JP2017182147A - Handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a handling device with which it is possible to obtain good operational feeling using a magnetic viscous fluid.SOLUTION: Provided is a handling device 100 equipped with an operation body 11 that works in an operation direction by operation and a movable load adding mechanism F5 for adding a load to a support body 3 that supports the working of the operation body 11, the handling device 100 comprising an operation unit U2 having the operation body 11 and the support body 3 and a magnetism generation unit U4 having a portion of the movable load adding mechanism F5. The movable load adding mechanism F5 includes a movable member 55 that works in conjunction with the operation body 11, a mounting unit 6 facing the movable member 55 in a first gap 5ga, a magnetic viscous fluid 75 filled in the first gap 5ga, and a magnetism generation mechanism FM5 equipped with a coil 35 and a first yoke 15 for causing a magnetic field to act on the magnetic viscous fluid 75. The magnetism generation unit U4 is disposed toward a body PN to be mounted, and the operation unit U2 is removably mounted in the mounting unit 6 to the body PN to be mounted.SELECTED DRAWING: Figure 3

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. 8 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. 8 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. 9 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. 9 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.

  In the manual brake 911 configured as described above, when the coil 931 is energized, a magnetic flux J37 indicated by a broken line in FIG. 9 is generated. Along with the generation of the magnetic flux J37, soft magnetic or magnetization in the magnetic field response material 941 is generated. Possible particles come to be arranged along the magnetic flux J37. 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.

  Then, the case where the action of the magnetic field response material 941 (magnetoviscous fluid) described above is used for an operating device is considered. For example, an operating body (operating member) operated by an operator is engaged with a shaft 923 (rotating shaft). The control unit 925 controls the current flowing through the coil 931 to apply a load to the operating body (operation member). As a result, 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 can be applied without using a motor.

JP 2003-50639 A JP 2005-507061 gazette

  On the other hand, it has been demanded that such an operating device be used in various places. However, the configuration using the conventional example 2 has a problem that the operation device itself becomes large and cannot be easily mounted and used.

  The present invention solves the above-described problems, and an object of the present invention is to provide an operating device that can be easily mounted with a good operational 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 operation direction of the user, wherein the operating body has a movable shaft that enables the operation body to move, and the movable body A load applying mechanism engages with the movable shaft to perform the operation, a mounting portion facing the movable member with a first gap, and a strength of the magnetic field filled in the first gap. A magnetorheological fluid whose viscosity changes in response to the magnetorheological fluid, and a magnetism generating mechanism that causes a magnetic field to act on the magnetorheological fluid, and the magnetism generating mechanism surrounds the coil that generates a magnetic field by energization. A first yoke provided, the operating member and the support An operation unit having a body, the movable member, the mounting portion, and the magnetorheological fluid; and a magnetism generation unit having the coil and the first yoke and separated from the operation unit. The unit is disposed toward the mounted body, and the operation unit is mounted on the mounted body so as to be detachable at the mounting portion so as to overlap the magnetic generation unit with the mounted body interposed therebetween. It is a feature.

  According to this, the operating device of the present invention generates a magnetic field by energizing the coil of the magnetism generating mechanism, and the magnetic path is formed from the magnetism generating unit side to the operating unit side to form a magnetic viscosity on the operating unit side. Magnetic particles in the fluid are aligned along the magnetic flux. For this reason, the load by a magnetorheological fluid comes to be applied to the movable member that operates in a direction transverse to the direction of the magnetic flux formed between the mounting portion and the movable member. As a result, a load is applied to the operating body via the movable member and the movable shaft, and a good operation feeling can be given to the operator with respect to the operation of the operator. On the other hand, since the unit separated into the operation unit and the magnetism generating unit can be disposed with the mounted body interposed therebetween, it can be easily attached to the mounted body in a detachable manner. Therefore, it is possible to provide an operating device that can be easily mounted while providing a good operating feeling using a magnetorheological fluid.

  The operating device of the present invention is characterized in that a plurality of the magnetism generating units are provided on the opposite side of the mounted body from the side on which the operating unit is mounted.

  According to this, the plurality of magnetism generating units can be arranged in advance at desired positions of the mounted body, and the operation is performed by mounting one operation unit corresponding to the desired position. be able to. For this reason, it is possible to perform operations at various positions of the mounted body without increasing the number of operation units. This enables various operations at low cost.

  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 first yoke on the magnetism generating unit side to the movable member on the operation unit side from the movable member to the first yoke, and the magnetic particles in the magnetorheological fluid move with the first yoke. The members are aligned in the direction of the opposing surfaces facing each other. For this reason, a stronger load is applied to the movable member that moves 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 magnetism generating mechanism has a second yoke disposed on the other side of the movable member on the operation unit side so as to face the movable member. The magnetorheological fluid is filled in a second gap between the second yoke and the second yoke.

  According to this, the magnetic flux generated from the coil surely penetrates from the first yoke on the magnetism generating unit side to the second yoke on the operation unit side and from the second yoke to the first yoke. For this reason, a magnetic path is reliably formed in a direction perpendicular to the direction in which the movable member is movable, and the magnetic particles of the magnetorheological fluid can be aligned along the perpendicular direction. As a result, a load can be applied to the movable member that moves in the direction crossing the direction of magnetic flux (the direction in which the magnetic particles are aligned) by the magnetorheological fluid in the second gap. Therefore, even with an equivalent magnetic field, a greater operational feeling can be given to the operator.

  In the operating device of the present invention, a magnetic field is generated by energizing the coil of the magnetism generating mechanism, the magnetic path is formed from the magnetism generating unit side to the operating unit side, and magnetic particles in the magnetorheological fluid on the operating unit side are formed. It will be aligned along the magnetic flux. For this reason, the load by a magnetorheological fluid comes to be applied to the movable member that moves in a direction transverse to the direction of the magnetic flux formed between the mounting portion and the movable member. As a result, a load is applied to the operating body via the movable member and the movable shaft, and a good operation feeling can be given to the operator with respect to the operation of the operator. On the other hand, since the unit separated into the operation unit and the magnetism generating unit can be disposed with the mounted body interposed therebetween, it can be easily attached to the mounted body in a detachable manner.

It is a separate perspective view of the operating device concerning a 1st embodiment of the present invention. 2A and 2B are diagrams illustrating the operating device according to the first embodiment of the present invention, in which FIG. 2A is a top view seen from the Z1 side shown in FIG. 1, and FIG. 2B is shown in FIG. It is the front view seen from the Y2 side. It is a figure explaining the operating device of 1st Embodiment of this invention, Comprising: It is sectional drawing in the III-III line shown to Fig.2 (a). It is a figure explaining the operation unit of the operating device concerning 1st Embodiment of this invention, Comprising: It is an expanded sectional view of the P section shown in FIG. FIG. 5A is a schematic diagram for explaining the magnetorheological fluid of the operating device according to the first embodiment of the present invention, and FIG. 5A 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 a schematic diagram explaining the magnetic generation unit of the operating device concerning 1st Embodiment of this invention, Comprising: It is the bottom view which showed the state with which the several magnetic generation unit was mounted | worn with the to-be-mounted body. 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 an exploded perspective view of an operating device 100 according to the first embodiment of the present invention. FIG. 2 is a view when the operating device 100 is mounted on the mounted body PN. FIG. 2A is a top view seen from the Z1 side shown in FIG. 1, and FIG. FIG. 2 is a front view seen from the Y2 side shown in FIG. FIG. 3 is a cross-sectional view taken along line III-III shown in FIG.

  The operation device 100 according to the first embodiment of the present invention has an appearance as shown in FIGS. 1 and 2, and as shown in FIG. 3, an operation having an operation body 11 that moves in an operation direction by an operator's operation. It is mainly configured to include a member 1, a support body 3 that freely supports the operation of the operation body 11, and a movable load applying mechanism F5 that applies a load to the operation direction of the operation body 11 (operator). ing.

  Further, as shown in FIGS. 2B and 3, the operation device 100 includes an operation unit U2 having the operation member 1 and the support 3 described above, and a part of the movable load applying mechanism F5 described above. The unit U2 is configured as a magnetic generation unit U4 separated from the unit U2 and two independent units. The operation unit U2 and the magnetism generation unit U4 are arranged so as to overlap with the mounted body PN, and can be easily mounted on the mounted body PN.

  In the first embodiment of the present invention, the operation device 100 includes an operation unit (an operation knob, an operation knob, or the like) of the operation member 1 (not shown) engaged with one end side of the operation body 11, and the operation unit is operated by the operator. It is a rotary type operating device that is gripped and operated so that the operating body 11 rotates in both directions. Further, a liquid crystal panel or the like is assumed as the mounted body PN. The operation unit U2 and the magnetism generating unit U4 are arranged so as to sandwich the mounted body PN. For example, a part of the mounted body PN has a hole and two units (the operation unit U2 and the magnetic unit U4) The generation unit U4) may face and face each other without any separation in the hole portion while sandwiching the mounted body PN.

  In addition, in the operating device 100 according to the first embodiment of the present invention, in addition to the above-described components, the side wall spacer S17 that forms part of the side wall of the operating unit U2 and the cover C47 that forms the upper wall of the magnetism generating unit U4. And have.

  Further, when the operation device 100 is provided with a rotation detection means (not shown) for detecting the rotation operation of the operation body 11, for example, detecting the rotation angle of the operation body 11, the operation device 100 inputs the rotation angle. It can be used as a rotary input device that can be used. 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, the rotary variable resistor is used. By engaging the tool with the operating body 11, the rotational movement 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.

  First, the operation unit U2 of the operation device 100 will be described. FIG. 4 is a diagram for explaining the operation unit U2, and is an enlarged cross-sectional view of a portion P shown in FIG.

  First, the operation unit U2 of the operation device 100 is configured with respect to an operation member 1 having an operation body 11, a support body 3 that freely supports the movement of the operation body 11, and an operation direction of the operation body 11 (operator). And a part (to be described later) constituting the movable load applying mechanism F5 for applying a load. The movable load applying mechanism F5 is configured by combining a part incorporated in the operation unit U2 and a part incorporated in the magnetism generation unit U4. However, for easy understanding of the explanation, the operation unit U2 side and the magnetism generation unit are included. Clarify any of the U4 sides and explain each time.

  First, the operation member 1 of the operation unit U2 will be described. The operation member 1 includes an operation unit (not shown) that is held by an operator, and an operation body 11 that is engaged with the operation unit and that moves in accordance with a rotation operation of the operation unit.

  The operation portion of the operation member 1 is a member such as an operation knob or an operation knob that is gripped and operated by an operator, and is used by being engaged with one end side of the operation body 11. In addition, the shape is arbitrarily determined depending on the product to be applied in consideration of a shape that is easy to operate.

  The operation body 11 of the operation member 1 uses a synthetic resin such as polybutylene terephthalate (PBT), and as shown in FIG. 3, a columnar part 11c (see FIG. 1) and a columnar part A movable shaft 11j that allows the operation body 11 to move (rotate) through the center of 11c, and a ring portion 11r that is provided on the other end side of the operation body 11 and that is slightly larger than the column portion 11c. And it is manufactured by injection molding integrally. In the first embodiment of the present invention, the movable shaft 11j is preferably formed integrally with the column portion 11c of the operating body 11. However, the present invention is not limited to this, and the movable shaft 11j is formed separately from the movable shaft 11j. The column part 11c of the operating body 11 may be engaged.

  Further, as shown in FIG. 3 and FIG. 4, an O-ring R7 made of a rubber material is inserted into the operation body 11 through the ring portion 11r, and the ring portion 11r and a movable member 55 (described later) are connected. It is arrange | positioned at the joint part. The O-ring R7 attached here also has a function of closing an accommodation space in which a magnetorheological fluid 75 described later is accommodated. This prevents the magnetorheological fluid 75 filled in the accommodation space from leaking out.

  Next, the support 3 of the operation unit U2 will be described. As shown in FIGS. 3 and 4, the support body 3 is inserted into the bearing portion 3 j where the end of the movable shaft 11 j of the operating body 11 is abutted and the column portion 11 c of the operating body 11 so as to pass through the column portion 11 c. It is mainly composed of a shaft support portion 3s for guiding and a lid portion 3u for pressing and stabilizing the shaft support portion 3s. And this support body 3 is supporting the operation body 11 (operation member 1) so that the operation body 11 can move (rotate) freely.

  As shown in FIG. 3, the bearing portion 3 j of the support body 3 has a concave shape on the side facing the movable shaft 11 j of the operating body 11. When the operating device 100 is assembled, the bearing portion 3j is configured such that the end of the movable shaft 11j is brought into contact with the concave portion of the bearing portion 3j so that the movable body 11 can be easily moved. Is allowed.

  The shaft support portion 3s of the support 3 has a ring shape with a through hole at the center (see FIG. 1), and as shown in FIG. 3, a movable load applying mechanism F5 (a magnetic generation mechanism FM5 described later) is provided. The second yoke 25) is housed in a recess provided in the upper center portion. And the pillar part 11c of the operation body 11 is penetrated by the through-hole of the shaft support part 3s, and the shaft support part 3s supports the pillar part 11c (operation body 11) rotatably.

  The lid 3u of the support 3 is flat and has a circular shape with a through hole in the center (see FIG. 1). As shown in FIG. 3, the movable load applying mechanism F5 (second yoke 25) is provided. ). And the pillar part 11c of the operation body 11 is penetrated by the through-hole of the cover part 3u similarly to the shaft support part 3s. The bearing portion 3j, the shaft support portion 3s, and the lid portion 3u are manufactured by injection molding using a synthetic resin such as polybutylene terephthalate resin (PBT) in the same manner as the operation body 11.

  Next, the movable load applying mechanism F5 of the operating device 100 will be described. As shown in FIG. 3, the movable load applying mechanism F5 has, on the operation unit U2 side, a movable member 55 that is movable by engaging with the movable shaft 11j, and one side of the movable member 55 (Z2 direction shown in FIG. 3). And a mounting portion 6 that opposes the movable member 55 and the first gap 5ga (see FIG. 4) and a magnetorheological fluid 75 (see FIG. 4) existing in the first gap 5ga. The magnetism generating unit U4 is provided with a magnetism generating mechanism FM5 for applying a magnetic field to the magnetorheological fluid 75.

  Further, in the first embodiment of the present invention, the operating device 100 is arranged such that, on the operating unit U2 side, the magnetic device disposed opposite to the movable member 55 on the other side (Z1 direction side shown in FIG. 3) of the movable member 55. It has the 2nd yoke 25 of generating mechanism FM5. The second gap 5gb (see FIG. 4) between the movable member 55 and the second yoke 25 is filled with the magnetorheological fluid 75 (see FIG. 4) in the same manner as the first gap 5ga.

  First, the movable member 55 of the movable load applying mechanism F5 provided on the operation unit U2 side will be described. The movable member 55 is made of a soft magnetic material such as iron, and as shown in FIG. 4, the base 55d having a through hole centered on the rotation center of the movable shaft 11j and the rotation center of the movable shaft 11j. And a disk-shaped disk portion 55e as a center.

  As shown in FIG. 3, the base portion 55 d of the movable member 55 is engaged with the operation body 11 on the lower side of the ring portion 11 r of the operation body 11. Further, the disk portion 55e of the movable member 55 is engaged with the base portion 55d on the outer peripheral side of the base portion 55d. Accordingly, the disk portion 55e of the movable member 55 rotates and moves in both directions as the operating body 11 rotates in both directions.

  In addition, a direction (X direction) orthogonal to a direction (Z direction shown in FIG. 3) along the movable shaft 11j of the operating body 11 by the mounting portion 6, the side wall spacer S17, and the second yoke 25 (magnetic generation mechanism FM5) described later. A narrow accommodation space is formed in the direction of the −Y plane). When the operating device 100 is assembled, as shown in FIG. 3, the disk portion 55e of the movable member 55 is disposed in the narrow housing space. The side wall spacer S17 is also formed using a synthetic resin such as polybutylene terephthalate resin (PBT).

  Next, the mounting portion 6 of the movable load applying mechanism F5 provided on the operation unit U2 side will be described. The mounting portion 6 is manufactured by injection molding using a synthetic resin such as polybutylene terephthalate resin (PBT). As shown in FIGS. 1 and 3, the mounting portion 6 is disposed on the other end side opposite to the one end side of the operation body 11, and forms the bottom surface of the operation unit U2.

  Further, as shown in FIG. 4, the mounting portion 6 has a through hole formed in the central portion through which the movable shaft 11j penetrates, and a bearing portion 3j of the support 3 described later is accommodated in the through hole. As shown in FIG. 2B, the bottom surface (mounting surface) of the mounting portion 6 is detachably mounted on the mounted body PN. In addition, since the to-be-attached body PN has a flat plate shape, the shape of the mounting surface of the mounting portion 6 is configured to be a flat plate shape, but is not limited to this shape. That is, a shape that matches the shape of the portion to which the body to be mounted PN is mounted is suitable, and may be, for example, a spherical shape or a concave shape.

  Next, the magnetorheological fluid 75 of the movable load applying mechanism F5 provided on the operation unit U2 side will be described. FIG. 5 is a schematic diagram for explaining the magnetorheological fluid 75. FIG. 5A is a diagram of the magnetorheological fluid 75 in a state where no magnetic field is applied, and FIG. It is a figure of the magnetorheological fluid 75 in the state of being applied. In FIG. 5B, the flow of a magnetic field (magnetic flux) is indicated by a two-dot chain line for easy understanding.

  As shown in FIG. 5A, the magnetorheological fluid 75 is a substance in which fine magnetic particles JR having magnetism such as iron and ferrite are dispersed in a solute SV such as an organic solvent. 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. 5A, the magnetic particles JR are irregularly dispersed in the solute SV. At this time, for example, when the movable member 55 moves (rotates on a plane (XY plane) perpendicular to the Z direction shown in FIG. 5A), the movable member 55 receives a relatively low resistance force. 55 can move easily.

  Next, when a current is passed through a magnetism generation mechanism FM5 (coil 35) described later to generate a magnetic field, as shown in FIG. 5B, along the magnetic field acting on the magnetorheological fluid 75 (FIG. 5). In (b) (along the Z 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 (the XY plane direction in FIG. 5B).

  When the disk portion 55e of the movable member 55 is movable in such an energized state (the state shown in FIG. 5B), a resistance force is generated on the movable member 55, and the operation engaged with the movable member 55 is performed. This resistance force (rotational load) is transmitted to the body 11. Accordingly, the movable load applying mechanism F5 can apply a rotational load (rotation load) 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 rotational load can be freely given to the operator at an arbitrary timing.

  FIG. 6 shows the result of verifying that “the resistance force (rotational load) increases according to the strength of the magnetic field”. FIG. 6 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 (rotational load) applied to the operating body 11.

  As shown in FIG. 6, 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 ( (Rotational load) increases. In this way, a variable load is applied to the operation body 11 (operation member 1) by utilizing the fact that “the viscosity changes according to the strength of the magnetic field and the resistance force increases” in the magnetorheological fluid 75. You can hang it.

  As described above, the operation unit U2 includes the operation member 1, the support 3, the movable member 55 (movable load applying mechanism F5), the mounting portion 6 (movable load applying mechanism F5), and the magnetic viscous fluid 75 (movable load applying mechanism F5). ) And the second yoke 25 (magnetic generation mechanism FM5).

  Next, the magnetism generating unit U4 of the operating device 100 will be described. FIG. 7 is a schematic diagram illustrating the magnetic generation unit U4, and is a bottom view showing a state where a plurality of magnetic generation units U4 are mounted on the mounted body PN.

  As shown in FIG. 3, the magnetism generating unit U4 of the operating device 100 includes a magnetism generating mechanism FM5 (movable load applying mechanism F5) that applies a magnetic field to the magnetorheological fluid 75 provided on the operating unit U2 side, and magnetism generation. And a cover C47 constituting the upper wall of the unit U4.

  First, the magnetic generation mechanism FM5 of the movable load applying mechanism F5 provided mainly on the magnetic generation unit U4 side will be described.

  As shown in FIG. 3, the magnetic generation mechanism FM5 includes a coil 35 that generates a magnetic field by energization, a first yoke 15 provided so as to surround the coil 35, a movable member 55 and a first member provided on the operation unit U2 side. And a second yoke 25 disposed opposite to the other side of the gap 5gb. In addition, in the first embodiment of the present invention, the magnetism generation mechanism FM5 has an operation control unit (not shown) that controls energization to the coil 35.

  First, the coil 35 of the magnetism generation mechanism FM5 is formed by winding a metal wire in an annular shape, and is disposed on the mounted body PN with one side of the coil 35 facing as shown in FIG. . 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 FIG. 3, the coil 35 is simplified and shown with a flat cross section.

  Next, as shown in FIG. 3, the first yoke 15 of the magnetic generation mechanism FM5 is provided so as to surround the coil 35, and the other side (Z2 direction side shown in FIG. 3) of the coil 35 and the inner side wall ( A lower yoke 15A covering the annular side wall of the annular shape, a lateral yoke 15B covering the outer side wall of the coil 35 and a part of one side of the coil 35 (Z1 direction side shown in FIG. 3), And an upper yoke 15C that covers a part of one side. The magnetic flux generated from the coil 35 is confined by the first yoke 15, and a magnetic path is formed from the magnetism generating unit U 4 side to the operation unit U 2 side to form a magnetic viscous fluid 75 on the operation unit U 2 side. Thus, the magnetic field acts efficiently.

  As a result, the magnetic particles JR in the magnetorheological fluid 75 are aligned along the magnetic flux, and the movable member 55 that moves in a direction transverse to the direction of the magnetic flux formed between the mounting portion 6 and the movable member 55 has magnetic properties. A load due to the viscous fluid 75 is applied. For this reason, a load is applied to the operating body 11 through the movable member 55 and the movable shaft 11j, and a good operational feeling can be given to the operator with respect to the operation of the operator.

  Further, as shown in FIG. 3, the first yoke 15 has a slit 15s (yoke slit) formed by a lateral yoke 15B and an upper yoke 15C on the side facing the operation unit U2. The side of the yoke 15 facing the operation unit U2 is divided. Here, the portion of the lateral yoke 15B facing the movable member 55 is defined as the first facing portion TB5 of the first yoke 15, and the portion of the upper yoke 15C facing the movable member 55 is defined as the second facing portion TC5. It is said.

  As a result, a magnetic field is generated by energizing the coil 35, and the magnetic path of the magnetic flux from the coil 35 extends from the first facing portion TB 5 of the first yoke 15 to the operation unit U 2 side, and from the operation unit U 2 side to the first yoke. It will surely penetrate through 15 second opposing portions TC5. For this reason, a magnetic path is reliably formed in a direction perpendicular to the direction in which the movable member 55 (disk portion 55e) moves.

  Moreover, in the first embodiment of the present invention, since the movable member 55 is made of a soft magnetic material, the first yoke 15 (first opposing portion TB5) on the magnetism generating unit U4 side moves to the movable member 55 on the operation unit U2 side. A magnetic path is surely formed from the movable member 55 to the first yoke 15 (second opposing portion TC5), and the magnetic particles JR in the magnetorheological fluid 75 are aligned in the opposing surface directions facing each other. For this reason, a stronger load is applied to the movable member 55 that is movable 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 the first embodiment of the present invention, a ring-shaped slit spacer S57 (see FIG. 3) is accommodated in the slit 15s portion of the first yoke 15. The slit spacer S57 is formed using a synthetic resin such as polybutylene terephthalate resin (PBT), and the first opposing portion TB5 of the first yoke 15 (lateral yoke 15B) and the first yoke 15 (upper 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 three parts, ie, the lower yoke 15A, the lateral yoke 15B, and the upper yoke 15C. However, the present invention is not limited to this. It may be composed of four or more parts. Further, although the slit 15s is preferably used in the first yoke 15, a structure without the slit 15s may be used.

  Next, the second yoke 25 of the magnetism generation mechanism FM5 is formed in a disk shape and is provided on the operation unit U2 side as described above. As shown in FIGS. On the other side (Z1 direction side shown in FIG. 3), it is arranged to face the disc-shaped disc portion 55e (movable member 55). The second yoke 25 has a second gap 5gb between itself and the movable member 55. The second gap 5gb is filled with a magnetorheological fluid 75.

  As a result, the magnetic flux generated from the coil 35 is transferred from the first facing portion TB5 of the first yoke 15 on the magnetism generating unit U4 side to the second yoke 25 on the operation unit U2 side, and from the second yoke 25 to the first yoke 15 on the first yoke 15 side. It will surely penetrate through the two opposing portions TC5. For this reason, a magnetic path is reliably formed in a direction perpendicular to the direction in which the movable member 55 (disk portion 55e) moves, and the magnetic particles JR of the magnetorheological fluid 75 can be aligned along the perpendicular direction. As a result, a load can also be applied to the movable member 55 that moves in a direction crossing the direction of magnetic flux (the direction in which the magnetic particles JR are aligned) by the magnetorheological fluid 75 in the second gap 5gb. Therefore, even with an equivalent magnetic field, a greater operational feeling can be given to the operator.

  Finally, 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 rotation operation is performed by an operator's operation, the operation control unit is provided in the coil 35 in response to a detection signal from a position detection unit that detects an operation position of the operation body 11. A certain amount of current is passed, or the amount of current is changed according to the operating position of the operating body 11. At that time, the amount of energization to the coil 35 and the timing of energization are controlled by the operation control unit. For this reason, an arbitrary load can be freely given to the operator at an arbitrary timing.

  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 housed and suitably arranged in the same magnetic generation unit U4 as 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, as described above, the cover C47 of the magnetic generation unit U4 is disposed on one side of the coil 35 and constitutes the upper wall of the magnetic generation unit U4 as shown in FIG. The cover C47 is also formed using a synthetic resin such as polybutylene terephthalate resin (PBT).

  Further, in the cover C47, since the mounted body PN has a flat plate shape in the same manner as the mounting portion 6, the shape of the mounting surface of the cover C47 is formed in a flat plate shape. However, the cover C47 is not limited to this shape. Absent. That is, a shape that matches the shape of the portion to which the body to be mounted PN is mounted is suitable, and may be, for example, a spherical shape or a concave shape.

  In the first embodiment of the present invention, as shown in FIG. 7, the operating device 100 is provided with a plurality (specifically, six) of magnetic generation units U4 configured as described above. The plurality of magnetism generating units U4 are mounted at desired positions on the mounted body PN. Accordingly, it is possible to perform the operation by mounting one operation unit U2 at a certain position (desired position), and perform the operation at various positions of the mounted body PN without increasing the number of operation units U2. be able to. This enables various operations at low cost.

  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. Moreover, no sound is generated when an external force (force sense) is applied.

  In addition, since the operation device 100 is configured so that the unit separated into the operation unit U2 and the magnetism generation unit U4 can be disposed with the object PN interposed therebetween, it can be easily attached to and detached from the object PN. Can be attached to.

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

  The operating device 100 according to the first embodiment of the present invention includes, on the operating unit U2 side, an operating member 1 having an operating body 11, a support body 3 that freely supports the operating body 11, and an operating body 11. The movable member 55 (movable load applying mechanism F5) that moves in conjunction with the movable member 55, the mounting part 6 (movable load applying mechanism F5) facing the movable member 55 with the first gap 5ga, and the first gap 5ga are filled. A magnetic viscous fluid 75 (movable load applying mechanism F5), and on the magnetism generating unit U4 side, a coil 35 for generating a magnetic field by energization, which is a magnetic generating mechanism FM5 of the movable load applying mechanism F5, and a coil 35, a first yoke 15 provided so as to surround 35, and the operation unit U2 is detachably attached to the attachment body PN by the attachment portion 6, and faces the magnetism generation unit U4 with the attachment body PN interposed therebetween. Configuration like It was.

  As a result, a magnetic field is generated by energizing the coil 35 of the magnetism generation mechanism FM5, and a magnetic path is formed from the magnetism generation unit U4 side to the operation unit U2 side to form a magnetic field in the magnetorheological fluid 75 on the operation unit U2 side. The particles JR are aligned along the magnetic flux. For this reason, the movable member 55 that moves in a direction transverse to the direction of the magnetic flux formed between the mounting portion 6 and the movable member 55 is subjected to a load by the magnetic viscous 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 operational feeling can be given to the operator with respect to the operation of the operator. On the other hand, since the unit separated into the operation unit U2 and the magnetic generation unit U4 can be disposed with the mounted body PN interposed therebetween, it can be easily mounted on the mounted body PN so as to be detachable. it can. Therefore, it is possible to provide the operating device 100 that can be easily mounted while providing a good operating feeling using the magnetorheological fluid 75.

  Further, since a plurality of magnetism generating units U4 are provided on the opposite side of the mounting body PN from the side on which the operation unit U2 is mounted, the plurality of magnetism generating units U4 are respectively arranged at desired positions on the mounting body PN. Can be arranged in advance. For this reason, one operation unit U2 can be mounted and operated in accordance with a desired position, and the operation is performed at various positions of the mounted body PN without increasing the number of operation units U2. be able to. This makes it possible to perform various operations at low cost.

  Further, since the movable member 55 is made of a soft magnetic material, a magnetic path is reliably formed from the first yoke 15 on the magnetism generating unit U4 side to the movable member 55 on the operation unit U2 side and from the movable member 55 to the first yoke 15. Thus, the magnetic particles JR in the magnetorheological fluid 75 are aligned in the opposing surface direction (the Z direction shown in FIG. 3) facing the first yoke 15 and the movable member 55. For this reason, a stronger load is applied to the movable member 55 that is movable in a direction crossing the opposing surface direction in which the magnetic particles JR are aligned. Thus, 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.

  Further, the second yoke 25 is provided on the other side of the movable member 55 so as to face the movable member 55, and the second gap 5 gb between the movable member 55 and the second yoke 25 is filled with the magnetorheological fluid 75. Therefore, the magnetic flux generated from the coil 35 surely penetrates from the first yoke 15 on the magnetism generating unit U4 side to the second yoke 25 on the operation unit U2 side and from the second yoke 25 to the first yoke 15. . For this reason, a magnetic path is reliably formed in a direction perpendicular to the direction in which the movable member 55 (disk portion 55e) moves, and the magnetic particles JR of the magnetorheological fluid 75 can be aligned along the perpendicular direction. As a result, a load can also be applied to the movable member 55 that moves in a direction crossing the direction of magnetic flux (the direction in which the magnetic particles JR are aligned) by the magnetorheological fluid 75 in the second gap 5gb. Therefore, even with an equivalent magnetic field, a greater operational feeling 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, and the side wall spacer S17). 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 first gap 5ga.

<Modification 2>
In the said 1st Embodiment, although the movable member 55 was suitably formed from the soft magnetic body, it is not restricted to this, A nonmagnetic body, such as a synthetic resin, may be sufficient.

<Modification 3>
In the first embodiment, the first opposing portion TB5 and the second opposing portion TC5 are configured by the lateral yoke 15B and the upper yoke 15C of the first yoke 15, but only the upper yoke 15C faces the movable member 55. Thus, a configuration in which the first facing portion TB5 and the second facing portion TC5 are not provided may be employed.

<Modification 4>
In the first embodiment, the movable member 55 has a disk shape, but is not limited thereto, and may be, for example, a rectangular shape or a polygonal shape.

<Modification 5>
In the first embodiment, the rotary operation device is of a type in which the movable member 55 rotates. However, the present invention is not limited to this rotation operation. For example, a slide-type or press-type operation device in which the movable member slides may be used.

  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 Support body F5 Movable load provision mechanism FM5 Magnetic generation mechanism 15 1st yoke 25 2nd yoke 35 Coil 55 Movable member 75 Magnetorheological fluid 5ga 1st clearance 5gb 2nd clearance 6 Mounting part U2 Operation unit U4 Magnetic generation unit 100 Operation device PN Mounted object

Claims (4)

An operation member having an operation body that moves in an operation direction by an operation of an operator;
A support that freely supports the operation of the operating body;
A movable load applying mechanism that applies a load to the operation direction of the operator,
The operating body has a movable shaft that enables the operation body to move,
The movable load applying mechanism includes a movable member that engages with the movable shaft to perform the operation, a mounting portion that faces the movable member with a first gap, and a magnetic field strength that is filled in the first gap. A magnetorheological fluid whose viscosity changes according to the thickness, and a magnetism generating mechanism for applying a magnetic field to the magnetorheological fluid,
The magnetism generating mechanism includes a coil that generates a magnetic field by energization,
A first yoke provided so as to surround the coil,
An operation unit having the operation member, the support, the movable member, the mounting portion, and the magnetorheological fluid;
A magnetic generation unit having the coil and the first yoke and separated from the operation unit,
The magnetic generation unit is disposed on the mounted body, and the operation unit is mounted on the mounted body so as to be detachable at the mounting portion so as to overlap the magnetic generation unit with the mounted body interposed therebetween. An operation device characterized by.   The operating device according to claim 1, wherein a plurality of the magnetic generation units are provided on a side opposite to a side on which the operating unit is mounted with respect to the mounted body.   The operating device according to claim 1, wherein the movable member is made of a soft magnetic material. The magnetism generating mechanism has a second yoke disposed on the other side of the movable member on the operation unit side so as to face the movable member.
4. The operating device according to claim 1, wherein the magnetorheological fluid is filled in a second gap between the movable member and the second yoke. 5.