiment of this invention, Comprising: It is sectional drawing in the XIV-XIV line | wire shown to Fig.13 (a). It is a figure explaining the manual input device of the prior art example 1, Comprising: It is a longitudinal cross-sectional view which shows the principal part of the basic composition. It is a figure explaining the manual brake of the prior art example 2, Comprising: It is longitudinal direction sectional drawing.

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

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

  The operating device 100 according to the first embodiment of the present invention has an appearance as shown in FIGS. 1 and 3 and has an operating body 11 that moves in the operating direction by an operator's operation as shown in FIG. The operation member 1 is mainly configured to include a support body 3 that freely supports the operation body 11 and a movable load applying mechanism F5 that applies a load to the operation body 11. 4 and 5, the movable load applying mechanism F5 includes a movable member 55 that operates by engaging with the operating body 11, and a magnetic generation mechanism FM5 that faces the movable member 55 with a gap 5g therebetween. And a magnetorheological fluid 75 present in the gap 5g.

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

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

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

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

  The operation member 11 of the operation member 1 uses a synthetic resin such as polybutylene terephthalate (PBT), and has a cylindrical shape and a movable shaft centered on an axial center AC that is a center of rotation as shown in FIG. 11j and an engaging portion 11r which is provided on the other end side of the movable shaft 11j and is slightly larger than the movable shaft 11j, and is integrally injection-molded. 4 and 5, the engaging portion 11r of the operating body 11 is engaged with the upper end portion of the movable member 55 of the movable load applying mechanism F5.

  As with the operation body 11, the operation portion 51 of the operation member 1 is made of a synthetic resin such as polybutylene terephthalate resin (PBT) and is injection-molded in a cylindrical shape as shown in FIG. Further, as shown in FIG. 4, the central portion of the operation portion 51 has two concave holes, and one end side of the movable shaft 11j is inserted into a deep hole (first hole 51h). And a part of a spring member 33 to be described later is accommodated in the shallow hole (second hole 51k).

  Next, the support 3 of the operating device 100 will be described. As shown in FIG. 4, the support 3 is disposed between the case 13 having a through hole 13 k through which the movable shaft 11 j of the operation body 11 is inserted, and the operation unit 51 and the case 13 through which the movable shaft 11 j is inserted. The spring member 33 and the shaft support portion 53 that is inserted inside the upper plate portion 13B of the case 13 through which the movable shaft 11j is inserted are mainly configured. And this support body 3 is supporting the operation member 1 so that the operation body 11 can move freely (rotation operation and slide operation).

  As in the operation member 1, the case 13 of the support 3 uses a synthetic resin such as polybutylene terephthalate resin (PBT), and as shown in FIG. 2, a cylindrical side wall portion 13A and one side of the side wall portion 13A. The upper plate portion 13B that covers the opening is manufactured by being injection-molded into a box shape. Further, as described above, the upper plate portion 13B of the case 13 is provided with the through hole 13k through which the movable shaft 11j of the operating body 11 is inserted. And as shown in FIG. 4, the movable load provision mechanism F5 is accommodated in the case 13. As shown in FIG.

  The spring member 33 of the support 3 uses a general coil spring. As shown in FIG. 4, one end side is accommodated in the second hole 51 k of the operation portion 51 and the other end side is the case 13. It is in contact with the upper plate part 13 </ b> B and is disposed between the operation part 51 and the case 13. Thereby, the spring member 33 will urge the operation part 51 upward (Z1 direction shown in FIG. 4). For this reason, for example, after the operation unit 51 is operated (pressed) downward (Z2 direction shown in FIG. 4) by the operator and the operation body 11 and the operation unit 51 slide downward from the initial state, When the operation is stopped, the operating member 11 and the operation unit 51 can be automatically returned to the initial state by the spring member 33.

  The shaft support 53 of the support 3 has a ring shape with a hole in the center (see FIG. 2), and as shown in FIG. 4, the movable shaft 11j of the operating body 11 is inserted through the case. 13 is disposed inside the upper plate portion 13B. Further, the shaft support portion 53 is accommodated in an opening portion 15k provided in the center portion of the first yoke 15 of the magnetism generating mechanism FM5 described later. The shaft support portion 53 is in contact with the upper surface side of the engaging portion 11r of the operating body 11 to prevent the operating body 11 from being detached from the case 13. Further, the shaft support portion 53 contacts the inner wall of the opening portion 15k of the first yoke 15, thereby positioning the first yoke 15 with respect to the shaft center AC. The shaft support portion 53 is produced by die-casting a non-ferrous metal such as zinc (Zn).

  Next, the movable load applying mechanism F5 of the operating device 100 will be described. 6A and 6B are diagrams illustrating the movable load applying mechanism F5. FIG. 6A is an upper perspective view of the movable load applying mechanism F5, and FIG. 6B is illustrated in FIG. It is a bottom view of movable load provision mechanism F5 seen from the Z2 side.

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

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

  The coil 35 of the magnetic generation mechanism FM5 is formed by winding a metal wire in an annular shape, and, as shown in FIGS. 7 and 8, in a virtual cross section (virtual cross section) in which the axial center AC penetrates vertically (virtual cross section) ( 8), the coil 35 is disposed outside the movable member 55. Further, the coil 35 is formed in a circular ring shape so as to be rotationally symmetric about the axial center AC in the virtual cross section. When the coil 35 is energized, a magnetic field is generated around the coil 35. The coil 35 has a shape in which a metal wire is wound and bundled, but in FIGS. 2, 7 and 8, the surface is shown to be simplified and flat.

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

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

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

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

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

  4 and 5, the first yoke 15 is disposed on one side (outside) of the movable member 55, and the inner wall 15f of the upper yoke 15A and the lower yoke 15C is connected to the movable member 55. It is opposed across the first gap 5ga which is the gap 5g.

  4 and 5, the first yoke 15 has an upper yoke 15A and a lower yoke 15C on the side facing the outer peripheral surface 55p of the movable member 55, that is, on the inner wall 15f side of the first yoke 15. And the side of the first yoke 15 facing the movable member 55 is divided. Here, the portion of the upper yoke 15A facing the movable member 55 is the first facing portion TA5 of the first yoke 15, and the portion of the lower yoke 15C facing the movable member 55 is the second facing portion TC5. It is said. As shown in FIG. 4, the first opposing portion TA5 and the second opposing portion TC5 are disposed in the pressing direction (Z direction shown in FIG. 4) along the movable shaft 11j.

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

  In the first embodiment of the present invention, a ring-shaped slit spacer S57 (see FIG. 2) is accommodated in the slit (yoke slit) portion of the first yoke 15 as shown in FIGS. Has been. The slit spacer S57 is formed using a synthetic resin such as polybutylene terephthalate resin (PBT), and the first opposing portion TA5 of the first yoke 15 (upper yoke 15A) and the first yoke 15 (lower yoke 15C). The second facing portion TC5 is also divided in the magnetic circuit. In the first embodiment of the present invention, the first yoke 15 is composed of two parts, ie, the upper yoke 15A and the lower yoke 15C. However, the present invention is not limited to this, and the first yoke 15 is composed of three or more parts. May be.

  Next, the second yoke 25 of the magnetic generation mechanism FM5 is formed in a cylindrical shape as shown in FIG. 2, and as shown in FIGS. 4, 5, 6B, and 7B, The movable member 55 is disposed on the other side (inner side), that is, on the inner circumferential surface 55q side of the movable member 55 in the cylindrical shape, and the inner circumference of the movable member 55 with a second gap 5gb that is a gap 5g with the movable member 55 interposed therebetween. It faces the surface 55q. Thereby, the magnetic flux generated from the coil 35 surely penetrates from the first opposing portion TA5 of the first yoke 15 to the second yoke 25 and from the second yoke 25 to the second opposing portion TC5 of the first yoke 15. . For this reason, the direction perpendicular to each of the rotating direction (the direction crossing the XY plane shown in FIG. 6B) and the pressing direction (the Z direction shown in FIG. 4) in which the movable member 55 operates, that is, the virtual sectional direction ( A magnetic path is reliably formed in the direction along the X plane shown in FIG.

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

  Next, the operation control unit of the magnetism generation mechanism FM5 uses an integrated circuit (IC), and controls the energization amount to the coil 35, the energization timing, and the like. Specifically, for example, when a pressing operation is performed by an operator's operation, the operation control unit receives a detection signal from a slide detection unit that detects a sliding motion of the operating body 11, and the operation control unit is in a certain coil 35. An amount of current is passed, or the amount of current is changed according to the operation position of the operating body 11.

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

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

  When the operating device 100 is assembled, as shown in FIG. 4, the movable member 55 is disposed in the inner accommodation space of the cylindrical first yoke 15 as described above, and the movable member 55 is arranged. The outer peripheral surface 55p of the first yoke 15 opposes the inner wall 15f (first opposing portion TA5 and second opposing portion TC5) of the first yoke 15. At that time, as shown in FIG. 8, the first yoke 15 and the coil 35 are disposed outside the movable member 55 around the axial center AC, and the movable member 55 and the first yoke 15 are disposed. The first gap 5ga has an arc shape. In the first embodiment of the present invention, the inner wall 15f of the first yoke 15 is formed in a cylindrical shape centered on the axial center AC, and the movable member 55 is formed in a cylindrical shape centered on the axial center AC. Therefore, the first gap 5ga opposed in an arc shape over the entire circumference is formed. However, the present invention is not limited to this, and at least a part of the movable member 55 and the first yoke 15 has an arc shape and has a first arc shape. A gap 5ga may be formed.

  Further, as shown in FIG. 8, the movable member 55 is formed to be rotationally symmetric about the axis center AC in the virtual cross section. Thereby, since the movable member 55, the first yoke 15 and the coil 35 are formed so as to be rotationally symmetric, a magnetic path having no magnetic flux density deviation can be formed with respect to the first gap 5ga, and the magnetic generation mechanism FM5. The magnetic field generated by can be efficiently applied.

  Further, as described above, the second yoke 25 is disposed inside the cylindrical movable member 55, and the inner peripheral surface 55 q faces the outer periphery of the second yoke 25. Thereby, the magnetic flux generated from the coil 35 is transferred from the first facing portion TA5 of the first yoke 15 to the movable member 55, from the movable member 55 to the second yoke 25, from the second yoke 25 to the movable member 55, and to the movable member 55. To the second opposing portion TC5 of the first yoke 15 with certainty. For this reason, a magnetic path is reliably formed by the direction (virtual cross-sectional direction) perpendicular to the direction (rotation direction or pressing direction) in which the movable member 55 operates.

  Moreover, in the first embodiment of the present invention, since the movable member 55 is made of a soft magnetic material, from the first opposing portion TA5 of the first yoke 15 to the second yoke 25 via the movable member 55, from the second yoke 25. A magnetic path is reliably formed through the movable member 55 to the second facing portion TC5 of the first yoke 15. Since the second yoke 25 is formed in a columnar shape centered on the axial center AC and the movable member 55 is formed in a cylindrical shape centered on the axial center AC, the second yoke 25 and the movable member 55 are also formed. The second gap 5gb opposed in an arc shape over the entire circumference is formed.

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

  Next, the magnetorheological fluid 75 of the movable load applying mechanism F5 will be described. FIG. 10 is a schematic diagram for explaining the magnetorheological fluid 75. FIG. 10A is a diagram of the magnetorheological fluid 75 in a state in which no magnetic field is applied, and FIG. It is a figure of the magnetorheological fluid 75 in the state of being applied. In FIG. 10B, the flow of a magnetic field (magnetic flux) is indicated by a two-dot chain line for easy understanding.

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

  Here, the fact that “viscosity changes according to the strength of the magnetic field” in the magnetorheological fluid 75 will be briefly described. First, when no magnetic field is applied to the magnetorheological fluid 75, as shown in FIG. 10A, the magnetic particles JR are irregularly dispersed in the solute SV. At this time, for example, when the movable member 55 operates (sliding in the Z direction perpendicular to the X direction shown in FIG. 10A), the movable member 55 easily operates while receiving a relatively low resistance force. .

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

  When the movable member 55 operates in such an energized state (the state shown in FIG. 10B), a resistance force is generated on the movable member 55, and the operating body 11 engaged with the movable member 55 is Resistance (load) is transmitted. Thereby, the movable load applying mechanism F5 can apply a load of a movable operation (such as a rotation operation and a slide operation) to the operator. At that time, since the amount of energization to the coil 35 and the timing of energization are controlled by the operation control unit, an arbitrary load can be freely given to the operator at an arbitrary timing.

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

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

  Moreover, in the first embodiment of the present invention, in the initial state, the area of the first opposing surface facing the magnetorheological fluid 75 in the first opposing portion TA5 shown in FIG. 4 and the magnetorheological fluid 75 in the second opposing portion TC5 are faced. The area of the second facing surface is the same. Thereby, the magnetic flux density becomes equal at the entrance and exit of the magnetic flux, and the magnetic flux generated from the coil 35 can be efficiently applied to the control of the viscosity of the magnetorheological fluid 75. As a result, a load (rotational load) can be evenly applied to the movable member 55 that rotates, and a better operational feel can be given to the operator.

  Furthermore, in the first embodiment of the present invention, as shown in FIGS. 4 and 5, the second gap 5 gb that is the gap 5 g between the movable member 55 and the second yoke 25 is also filled with the magnetorheological fluid 75. . The magnetorheological fluid 75 filled therein is also supplied from the first yoke 15 (first opposing portion TA5) to the second yoke 25 via the movable member 55, and from the second yoke 25 via the movable member 55 to the first yoke. The magnetic flux formed over 15 (second facing portion TC5) acts. For this reason, the magnetic particles JR can be aligned in a direction (virtual cross-sectional direction) perpendicular to the direction (rotation direction or pressing direction) in which the movable member 55 operates, and a stronger load can be applied. As a result, a further load can be applied, and an even greater operational feel can be given to the operator even with an equivalent magnetic field.

  Finally, the fixing member 6 of the operating device 100 will be described. As shown in FIG. 2, the fixing member 6 includes a fixing body 16 that fixes the second yoke 25 of the magnetism generation mechanism FM5, and a through hole 36k in the center portion on the side facing the upper plate portion 13B of the case 13. A cover 36 that covers the opening and a locking body 56 that engages with the fixed body 16 across the cover 36 are provided.

  First, the fixed body 16 of the fixing member 6 is made of a metal material such as iron. As shown in FIG. 2, the engagement shaft 16 j inserted through the engagement hole 25 k of the second yoke 25 and the through hole of the cover 36. It is mainly comprised from the to-be-latched part 16n penetrated by 36k and engaged with the latching body 56, and the collar part 16v provided between the engaging shaft 16j and the to-be-latched part 16n. Although not shown in detail, the engagement shaft 16j and the locked portion 16n are externally threaded.

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

  Next, the cover 36 of the fixing member 6 is produced by using a synthetic resin such as polybutylene terephthalate resin (PBT), like the case 13 of the support 3, and injection-molded into a disk shape as shown in FIG. Has been. As described above, the cover 36 has a through hole 36k in the central portion thereof, through which the locked portion 16n is inserted. Moreover, it has four holes in the outer peripheral edge part of a disk shape, and two holes in the vicinity of the peripheral part of the through-hole 36k.

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

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

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

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

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

  In addition, since the movable member 55, the first yoke 15, and the coil 35 are formed to be rotationally symmetric about the axial center AC in the virtual cross section, the magnetic flux density is biased with respect to the magnetorheological fluid 75. The magnetic field generated by the magnetic generation mechanism FM5 can be efficiently applied to the viscosity control. As a result, a load can be uniformly and efficiently applied to the movable member 55, and a better operational feeling can be given to the operator.

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

  In addition, since the first facing portion TA5 and the second facing portion TC5 of the first yoke 15 are disposed in the pressing direction along the movable shaft 11j and face the outer peripheral surface 55p of the cylindrical movable member 55, A magnetic path is surely formed from the first facing portion TA5 of the first yoke 15 to the movable member 55 side, and a magnetic path is surely formed from the movable member 55 side to the second facing portion TC5 of the first yoke 15. Thus, the magnetic particles JR in the magnetorheological fluid 75 are aligned along the magnetic flux in the virtual cross-sectional direction. For this reason, it is possible to reliably apply a stronger load to the movable member 55 that operates in a direction (rotating direction or pressing direction) that intersects (substantially orthogonally) the virtual sectional direction. Thereby, it is possible to give a better operational feeling to the operator with respect to the rotation operation and the pressing operation.

  Further, since the magnetorheological fluid 75 is filled in the second gap 5gb between the second yoke 25 of the magnetism generation mechanism FM5 and the inner peripheral surface 55q of the movable member 55, the rotating operation and the sliding operation (pressing force) in the direction crossing the magnetic flux. A further load (rotational load or pressing load) can be applied to the movable member 55 that moves in the direction. As a result, even with an equivalent magnetic field, a greater operational feel can be given to the operator.

  Moreover, since the area of the 1st opposing surface of 1st opposing part TA5 and the area of the 2nd opposing surface of 2nd opposing part TC5 are the same, magnetic flux density becomes equivalent by the entrance and exit of magnetic flux, and coil 35 The magnetic flux generated from the magnetic fluid can be efficiently applied to control the viscosity of the magnetorheological fluid 75. As a result, a load (rotational load) can be evenly applied to the movable member 55 that rotates, and a better operational feel can be given to the operator.

[Second Embodiment]
FIG. 12 is an upper perspective view of the operating device 200 according to the second embodiment of the present invention. FIG. 13A is a top view of the operating device 200 viewed from the Z1 side shown in FIG. 12, and FIG. 13B is a front view of the operating device 200 viewed from the Y2 side shown in FIG. In FIG. 13, the operation unit 51 shown in FIG. 12 is omitted for easy understanding. FIG. 14 is a cross-sectional view of the operating device 200 taken along line XIV-XIV shown in FIG. The operation device 200 of the second embodiment is mainly different from the first embodiment in the configuration of the first yoke 215 and the movable member 255. In addition, about the same structure as 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

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

  Further, in the operating device 200 of the second embodiment, in addition to the above-described components, as shown in FIG. 14, a fixed member 6 that fixes the magnetic generation mechanism FN5, and a spacer that is disposed below the movable member 255 S77. In the operation device 200, the operation unit 51 (operation knob) of the operation member 1 is engaged with one end of the operation body 11, the operator 51 is gripped and operated by the operator, and the operation body 11 is omnidirectional. It is designed to tilt.

  First, the operation member 1 of the operation device 200 will be briefly described. As illustrated in FIG. 12, the operation member 1 includes an operation unit 51 that is held by the operator and an operation body 11 that tilts in accordance with the tilting operation of the operator. The operating body 11 of the operating member 1 has a movable shaft 11j that is cylindrical and centered on the shaft center AC that is the center of rotation. The operating portion 51 is engaged with one end of the movable shaft 11j. In addition, the movable member 255 of the movable load applying mechanism F25 is engaged with the other end of the movable shaft 11j.

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

  The shaft support portion 253 of the support S3 is made of a rubber material that can be elastically deformed. One end of the shaft support 253 is engaged so as to surround the movable shaft 11j of the operating body 11, and the other end is magnetized by the magnetic generation mechanism FN5. (A first yoke 215 described later) is engaged. The shaft support portion 253 is formed in a sheet shape at the intermediate portion, supports the operating body 11 (movable shaft 11j), and allows the operating body 11 to tilt in all directions.

  The ring body 63 of the support S3 is manufactured by injection molding into a ring shape using a synthetic resin such as polyacetal (POM, polyoxymethylene). As shown in FIG. 14, one ring body 63 is provided on each of the upper side and the lower side of the movable member 255. The ring body 63 supports the movable member 255 in a rotatable manner, and thus supports the tilting operation of the operation body 11 in all directions. The ring body 63 attached here also has a function of closing both ends of the gap 5g between the movable member 255 and the magnetism generating mechanism FN5, and the magnetorheological fluid 75 filled in the gap 5g leaks. It prevents it from coming out.

  Next, the movable load applying mechanism F25 of the operating device 200 will be described. As described above, as shown in FIG. 14, the movable load applying mechanism F25 includes a movable member 255 that operates by engaging with the movable shaft 11j, and a magnetic generation mechanism FN5 that faces the movable member 255 across the gap 5g. And a magnetorheological fluid 75 present in the gap 5g. Furthermore, the magnetic generation mechanism FN5 of the movable load applying mechanism F25 includes a coil 235 that generates a magnetic field by energization, a first yoke 215 provided so as to surround the coil 235, and an operation control unit that controls energization to the coil 235. (Not shown). The movable load applying mechanism F25 receives a tilting operation by the operator, and applies a load (tilting load) from the movable load applying mechanism F25 to the operating body 11, whereby the operating portion of the operating member 1 is provided to the operator. 51 is configured to apply a load.

  First, the magnetic generation mechanism FN5 of the movable load applying mechanism F25 will be described. The coil 235 of the magnetic generation mechanism FN5 is formed by winding a metal wire in an annular shape, and in the same manner as in the first embodiment, the movable member has a virtual cross section (virtual cross section) in which the axial center AC penetrates vertically. The coil 235 is disposed outside the H.255. Further, the coil 235 is formed in a circular ring shape so as to be rotationally symmetric about the axial center AC in the virtual cross section. Then, when the coil 235 is energized, a magnetic field is generated around the coil 235.

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

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

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

  As shown in FIG. 14, the first yoke 215 is disposed on one side (outer side) of the movable member 255, and the inner side of the upper yoke 15E and the lower yoke 15F is a gap 5g between the movable member 255 and the first yoke 215. The three gaps 5gc are opposed to each other. Here, the portion of the upper yoke 15E facing the movable member 255 is the third facing portion TE5 of the first yoke 215, and the portion of the lower yoke 15F facing the movable member 255 is the fourth facing portion TF5. It is said. As shown in FIG. 14, the third facing portion TE5 and the fourth facing portion TF5 are arranged in a direction along the axial center AC (Z direction shown in FIG. 14).

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

  Next, the movable member 255 of the movable load applying mechanism F25 will be described. The movable member 255 is made of a soft magnetic material such as iron, and is formed in a spherical shape having a sphere center SC on the axis center AC. Then, as shown in FIG. 14, the upper end portion of the movable member 255 is engaged with and integrated with the movable shaft 11 j of the operating body 11. Thereby, with the tilting operation of the operating body 11 in all directions, the movable member 255 rotates in all directions around the spherical center SC. The operation body 11 can be tilted around the spherical center SC of the movable member 255 because the movable member 255 is supported by the two ring bodies 63 described above.

  Further, when the operating device 200 is assembled, as shown in FIG. 14, the movable member 255 is disposed in the spherical storage space formed in the center of the first yoke 215 as described above. Thus, the outer peripheral surface 255p of the movable member 255 is opposed to the third opposing portion TE5 and the fourth opposing portion TF5 of the first yoke 215. At this time, as shown in FIG. 14, the first yoke 215 and the coil 235 are disposed outside the movable member 255 around the spherical center SC of the movable member 255, and the first yoke 215 and A part of the movable member 255 has an arc shape to form the third gap 5gc. The third gap 5gc is filled with the magnetorheological fluid 75 of the movable load applying mechanism F25.

  In addition, the movable member 255 is formed so as to be rotationally symmetric about the axial center AC in the virtual cross section. Accordingly, since the movable member 255, the first yoke 215, and the coil 235 are formed so as to be rotationally symmetric, a magnetic path having no magnetic flux density deviation can be formed with respect to the third gap 5gc, and the magnetic generation mechanism FN5 The magnetic viscous fluid 75 can be efficiently applied to the magnetic viscous fluid 75. As a result, the viscosity can be controlled efficiently, and a load can be efficiently applied to the movable member 255.

  Moreover, in the second embodiment of the present invention, since the movable member 255 is made of a soft magnetic material, the third facing portion TE5 of the first yoke 215 is moved to the movable member 255, and the movable member 255 is moved to the fourth facing of the first yoke 215. A magnetic path is surely formed over the portion TF5. For this reason, a stronger load (rotational load) is applied to the movable member 255 that operates (rotates) in a direction crossing the opposing surface direction in which the magnetic particles JR in the magnetorheological fluid 75 are aligned.

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

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

  Moreover, in the second embodiment of the present invention, in the initial state, the area of the first opposing surface facing the magnetorheological fluid 75 in the third opposing portion TE5 and the magnetorheological fluid 75 in the fourth opposing portion TF5 shown in FIG. The area of the second facing surface is the same. Thereby, the magnetic flux density becomes equal at the entrance and exit of the magnetic flux, and the magnetic flux generated from the coil 235 can be efficiently applied to control the viscosity of the magnetorheological fluid 75. As a result, a load (rotational load) can be equally applied to the movable member 255 that rotates, and a better operational feel can be given to the operator.

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

  As with the operation member 1, the casing 76 of the fixing member 6 is made of a synthetic resin such as polybutylene terephthalate resin (PBT) and is injection-molded into a substantially cubic box shape as shown in FIG. Yes. Further, as described above, the top plate portion of the casing 76 is provided with the through hole 76k through which the movable shaft 11j of the operating body 11 is inserted.

  Next, the cover 96 of the fixing member 6 is injection-molded into a plate-like rectangular shape as shown in FIG. 12, using a synthetic resin such as polybutylene terephthalate resin (PBT), as in the case 76. Have been made. Although not shown in detail, the lid 96 is fixed to the housing 76 by screws.

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

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

  In the initial state in which the operating device 200 according to the second embodiment of the present invention is not operated, in the virtual cross section in which the axial center AC of the movable shaft 11j of the operating body 11 penetrates vertically, the movable shaft 11j is centered on the movable shaft 11j. An engaged movable member 255; a first yoke 215 opposed across a third gap 5gc that is a gap 5g between the movable member 255; and a coil 235 that generates a magnetic field by energization. The first yoke 215 and the coil 235 are disposed outside, and at least a part of the movable member 255 and the first yoke 215 has an arc shape to form the third gap 5gc. Thereby, a magnetic field is generated by energizing the coil 235, a magnetic path is formed to extend from the first yoke 215 to the movable member 255 side, and the magnetic particles JR in the magnetorheological fluid 75 follow the magnetic flux in the virtual sectional direction. Will be aligned. For this reason, the movable member 255 that operates in a direction crossing the magnetic flux formed between the first yoke 215 and the movable member 255, for example, the movable member 255 and the first yoke 215, such as a rotational direction around the spherical center SC of the movable member 255, and the like. On the other hand, a load is applied by the magnetorheological fluid 75. As a result, a load is applied to the operating body 11 via the movable member 255 and the movable shaft 11j, and a favorable operational feeling can be given to the operator with respect to operations such as tilting operations.

  Further, since the movable member 255, the first yoke 215, and the coil 235 are formed so as to be rotationally symmetric about the axial center AC in the virtual cross section, the magnetic flux density is biased with respect to the magnetorheological fluid 75. The magnetic field generated by the magnetic generation mechanism FN5 can be efficiently applied to the viscosity control. As a result, a load can be uniformly and efficiently applied to the movable member 255, and a better operational feel can be given to the operator.

  Further, the third opposing portion TE5 and the fourth opposing portion TF5 of the first yoke 215 are disposed in the direction along the axial center AC and are opposed to the outer peripheral surface 255p of the spherical movable member 255. A magnetic path is reliably formed from the third facing portion TE5 of the yoke 215 to the movable member 255 side, and a magnetic path is reliably formed from the movable member 255 side to the fourth facing portion TF5 of the first yoke 215. Thus, the magnetic particles JR in the magnetorheological fluid 75 are aligned along the magnetic flux formed in the spherical radial direction of the movable member 255. For this reason, it is possible to reliably apply a stronger load to the movable member 255 that operates in a tangential direction (rotational direction) orthogonal to the radial direction. Thereby, it is possible to give a better operational feeling to the operator with respect to the tilting operation.

  Further, since the movable member 255 is made of a soft magnetic material, a magnetic path is reliably formed from the third facing portion TE5 of the first yoke 215 to the movable member 255 and from the movable member 255 to the fourth facing portion TF5 of the first yoke 215. As a result, the magnetic particles JR in the magnetorheological fluid 75 are aligned with the first yoke 215 and the movable member 255 facing each other. For this reason, a stronger load is applied to the movable member 255 that operates (rotates) in a direction crossing the opposing surface direction in which the magnetic particles JR are aligned. As a result, a stronger load (tilting load) is applied to the operating body 11 via the movable member 255 and the movable shaft 11j, and a better operational feeling can be given to the operator.

  Moreover, since the area of the 1st opposing surface of 3rd opposing part TE5 and the area of the 2nd opposing surface of 4th opposing part TF5 are the same, magnetic flux density becomes equivalent by the entrance and exit of magnetic flux, and coil 235 The magnetic flux generated from the magnetic fluid can be efficiently applied to control the viscosity of the magnetorheological fluid 75. As a result, a load (rotational load) can be equally applied to the movable member 255 that rotates, and a better operational feel can be given to the operator.

  In addition, this invention is not limited to the said embodiment, For example, it can deform | transform and implement as follows, These embodiments also belong to the technical scope of this invention.

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

<Modification 2>
In the first embodiment, the first opposing portion TA5 and the second opposing portion TC5 are configured by the upper yoke 15A and the lower yoke 15C of the first yoke 15. However, the inner wall 15f is formed only by the upper yoke 15A or the lower yoke 15C. The inner wall 15f may be opposed to the movable member 55 so that the first facing portion TA5 and the second facing portion TC5 are not provided.

<Modification 3>
In the first embodiment, the second yoke 25 is preferably provided. However, only the first yoke 15 may be provided.

<Modification 4>
In the second embodiment, a part of the gap 5g (third gap 5gc) sandwiched between the two ring bodies 63 among the gap 5g between the movable member 255 and the magnetism generating mechanism FN5 (first yoke 215) is magnetic. Although it was the structure filled with the viscous fluid 75, it is not restricted to this. For example, the magnetorheological fluid 75 may exist in all the gaps 5g.

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

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Operation member 11 Operation body 11j Movable shaft 3, S3 Support body F5, F25 Movable load provision mechanism FM5, FN5 Magnetic generation mechanism 15, 215 1st yoke 25 2nd yoke 35, 235 Coil 55, 255 Movable member 55p, 255p Outer periphery Surface 55q Inner circumferential surface 75 Magnetorheological fluid 5g Clearance 5ga First clearance 5gb Second clearance 5gc Third clearance TA5 First opposing portion TC5 Second opposing portion TE5 Third opposing portion TF5 Fourth opposing portion AC Axis center SC Sphere center 100 200 Operating device

Claims (9)

An operation member having an operation body that moves in an operation direction by an operation of the operator;
A support that freely supports the operation of the operating body;
A movable load applying mechanism for applying a load to the operation of the operation body,
The operating body has a movable shaft that enables the operation,
The movable load applying mechanism includes a movable member that engages with the movable shaft and performs the operation;
A magnetism generating mechanism facing the movable member across a gap;
A magnetorheological fluid that exists in at least a part of the gap and has a viscosity that changes according to the strength of the magnetic field,
The magnetism generating mechanism includes a coil that generates a magnetic field by energization,
A first yoke provided to surround the coil and disposed on one side of the movable member;
With
A first gap, which is the gap between the first yoke and the movable member, is filled with the magnetorheological fluid;
In an initial state where the operation is not performed, an imaginary cross section in which the axis of the movable shaft penetrates vertically,
The first yoke and the coil are arranged outside the movable member around the movable shaft, and at least a part of the movable member and the first yoke is centered on the shaft center. An operating device having an arc shape and forming the first gap.   2. The operating device according to claim 1, wherein the movable member, the first yoke, and the coil are formed so as to be rotationally symmetric about the axis center in the virtual cross section.   The operating device according to claim 1, wherein the movable member is made of a soft magnetic material. The movable member has a cylindrical shape centered on the axis center,
The first yoke has a first facing portion and a second facing portion that are divided from each other on the side facing the movable member,
The first opposing portion and the second opposing portion are disposed in a pressing direction along the movable shaft, and are opposed to an outer peripheral surface of the movable member. The operating device according to any one of the above. The magnetism generating mechanism has a second yoke facing the inner peripheral surface of the movable member in the cylindrical shape,
The operating device according to claim 4, wherein a second gap between the second yoke and the inner peripheral surface of the movable member is filled with the magnetorheological fluid.   5. The area of the first facing surface facing the magnetorheological fluid in the first facing portion is the same as the area of the second facing surface facing the magnetorheological fluid in the second facing portion. Alternatively, the operating device according to claim 5. The movable member has a spherical shape having a spherical center on the axis center;
The operating body is supported so as to be tiltable around the center of the sphere,
The first yoke has a third facing portion and a fourth facing portion that are divided from each other in a direction along the axial center;
The third facing portion and the fourth facing portion are concave shapes along the spherical outer peripheral surface of the movable member,
3. The operating device according to claim 2, wherein the magnetorheological fluid is filled in a third gap between the third facing portion and the fourth facing portion and the outer peripheral surface of the movable member.   The operating device according to claim 7, wherein the movable member is made of a soft magnetic material. 8. The area of the third facing surface facing the magnetorheological fluid in the third facing portion is the same as the area of the fourth facing surface facing the magnetorheological fluid in the fourth facing portion. Or the operating device of Claim 8.