JP4262661B2 - Haptic input device - Google Patents

Haptic input device Download PDF

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Publication number
JP4262661B2
JP4262661B2 JP2004287219A JP2004287219A JP4262661B2 JP 4262661 B2 JP4262661 B2 JP 4262661B2 JP 2004287219 A JP2004287219 A JP 2004287219A JP 2004287219 A JP2004287219 A JP 2004287219A JP 4262661 B2 JP4262661 B2 JP 4262661B2
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motor
input device
operation unit
holder
holding
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JP2006099612A (en
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卓矢 前田
義昭 熊坂
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Alps Alpine Co Ltd
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Alps Electric Co Ltd
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Priority to JP2004287219A priority Critical patent/JP4262661B2/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04792—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rotary control around the axis of the controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04796—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rectilinear control along the axis of the controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04777—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional push or pull action on the handle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04781—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional rotation of the controlling member

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Input From Keyboards Or The Like (AREA)
  • Switches With Compound Operations (AREA)

Description

本発明は、回転操作時にモータが操作部に所要の力覚を付与する力覚付与型入力装置に係り、特に、揺動操作時に操作部およびモータが一体的に揺動するタイプの力覚付与型入力装置に関する。   The present invention relates to a force sense input device in which a motor gives a required force sense to an operation unit during a rotation operation, and more particularly to a force sense of the type in which an operation unit and a motor swing together during a swing operation. The present invention relates to a mold input device.

本願出願人は先に、車載されたエアコン、ラジオ、テレビジョン、ＣＤプレーヤ、ナビゲーションシステムなどの電気機器を１台で集中的に制御する入力装置として、図６に示すような力覚付与型入力装置を提案した（例えば、特許文献１参照）。同図に示す入力装置は、湾曲受け部５１を内設したハウジング（フレーム）５０と、このハウジング５０内に揺動可能に収納されたモータ５２と、このモータ５２の外周部に取り付けられて湾曲受け部５１に揺動可能に支持されているブラケット５３と、モータ５２の駆動軸５２ａに取り付けられた操作部５４と、モータ５２の揺動方向および揺動量を検出する第１位置センサ５５と、駆動軸５２ａの回転方向および回転量を検出する第２位置センサ５６と、これら第１および第２位置センサ５５，５６から出力される各位置信号を入力してモータ５２の駆動を制御する図示せぬ制御部とを備えており、この制御部の制御信号に基づいて、回転操作時にモータ５２が操作部５４に所要の力覚を付与するようになっている。
特開２００２−１４９３２４号公報（第４−８頁、図３） The applicant of the present application has first given a force-sensing input as shown in FIG. 6 as an input device for centrally controlling electric devices such as air conditioners, radios, televisions, CD players, and navigation systems mounted on the vehicle. An apparatus has been proposed (see, for example, Patent Document 1). The input device shown in FIG. 1 includes a housing (frame) 50 in which a curved receiving portion 51 is provided, a motor 52 housed in the housing 50 so as to be swingable, and is attached to the outer peripheral portion of the motor 52 to bend. A bracket 53 supported by the receiving portion 51 in a swingable manner, an operation portion 54 attached to a drive shaft 52a of the motor 52, a first position sensor 55 for detecting a swing direction and a swing amount of the motor 52, A second position sensor 56 that detects the rotation direction and amount of rotation of the drive shaft 52a, and each position signal output from the first and second position sensors 55, 56 are input to control the drive of the motor 52. The motor 52 gives a required force sensation to the operation unit 54 at the time of the rotation operation based on the control signal of the control unit.
JP 2002-149324 A (page 4-8, FIG. 3)

上述した従来の力覚付与型入力装置では、モータ５２がブラケット５３を介してハウジング５０の湾曲受け部５１に支持されていることから、操作部５４の揺動中心が図６に示す点Ｏとなって揺動半径が小さく、それゆえ揺動操作時に所要の揺動量を得るために操作部５４を大きく傾ける必要がある。しかしながら、操作部５４が大きく傾き得る構成を実現するためには、操作部５４とハウジング５０の上面との間に両者の当接を回避するための広い隙間Ｃを確保しておかねばならないので、かかる従来の力覚付与型入力装置は、塵埃等の異物が隙間Ｃからハウジング５０の内部へ侵入して誤動作を誘発する危険性があり、かつ隙間Ｃが外部から見えやすいため外観上好ましくなく、さらに揺動操作時に操作部５４が略水平に移動できないため操作品位も良好とは言い難い等、改善すべき余地があった。   In the conventional force sense input device described above, since the motor 52 is supported by the curved receiving portion 51 of the housing 50 via the bracket 53, the swing center of the operation portion 54 is the point O shown in FIG. Thus, the swing radius is small, and therefore the operation portion 54 needs to be tilted greatly in order to obtain a required swing amount during the swing operation. However, in order to realize a configuration in which the operation part 54 can be largely inclined, a wide gap C must be secured between the operation part 54 and the upper surface of the housing 50 in order to avoid contact between the two. Such a conventional force sense imparting type input device has a risk of foreign matters such as dust entering the inside of the housing 50 from the gap C and causing malfunction, and the gap C is easily visible from the outside. In addition, there is room for improvement, such as the fact that the operation unit 54 cannot move substantially horizontally during the swinging operation, so that it is difficult to say that the operation quality is good.

本発明は、このような従来技術の実情に鑑みてなされたもので、その目的は、揺動操作時に操作部を略水平に移動できるようにして操作品位を高め、かつ塵埃等の異物の侵入を抑制できて外観も損なわれない力覚付与型入力装置を提供することにある。   The present invention has been made in view of such a state of the art, and an object of the present invention is to improve the operation quality by allowing the operation unit to move substantially horizontally during a swing operation and to intrude foreign matter such as dust. It is an object of the present invention to provide a haptic input device that can suppress the above-described problem and does not deteriorate the appearance.

上述した目的を達成するため、本発明の力覚付与型入力装置では、少なくとも回転操作および揺動操作が可能な操作部と、この操作部の揺動操作に伴って揺動され、かつ、前記操作部にその回転操作に応じた所要の力覚を付与するモータと、このモータを保持するモータ保持部材と、このモータ保持部材を介して前記モータを揺動可能に支持するハウジングとを備え、前記モータ保持部材が前記操作部の反対側であって前記モータの回転軸の延長方向に突設された突起部を有すると共に、前記ハウジングが前記突起部を搭載して前記モータ保持部材を揺動可能に支持する受け部を有する構成とした。   In order to achieve the above-described object, in the haptic input device of the present invention, at least an operation unit that can be rotated and swung, swung in accordance with a swinging operation of the operation unit, and A motor for giving a required force sensation according to the rotation operation to the operation unit, a motor holding member for holding the motor, and a housing for swingably supporting the motor via the motor holding member; The motor holding member has a protruding portion that is opposite to the operation portion and protrudes in the extending direction of the rotating shaft of the motor, and the housing mounts the protruding portion and swings the motor holding member It was set as the structure which has a receiving part supported so that it is possible.

このように構成された力覚付与型入力装置は、モータ保持部材に突設された突起部の先端が揺動支点となることで操作部の揺動半径を大きく設定できるため、揺動操作時に操作部を略水平に移動させることができて操作品位が高まると共に、操作部とハウジングとの間に両者の当接を回避するための広い隙間を確保する必要がなくなるので、塵埃等の異物の侵入を抑制できて外観も損なわれない。   In the force sense input device configured as described above, the swing radius of the operation portion can be set large by the tip of the protrusion protruding from the motor holding member serving as a swing fulcrum. Since the operation unit can be moved substantially horizontally, the operation quality is improved, and it is not necessary to secure a wide gap between the operation unit and the housing to avoid contact between the two. Invasion can be suppressed and the appearance is not impaired.

上記の構成において、前記受け部が前記ハウジングの外底面に突設されており、この受け部の内底面側の凹所に前記突起部が挿入されていると、ハウジングの底部をコンパクトにして装置全体の小型化を図りつつ、外底面から突出する受け部によって揺動半径を大きく設定することができて好ましい。   In the above configuration, when the receiving portion protrudes from the outer bottom surface of the housing, and the protruding portion is inserted into a recess on the inner bottom surface side of the receiving portion, the bottom portion of the housing is made compact. It is preferable that the swing radius can be set large by the receiving portion protruding from the outer bottom surface while reducing the overall size.

また、上記の構成において、前記受け部の内底面に前記突起部よりも大径な弾性マット部材が敷設されており、この弾性マット部材上に前記突起部が搭載されていると、受け部の中心線に対して突起部の先端がずれて配置されたとしても、この突起部は弾性マット部材を押し撓めた安定した姿勢で支持されるため、モータ保持部材とハウジングとの位置ずれに起因する操作部およびモータの中立位置での傾きを確実に防止できて好ましい。すなわち、モータ保持部材はその揺動支点がハウジングの中心線と合致していなくても、弾性マット部材によって揺動可能な安定した姿勢に支持されるので、ハウジングに対するモータ保持部材の組み付け位置を高精度に規定する必要がなくなって組立性が大幅に向上し、操作部やモータを所望の姿勢に容易かつ確実に組み付けることができる。   In the above configuration, an elastic mat member having a diameter larger than that of the protrusion is laid on the inner bottom surface of the receiver, and when the protrusion is mounted on the elastic mat member, Even if the tip of the protrusion is displaced with respect to the center line, the protrusion is supported in a stable posture by pushing and bending the elastic mat member. It is preferable that the tilting at the neutral position of the operation unit and the motor can be reliably prevented. That is, the motor holding member is supported in a stable posture capable of swinging by the elastic mat member even if its swing fulcrum does not coincide with the center line of the housing. There is no need to define the accuracy, so that the assemblability is greatly improved, and the operation unit and the motor can be easily and reliably assembled in a desired posture.

また、上記の構成において、前記モータ保持部材が、前記モータに取り付けられる第１保持部と、前記第１保持部に取り付けられているラバープッシャーと、前記突起部を有する第２保持部とを備えており、これら前記ラバープッシャーと前記第２保持部との間に介装されて弾性的に座屈可能な弾発復帰手段を設け、前記操作部を前記駆動軸の軸線方向に沿って押し込むことにより前記ラバープッシャーが前記弾発復帰手段を座屈させるように構成すると、操作部の回転操作と揺動操作だけでなく、押動操作（プッシュ操作）によっても位置信号を取り出すことができるため、装置の多機能化が図れると共に、かかる押動操作時に弾発復帰手段の座屈によって生起されるクリック感触が操作部に伝達されるため、操作感触も良好となる。 Further, in the above-described structure, with the motor holding member, a first holding portion attached to the motor, and a rubber pusher attached to said first holding portion, and a second holding portion having the protrusion it has, is interposed between these the rubber pusher and the second holding portion provided elastically buckled a resilient return hand stage, pushed along the operating portion in the axial direction of the drive shaft Accordingly, when the rubber pusher is configured to buckle the bullet return means, the position signal can be extracted not only by the rotation operation and swing operation of the operation unit but also by the push operation (push operation). In addition to the multi-functionality of the apparatus, the click feeling caused by the buckling of the bullet return means is transmitted to the operation unit during the pushing operation, and the operation feeling is also improved.

この場合において、前記弾発復帰手段が複数のドーム形状部を円周方向に沿って突設した環状のラバースプリングからなり、このラバースプリングの外径を前記モータよりも大径に設定すると、ドーム形状部の数を増やすことによってラバースプリングの耐久性が容易に高められて好ましい。   In this case, the bullet return means comprises an annular rubber spring having a plurality of dome-shaped portions protruding along the circumferential direction, and the outer diameter of the rubber spring is set larger than that of the motor. The durability of the rubber spring is easily increased by increasing the number of the shape portions, which is preferable.

また、上記の構成において、前記第１保持部の外底面に前記モータの回転軸に沿って延びるガイド突起が突設されていると共に、前記第２保持部の前記突起部が中空であって、この中空部分に前記ガイド突起が摺動可能に嵌挿されていれば、押動操作時にガイド突起を突起部の内壁面（中空部分の周壁）で案内しながら円滑に昇降させることができると共に、揺動操作時にはガイド突起と突起部とが互いに係止された状態に保たれてモータ保持部材を一体品として傾倒させることができて好ましい。   Further, in the above configuration, a guide protrusion that extends along the rotation shaft of the motor protrudes from the outer bottom surface of the first holding part, and the protrusion part of the second holding part is hollow, If the guide protrusion is slidably fitted in this hollow portion, the guide protrusion can be smoothly raised and lowered while being guided by the inner wall surface of the protrusion (the peripheral wall of the hollow portion) during the pushing operation, During the swinging operation, it is preferable that the guide protrusion and the protrusion are held in a locked state so that the motor holding member can be tilted as an integral part.

本発明の力覚付与型入力装置は、モータ保持部材の操作部側とは反対側に突起部が突設してあり、この突起部の先端が揺動支点となるため、揺動操作時に操作部の揺動半径が大きくなって該操作部を略水平に移動させることができる。その結果、操作品位が高まると共に、操作部とハウジングとの間に当接を回避するための広い隙間を確保する必要がなくなるので、塵埃等の異物の侵入を抑制できて外観も損なわれなくなる等、優れた効果を奏する。   In the force sense input device according to the present invention, a protrusion is provided on the opposite side of the motor holding member from the operation portion, and the tip of the protrusion serves as a swing fulcrum. The swing radius of the part is increased, and the operation part can be moved substantially horizontally. As a result, the quality of operation is improved, and it is not necessary to secure a wide gap for avoiding contact between the operation portion and the housing, so that intrusion of foreign matters such as dust can be suppressed and the appearance is not impaired. Has an excellent effect.

発明の実施の形態を図面を参照して説明すると、図１は本発明の第１実施形態例に係る力覚付与型入力装置の分解斜視図、図２は該入力装置に備えられる遊星歯車機構の分解斜視図、図３は該入力装置に備えられるカム部材の平面図、図４は該入力装置の断面図である。   An embodiment of the invention will be described with reference to the accompanying drawings. FIG. 1 is an exploded perspective view of a force sense input device according to a first embodiment of the present invention, and FIG. 2 is a planetary gear mechanism provided in the input device. FIG. 3 is a plan view of a cam member provided in the input device, and FIG. 4 is a cross-sectional view of the input device.

図１と図４に示すように、本実施形態例に係る力覚付与型入力装置は、ケース１と、下向きに突出する受け部２ａを有してケース１の下部に被着される基台２と、各種の回路部品が実装されているプリント配線板３と、ユーザが手動で操作する操作部４と、この操作部４に所要の力覚を付与するモータ５と、操作部４とモータ５との間に配設される遊星歯車機構６と、モータ５および遊星歯車機構６を包囲して保持するモータホルダ７と、遊星歯車機構６に取り付けられて操作部４が冠着される取付部材８と、モータ５の回転軸５ａの回転方向および回転量を検出するエンコーダ９と、モータホルダ７に取り付けられてエンコーダ９を保持するエンコーダホルダ１０と、受け部２ａに挿入される突起部１１ａを有して基台２に揺動可能に支持される揺動ホルダ１１と、エンコーダホルダ１０を介して操作部４から押圧操作力を付与されるラバープッシャー１２と、このラバープッシャー１２と揺動ホルダ１１との間に介装されたラバースプリング１３と、ケース１の上面板１ａ上で一方向にのみスライド可能な下スライダ１４と、モータホルダ７の揺動に伴い上面板１ａに沿ってスライド可能な上スライダ１５と、この上スライダ１５の下面に取り付けられたカム部材１６と、ケース１の上面板１ａに対し出入自在であってカム部材１６等のカム面に弾接される一対の駆動棒１７と、この駆動棒１７を上向きに弾性付勢するスプリング１８と、上面板１ａを覆う位置でケース１に取り付けられるカバー部材１９と、モータホルダ７の上部を包囲する位置でカバー部材１９上に取り付けられる延出カバー２０と、プリント配線板３上に実装されたラバー接点部材２１を押圧駆動可能な駆動体２２と、ラバープッシャー１２の高さ位置の変化を検出する光検出スイッチ２３とを備えて概略構成されている。この力覚付与型入力装置は、モータ５、遊星歯車機構６、モータホルダ７、エンコーダ９およびエンコーダホルダ１０がユニット化されてモータユニット２５を構成している。そして、ケース１と基台２とカバー部材１９および延出カバー２０を組み合わせることによってハウジングが構成され、このハウジングの内部空間にラバープッシャー１２を取り付けたモータユニット２５や、ラバースプリング１３、揺動ホルダ１１、下スライダ１４、上スライダ１５、駆動棒１７等の各部材が収納されている。   As shown in FIGS. 1 and 4, the haptic input device according to the present embodiment includes a case 1 and a base that has a receiving portion 2 a that protrudes downward and is attached to the lower portion of the case 1. 2, a printed wiring board 3 on which various circuit components are mounted, an operation unit 4 that is manually operated by a user, a motor 5 that gives a required force sense to the operation unit 4, an operation unit 4, and a motor A planetary gear mechanism 6 disposed between the motor 5 and the motor holder 7 that surrounds and holds the motor 5 and the planetary gear mechanism 6, and an attachment that is attached to the planetary gear mechanism 6 so that the operation unit 4 is crowned. The member 8, the encoder 9 for detecting the rotation direction and the rotation amount of the rotating shaft 5a of the motor 5, the encoder holder 10 attached to the motor holder 7 and holding the encoder 9, and the protrusion 11a inserted into the receiving portion 2a Supports the base 2 so that it can swing An oscillating holder 11, a rubber pusher 12 to which a pressing operation force is applied from the operation unit 4 via the encoder holder 10, and a rubber spring 13 interposed between the rubber pusher 12 and the oscillating holder 11. A lower slider 14 that can slide in only one direction on the upper surface plate 1 a of the case 1, an upper slider 15 that can slide along the upper surface plate 1 a as the motor holder 7 swings, and a lower surface of the upper slider 15. The attached cam member 16, a pair of drive rods 17 that can be moved in and out of the upper surface plate 1 a of the case 1 and elastically contacted with the cam surface of the cam member 16, and the drive rods 17 are elastically biased upward. Mounted on the cover member 19 at a position surrounding the upper part of the motor holder 7 and a cover member 19 attached to the case 1 at a position covering the top plate 1a. Provided with an extended cover 20, a driving body 22 capable of pressing and driving a rubber contact member 21 mounted on the printed wiring board 3, and a light detection switch 23 for detecting a change in the height position of the rubber pusher 12. It is roughly structured. In this haptic input device, the motor 5, the planetary gear mechanism 6, the motor holder 7, the encoder 9 and the encoder holder 10 are unitized to form a motor unit 25. A housing is configured by combining the case 1, the base 2, the cover member 19, and the extension cover 20, and a motor unit 25 in which a rubber pusher 12 is attached to the internal space of the housing, a rubber spring 13, a swing holder 11, the lower slider 14, the upper slider 15, the drive rod 17, and the like are housed.

ケース１は合成樹脂によって上面板１ａを有する箱状に形成されており、上面板１ａの略中央部にはモータホルダ７を揺動を許容した状態で貫通せしめる中央孔１ｂが開設されている。この上面板１ａには中央孔１ｂの中心を介して対向する位置に、下スライダ１４を一方向に沿って案内する案内溝１ｃが形成されている。また、上面板１ａには中央孔１ｂの周囲に、駆動棒１７およびスプリング１８を収納するための筒状の収納凹部１ｄと、駆動体２２のスティック部２２ｂを貫通させるための逃げ孔１ｅとが形成されている。   The case 1 is formed of a synthetic resin into a box shape having an upper surface plate 1a, and a central hole 1b through which the motor holder 7 is allowed to oscillate while being allowed to oscillate is formed at a substantially central portion of the upper surface plate 1a. A guide groove 1c for guiding the lower slider 14 along one direction is formed in the upper surface plate 1a at a position facing the center of the central hole 1b. Further, the upper surface plate 1a has a cylindrical storage recess 1d for storing the drive rod 17 and the spring 18 and an escape hole 1e for penetrating the stick portion 22b of the drive body 22 around the central hole 1b. Is formed.

基台２は合成樹脂によってケース１の下部に被着可能な蓋状に形成されており、その略中央部には揺動ホルダ１１の突起部１１ａを挿入して揺動可能に支持するための受け部２ａが下向きに突設されている。   The base 2 is formed in a lid shape that can be attached to the lower part of the case 1 with a synthetic resin, and a protrusion 11a of the swing holder 11 is inserted into a substantially central portion thereof for swingably supporting. The receiving part 2a protrudes downward.

プリント配線板３は絶縁基板の片面もしくは両面に図示せぬ回路パターンを形成して各種の回路部品を実装したものであり、回路パターンの一部に図示せぬ固定接点が形成されている。プリント配線板３上の所定位置にはラバー接点部材２１が固定されており、各固定接点はこのラバー接点部材２１の各ドーム状接点部２１ａの下方に位置している。   The printed wiring board 3 has a circuit pattern (not shown) formed on one side or both sides of an insulating substrate and mounted with various circuit components. A fixed contact (not shown) is formed on a part of the circuit pattern. A rubber contact member 21 is fixed at a predetermined position on the printed wiring board 3, and each fixed contact is located below each dome-shaped contact portion 21 a of the rubber contact member 21.

操作部４はユーザが手動にて操作するものであり、合成樹脂によって手動操作に好適な大きさおよび形状に形成されている。この操作部４は取付部材８に冠着されて一体化される。   The operation unit 4 is manually operated by the user, and is formed of a synthetic resin in a size and shape suitable for manual operation. The operation unit 4 is attached to and integrated with the attachment member 8.

モータ５としてはＤＣモータなどの回転モータが用いられており、このモータ５は図示せぬ制御装置からの信号によって駆動および停止が制御され、操作部４に対してその回転操作に応じた所要の力覚を付与する。   A rotary motor such as a DC motor is used as the motor 5, and the motor 5 is controlled to be driven and stopped by a signal from a control device (not shown). Giving a sense of force.

遊星歯車機構６は合成樹脂製の部品のみで構成されており、図２に拡大して示すように、この遊星歯車機構６は、モータ５の回転軸５ａに固定されたサンギヤ３０と、このサンギヤ３０と噛合してサンギヤ３０の周りを公転する３個のプラネットギヤ３１と、各プラネットギヤ３１の軸線方向の移動を規制する規制部材３２と、モータホルダ７の内周面に形成されて各プラネットギヤ３１と噛合するリングギヤ３３と、各プラネットギヤ３１を軸支してその公転に伴い操作部４と共に回転するキャリア３４とから構成されている。   The planetary gear mechanism 6 is composed of only synthetic resin parts. As shown in an enlarged view in FIG. 2, the planetary gear mechanism 6 includes a sun gear 30 fixed to the rotating shaft 5a of the motor 5, and the sun gear. 3 planet gears 31 that mesh with the sun gear 30 and revolve around the sun gear 30, a restricting member 32 that restricts movement of each planet gear 31 in the axial direction, and an inner peripheral surface of the motor holder 7. A ring gear 33 that meshes with the gear 31 and a carrier 34 that pivotally supports each planet gear 31 and rotates together with the operation unit 4 along with its revolution.

プラネットギヤ３１は略円筒形に形成されており、上下両面の中心部に回転軸３１ａ，３１ｂが同軸に突設されている（図４参照）。   The planet gear 31 is formed in a substantially cylindrical shape, and rotating shafts 31a and 31b are coaxially projected at the center portions of the upper and lower surfaces (see FIG. 4).

規制部材３２は、図２に示すように、円板部分３２ａと、円板部分３２ａの周縁部に立設された３個の結合部３２ｂとを有している。円板部分３２ａの中心部にはサンギヤ３０を貫通させるための中心孔３２ｃが開設されており、この中心孔３２ｃの周囲に、プラネットギヤ３１の回転軸３１ｂを軸支するための軸受孔３２ｄと、キャリア３４の回転を規制するための規制孔３２ｅとが開設されている。また、結合部３２ｂには、キャリア３４をスナップ結合するための長孔状の係止孔３２ｆが開設されている。   As shown in FIG. 2, the restricting member 32 has a disc portion 32a and three coupling portions 32b provided upright on the peripheral portion of the disc portion 32a. A central hole 32c for allowing the sun gear 30 to pass therethrough is opened at the center of the disc portion 32a, and a bearing hole 32d for supporting the rotating shaft 31b of the planet gear 31 around the central hole 32c. A restriction hole 32e for restricting the rotation of the carrier 34 is opened. The coupling portion 32b is provided with an elongated locking hole 32f for snap coupling the carrier 34.

キャリア３４は、円板部分３４ａと、円板部分３４ａの上面に形成された筒状の軸部３４ｂと、円板部分３４ａの外周部に形成された３個の結合部３４ｃとを有している。図４に示すように、円板部分３４ａの下面にはプラネットギヤ３１の回転軸３１ａを軸支するための軸受孔３４ｄが開設されている。また、軸部３４ｂの上面中央部には取付部材８を締結するためのねじ孔３４ｅが形成されており、さらに、結合部３４ｃの略中央部には規制部材３２の係止孔３２ｆと係合する係止爪３４ｇが形成され、この結合部３４ｃの下端部には規制部材３２の規制孔３２ｅ内に挿入される突起３４ｈが突設されている。   The carrier 34 has a disc portion 34a, a cylindrical shaft portion 34b formed on the upper surface of the disc portion 34a, and three coupling portions 34c formed on the outer peripheral portion of the disc portion 34a. Yes. As shown in FIG. 4, a bearing hole 34d for supporting the rotating shaft 31a of the planet gear 31 is formed in the lower surface of the disc portion 34a. Further, a screw hole 34e for fastening the mounting member 8 is formed in the central portion of the upper surface of the shaft portion 34b, and further, the engagement portion 32f is engaged with the locking hole 32f of the regulating member 32 in the substantially central portion of the coupling portion 34c. A locking claw 34g is formed, and a projection 34h that is inserted into the regulation hole 32e of the regulation member 32 projects from the lower end of the coupling part 34c.

規制部材３２とキャリア３４は、規制孔３２ｅ内に突起３４ｈを挿入し、かつ係止孔３２ｆに係止爪３４ｇを係合させることにより、一体的に回転するようにスナップ結合にて連結される。また、プラネットギヤ３１は規制部材３２とキャリア３４とをスナップ結合して形成される空間内に収納されて、回転軸３１ａが軸受孔３４ｄに軸支されると共に、回転軸３１ｂが軸受孔３２ｄに軸支される。これにより、サンギヤ３０とリングギヤ３３とに噛合するプラネットギヤ３１がリングギヤ３３に沿って公転可能となり、このプラネットギヤ３１の公転に伴って規制部材３２およびキャリア３４が回転する。   The restricting member 32 and the carrier 34 are connected by snap coupling so as to rotate integrally by inserting a protrusion 34h into the restricting hole 32e and engaging the engaging claw 34g with the engaging hole 32f. . The planet gear 31 is housed in a space formed by snap-coupling the regulating member 32 and the carrier 34, the rotating shaft 31a is pivotally supported by the bearing hole 34d, and the rotating shaft 31b is supported by the bearing hole 32d. It is pivotally supported. As a result, the planet gear 31 meshing with the sun gear 30 and the ring gear 33 can revolve along the ring gear 33, and the regulating member 32 and the carrier 34 rotate along with the revolution of the planet gear 31.

モータホルダ７は合成樹脂によってモータ５および遊星歯車機構６を包囲して保持可能な筒状に形成されており、このモータホルダ７の外周面には上スライダ１５の係合溝１５ｄ内に嵌挿される係合突起７ａが複数箇所に形成されている。   The motor holder 7 is formed in a cylindrical shape that can surround and hold the motor 5 and the planetary gear mechanism 6 with a synthetic resin. The motor holder 7 is inserted into the engagement groove 15 d of the upper slider 15 on the outer peripheral surface of the motor holder 7. Engagement projections 7a are formed at a plurality of locations.

取付部材８は合成樹脂によってキャップ状に形成されており、その中心部にはボルト貫通孔８ａが開設されている。この取付部材８は、ボルト貫通孔８ａに挿通したボルトをキャリア３４のねじ孔３４ｅに螺合させることにより、キャリア３４に締結される。そして、キャリア３４に締結した取付部材８に操作部４が取り付けられる。   The attachment member 8 is formed in a cap shape from a synthetic resin, and a bolt through hole 8a is opened at the center thereof. The mounting member 8 is fastened to the carrier 34 by screwing a bolt inserted into the bolt through hole 8 a into the screw hole 34 e of the carrier 34. Then, the operation unit 4 is attached to the attachment member 8 fastened to the carrier 34.

エンコーダ９は、モータ５の回転軸５ａに固着されるコード板９ａと、コード板９ａを挟んでその上方および下方に配置される発光素子と受光素子との組み合わせからなるフォトインタラプタ９ｂと、フォトインタラプタ９ｂを含む所要の回路部品が搭載される配線基板９ｃと、フォトインタラプタ９ｂや配線基板９ｃをモータ５に固定するブラケット９ｄとから構成されており、配線基板９ｃの下端部には光検出スイッチ２３が搭載されている。このエンコーダ９は、フォトインタラプタ９ｂを通過するコード板９ａのコードの数をカウントすることによって、モータ５の回転軸５ａの回転方向および回転量を検出することができる。   The encoder 9 includes a code plate 9a fixed to the rotating shaft 5a of the motor 5, a photo interrupter 9b composed of a combination of a light emitting element and a light receiving element disposed above and below the code plate 9a, and a photo interrupter. The circuit board 9c includes a circuit board 9c on which required circuit components including the circuit board 9b are mounted, and a bracket 9d that fixes the photo interrupter 9b and the circuit board 9c to the motor 5. A light detection switch 23 is provided at the lower end of the circuit board 9c. Is installed. The encoder 9 can detect the rotation direction and amount of rotation of the rotating shaft 5a of the motor 5 by counting the number of cords on the code plate 9a passing through the photo interrupter 9b.

エンコーダホルダ１０は合成樹脂によってエンコーダ９を収納可能な容器状に形成されており、その下面に円柱状のガイド突起１０ａが突設されている。このエンコーダホルダ１０は、モータホルダ７の下部にスナップ結合により取り付けられる。また、ガイド突起１０ａは、ラバープッシャー１２の中心孔１２ａを貫通して、揺動ホルダ１１の突起部１１ａの中空部分に摺動可能に嵌挿される。なお、本発明の第１保持部はこれらモータホルダ７とエンコーダホルダ１０によって構成されている。   The encoder holder 10 is formed in a container shape that can accommodate the encoder 9 with a synthetic resin, and a cylindrical guide protrusion 10a protrudes from the lower surface thereof. The encoder holder 10 is attached to the lower part of the motor holder 7 by snap coupling. The guide protrusion 10 a passes through the center hole 12 a of the rubber pusher 12 and is slidably fitted into the hollow portion of the protrusion 11 a of the swing holder 11. The first holding portion of the present invention is constituted by the motor holder 7 and the encoder holder 10.

揺動ホルダ１１は合成樹脂によって皿状に形成されており、その下面中央部に中空円筒状であって先端部が球面に形成されてなる突起部１１ａが突設されている。前述したように、突起部１１ａは基台２の受け部２ａ内に挿入され、先端部が受け部２ａの底面に形成された球面に圧接されて揺動可能にされると共に、突起部１１ａの中空部分にエンコーダホルダ１０のガイド突起１０ａが摺動可能に嵌挿される。なお、受け部２ａ内の球面は突起部１１ａの先端の球面よりも大径に形成されており、これによって突起部１１ａの周囲に隙間が存在するので、突起部１１ａが受け部２ａ内で揺動可能となっている。この揺動ホルダ１１の上面には、ラバースプリング１３を載置するための環状平坦部１１ｂが形成されている。そして、環状平坦部１１ｂの内側に遮光部材１１ｃが設けられており、ラバープッシャー１２が所定位置まで下降したときに、配線基板９ｃに搭載された光検出スイッチ２３がこの遮光部材１１ｃを検出することにより、操作部４の押動操作を検出できるようになっている。この揺動ホルダ１１は、ラバースプリング１３を介してラバープッシャー１２、エンコーダホルダ１０、モータホルダ７、モータ５および遊星歯車機構６等を搭載した状態で、基台２の受け部２ａの内底面によって揺動可能に支持される。なお、本発明のモータ保持部材はこれら揺動ホルダ１１、ラバープッシャー１２、エンコーダホルダ１０、モータホルダ７によって構成され、また、本発明の第２保持部は揺動ホルダ１１によって構成されている。   The swing holder 11 is formed in a dish shape from a synthetic resin, and a protrusion 11a having a hollow cylindrical shape with a tip formed on a spherical surface projects from the center of the lower surface thereof. As described above, the protruding portion 11a is inserted into the receiving portion 2a of the base 2, and the tip portion is pressed against the spherical surface formed on the bottom surface of the receiving portion 2a so as to be swingable. The guide protrusion 10a of the encoder holder 10 is slidably inserted into the hollow portion. The spherical surface in the receiving portion 2a is formed to have a larger diameter than the spherical surface at the tip of the protruding portion 11a. As a result, there is a gap around the protruding portion 11a, so that the protruding portion 11a swings in the receiving portion 2a. It is possible to move. An annular flat portion 11 b for mounting the rubber spring 13 is formed on the upper surface of the swing holder 11. A light shielding member 11c is provided inside the annular flat portion 11b. When the rubber pusher 12 is lowered to a predetermined position, the light detection switch 23 mounted on the wiring board 9c detects the light shielding member 11c. Thus, the pushing operation of the operation unit 4 can be detected. The swing holder 11 is mounted on the inner bottom surface of the receiving portion 2a of the base 2 with the rubber pusher 12, the encoder holder 10, the motor holder 7, the motor 5, the planetary gear mechanism 6 and the like mounted thereon via a rubber spring 13. It is supported so that it can swing. The motor holding member of the present invention is configured by the swing holder 11, the rubber pusher 12, the encoder holder 10, and the motor holder 7, and the second holding portion of the present invention is configured by the swing holder 11.

ラバープッシャー１２は合成樹脂によって揺動ホルダ１１内に収納可能な円盤状に形成されており、その中央部に中心孔１２ａが開設されている。このラバープッシャー１２は、エンコーダホルダ１０のガイド突起１０ａを中心孔１２ａ内に貫通した状態で、エンコーダホルダ１０の下部に一体的に取り付けられる。   The rubber pusher 12 is formed of a synthetic resin into a disk shape that can be accommodated in the rocking holder 11, and a central hole 12a is formed at the center thereof. The rubber pusher 12 is integrally attached to the lower portion of the encoder holder 10 with the guide projection 10a of the encoder holder 10 penetrating into the center hole 12a.

ラバースプリング１３は弾性に優れたシリコンゴム等によって環状に形成されており、その上面側には複数箇所にドーム形状部１３ａが等ピッチで突設されている。これらドーム形状部１３ａは弾性的に座屈可能であって、上方から所定値以上の大きさの押圧力が加わると各ドーム形状部１３ａが座屈し、その押圧力が除去されると各ドーム形状部１３ａは自身の弾性で元の形状に復帰する。このラバースプリング１３は、揺動ホルダ１１とラバープッシャー１２との間に介装される。   The rubber spring 13 is formed in an annular shape by silicon rubber or the like having excellent elasticity, and dome-shaped portions 13a are projected at a plurality of positions on the upper surface side at an equal pitch. These dome-shaped portions 13a can be elastically buckled, and each dome-shaped portion 13a buckles when a pressing force of a predetermined value or more is applied from above, and when the pressing force is removed, each dome-shaped portion 13a The part 13a returns to its original shape by its own elasticity. The rubber spring 13 is interposed between the swing holder 11 and the rubber pusher 12.

下スライダ１４は滑性に優れた合成樹脂によって略楕円形状に形成されており、その下面には、ケース１の案内溝１ｃ内に摺動可能に嵌挿される第１の案内突起１４ａが突設されている。また、下スライダ１４の上面には、上スライダ１５の案内溝１５ｅ内に摺動可能に嵌挿される第２の案内突起１４ｂが突設されている。これら第１および第２の案内突起１４ａ，１４ｂは、その摺動方向が互いに直交するように形成されている。この下スライダ１４は、ケース１の上面板１ａ上に搭載されて上スライダ１５に追動してスライド可能であるが、第１の案内突起１４ａが上面板１ａの案内溝１ｃに係合しているため、下スライダ１４のスライド方向は案内溝１ｃに沿う一方向のみである。   The lower slider 14 is formed in a substantially oval shape with a synthetic resin excellent in slipperiness, and a first guide protrusion 14a is slidably inserted into the guide groove 1c of the case 1 on its lower surface. Has been. Further, a second guide protrusion 14 b is slidably provided on the upper surface of the lower slider 14 so as to be slidably inserted into the guide groove 15 e of the upper slider 15. The first and second guide protrusions 14a and 14b are formed so that their sliding directions are orthogonal to each other. The lower slider 14 is mounted on the upper surface plate 1a of the case 1 and can be slid by following the upper slider 15, but the first guide protrusion 14a is engaged with the guide groove 1c of the upper surface plate 1a. Therefore, the sliding direction of the lower slider 14 is only one direction along the guide groove 1c.

上スライダ１５は滑性に優れた合成樹脂によって形成されており、輪状部１５ａと、輪状部１５ａの等間隔な４箇所から径方向外側へ放射状に突設された腕部１５ｂと、輪状部１５ａの腕部１５ｂに対応する４箇所から径方向内側へ突設された当接部１５ｃとを有している。この当接部１５ｃはモータホルダ７の外周面に当接可能であり、各当接部１５ｃの下面側にはモータホルダ７の係合突起７ａを嵌挿するための係合溝１５ｄが形成されている。輪状部１５ａの下面側には、下スライダ１４の第２の案内突起１４ｂが嵌挿される案内溝１５ｅが形成されている。また、各腕部１５ｂの上面と下面にはそれぞれカバー部材１９の下面とケース１の上面板１ａに突き当てるための支持突起１５ｆが形成されている。さらに、突出方向が逆向きの位置関係にある一方の腕部１５ｂの下面側にはカム部材１６用の収納部１５ｇが形成され、かつ他方の腕部１５ｂの下面側にはカム部材１６のカム面と同一形状のカム面を有するカム部１５ｈが形成されている。また、この上スライダ１５には、ケース１の上面板１ａに形成されている逃げ孔１ｅと対向する位置に、駆動体２２のスティック部２２ｂを挿通して駆動するための駆動孔１５ｉが形成されている。この上スライダ１５は、係合溝１５ｄに係合突起７ａを嵌挿することによってモータホルダ７に外装され、モータホルダ７の揺動に伴いケース１の上面板１ａに沿ってスライドする。なお、上スライダ１５が案内溝１５ｅの延びる方向へスライドするときに下スライダ１４はスライドしないが、上スライダ１５が他の方向へスライドするときは下スライダ１４も追動してスライドし、上スライダ１５のスライド方向が案内溝１５ｅと直交する方向（前記案内溝１ｃの延びる方向）の場合には両スライダ１４，１５は一体的にスライドする。   The upper slider 15 is made of a synthetic resin excellent in lubricity, and includes an annular portion 15a, arm portions 15b radially projecting from four equally spaced locations of the annular portion 15a, and an annular portion 15a. And abutting portions 15c projecting radially inward from four locations corresponding to the arm portions 15b. The contact portion 15c can contact the outer peripheral surface of the motor holder 7, and an engagement groove 15d for inserting the engagement protrusion 7a of the motor holder 7 is formed on the lower surface side of each contact portion 15c. ing. A guide groove 15e into which the second guide protrusion 14b of the lower slider 14 is fitted is formed on the lower surface side of the annular portion 15a. Further, support projections 15f for abutting the lower surface of the cover member 19 and the upper surface plate 1a of the case 1 are formed on the upper surface and the lower surface of each arm portion 15b. Further, a storage portion 15g for the cam member 16 is formed on the lower surface side of the one arm portion 15b in which the projecting direction is opposite, and the cam of the cam member 16 is formed on the lower surface side of the other arm portion 15b. A cam portion 15h having a cam surface having the same shape as the surface is formed. Further, the upper slider 15 is formed with a drive hole 15i for inserting and driving the stick portion 22b of the drive body 22 at a position facing the escape hole 1e formed in the upper surface plate 1a of the case 1. ing. The upper slider 15 is externally mounted on the motor holder 7 by inserting the engaging protrusion 7 a into the engaging groove 15 d, and slides along the upper surface plate 1 a of the case 1 as the motor holder 7 swings. When the upper slider 15 slides in the direction in which the guide groove 15e extends, the lower slider 14 does not slide, but when the upper slider 15 slides in the other direction, the lower slider 14 also follows and slides. When the slide direction of 15 is a direction perpendicular to the guide groove 15e (the direction in which the guide groove 1c extends), both the sliders 14 and 15 slide integrally.

カム部材１６は滑性および耐摩耗性に優れた合成樹脂によって形成されており、その下面に花弁状のカム面を有する。このカム面には、図３および図４に示すように、中央凹部１６ａを８個の外周凹部１６ｂが包囲してなるカム溝と、該カム溝の境界部となる山部１６ｃとが形成されており、該カム溝に駆動棒１７の上端部が係合する。カム部材１６は上スライダ１５の収納部１５ｇに取着されるため、モータホルダ７の揺動に伴い上スライダ１５がスライドすると、駆動棒１７に対するカム部材１６の位置が変化して、この駆動棒１７の上端部が中央凹部１６ａから山部１６ｃを乗り越えていずれか一つの外周凹部１６ｂ内へ入り込むようになっている。なお、前述したように、上スライダ１５のカム部１５ｈのカム面もカム部材１６と同一形状の花弁状に形成されている。   The cam member 16 is made of a synthetic resin excellent in lubricity and wear resistance, and has a petal-like cam surface on the lower surface thereof. As shown in FIGS. 3 and 4, the cam surface is formed with a cam groove in which a central recess 16a is surrounded by eight outer peripheral recesses 16b, and a peak portion 16c serving as a boundary portion of the cam groove. The upper end of the drive rod 17 is engaged with the cam groove. Since the cam member 16 is attached to the storage portion 15g of the upper slider 15, when the upper slider 15 slides as the motor holder 7 swings, the position of the cam member 16 with respect to the drive rod 17 changes, and this drive rod The upper end portion of 17 moves over the peak portion 16c from the central recess portion 16a and enters one of the outer periphery recess portions 16b. As described above, the cam surface of the cam portion 15 h of the upper slider 15 is also formed in a petal shape having the same shape as the cam member 16.

駆動棒１７は滑性および耐摩耗性に優れた合成樹脂によって棒状に形成されており、その外周部にスプリング１８の上端を係止するためのスプリング受け１７ａを有する。この駆動棒１７は、モータホルダ７が揺動されていない非揺動操作状態において、カム部材１６の中央凹部１６ａまたは上スライダ１５のカム部１５ｈの中央凹部に入り込んで弾接している。   The drive rod 17 is formed in a rod shape from a synthetic resin excellent in lubricity and wear resistance, and has a spring receiver 17a for locking the upper end of the spring 18 on the outer periphery thereof. The drive rod 17 enters and contacts the central recess 16a of the cam member 16 or the central recess of the cam portion 15h of the upper slider 15 when the motor holder 7 is not swinging.

スプリング１８は駆動棒１７を常時上向きに弾性付勢するコイルスプリングであり、このスプリング１８と駆動棒１７はケース１の上面板１ａに設けられた収納凹部１ｄ内に収納され、スプリング１８の弾性力によって駆動棒１７がカム部材１６または上スライダ１５のカム部１５ｈに弾接される。   The spring 18 is a coil spring that elastically biases the drive rod 17 upward. The spring 18 and the drive rod 17 are housed in a housing recess 1 d provided in the upper surface plate 1 a of the case 1, and the spring 18 is elastic. As a result, the drive rod 17 is brought into elastic contact with the cam member 16 or the cam portion 15 h of the upper slider 15.

カバー部材１９は金属板にて形成され、ケース１の上端にねじ止め固定される。このカバー部材１９は、下スライダ１４、上スライダ１５、駆動棒１７およびスプリング１８の脱落を防止すると共に、ケース１の上面板１ａに対する上スライダ１５の取付高さを規定している。   The cover member 19 is formed of a metal plate and is fixed to the upper end of the case 1 with screws. The cover member 19 prevents the lower slider 14, the upper slider 15, the drive rod 17 and the spring 18 from falling off, and defines the mounting height of the upper slider 15 with respect to the upper surface plate 1 a of the case 1.

延出カバー２０は合成樹脂によって形成されており、円板状の固定部２０ａと、固定部２０ａの内周縁から起立する筒状のカバー部２０ｂとを有する。この延出カバー２０は、固定部２０ａをカバー部材１９の内周部にねじ止め固定することによって、モータホルダ７の上部を包囲する位置に取り付けられる。   The extension cover 20 is formed of a synthetic resin, and includes a disk-shaped fixing portion 20a and a cylindrical cover portion 20b that stands up from the inner peripheral edge of the fixing portion 20a. The extended cover 20 is attached to a position surrounding the upper portion of the motor holder 7 by fixing the fixing portion 20 a to the inner peripheral portion of the cover member 19 with screws.

ラバー接点部材２１は弾性に優れたシリコンゴム等によって形成されている。このラバー接点部材２１には天井面に図示せぬ可動接点を設けたドーム状接点部２１ａが４箇所に突設されており、各ドーム状接点部２１ａは駆動体２２の円板部２２ａにより選択的に押し込まれて弾性的に座屈可能である。このラバー接点部材２１は適宜手段によりプリント配線板３上に固定され、各ドーム状接点部２１ａの可動接点がプリント配線板３の前記固定接点と接離可能に対向する。   The rubber contact member 21 is made of silicon rubber having excellent elasticity. The rubber contact member 21 is provided with four dome-shaped contact portions 21 a provided with movable contacts (not shown) on the ceiling surface, and each dome-shaped contact portion 21 a is selected by the disk portion 22 a of the driver 22. And can be buckled elastically. The rubber contact member 21 is fixed on the printed wiring board 3 by appropriate means, and the movable contact of each dome-shaped contact portion 21a is opposed to the fixed contact of the printed wiring board 3 so as to be able to contact and separate.

駆動体２２は合成樹脂によって形成されており、４個のドーム状接点部２１ａ上に搭載される円板部２２ａと、この円板部２２ａの中央から上向きに突設されたスティック部２２ｂとを有する。スティック部２２ｂはケース１の上面板１ａの逃げ孔１ｅを貫通して上スライダ１５の駆動孔１５ｉに挿入され、上スライダ１５が上面板１ａに沿ってスライドすると、駆動孔１５ｉの周壁がスティック部２２ｂを駆動してスライド方向へ傾倒させるため、その方向で円板部２２ａが１個もしくは２個のドーム状接点部２１ａを押し込んで座屈させるようになっている。つまり、操作部４の揺動操作方向に対応する上スライダ１５のスライド方向に応じて、円板部２２ａが４個のドーム状接点部２１ａを選択的に押し込み、座屈したドーム状接点部２１ａ内の可動接点を下方の固定接点に接触させることができるため、この駆動体２２とラバー接点部材２１とによって揺動操作方向を検出することができる。   The driving body 22 is formed of a synthetic resin, and includes a disc portion 22a mounted on the four dome-shaped contact portions 21a and a stick portion 22b protruding upward from the center of the disc portion 22a. Have. The stick portion 22b passes through the escape hole 1e of the upper surface plate 1a of the case 1 and is inserted into the drive hole 15i of the upper slider 15. When the upper slider 15 slides along the upper surface plate 1a, the peripheral wall of the drive hole 15i becomes the stick portion. Since 22b is driven and tilted in the sliding direction, the disk portion 22a pushes one or two dome-shaped contact portions 21a in that direction so as to buckle. That is, the disc portion 22a selectively pushes the four dome-shaped contact portions 21a in accordance with the sliding direction of the upper slider 15 corresponding to the swing operation direction of the operation portion 4, and buckled dome-shaped contact portions 21a. Since the movable contact inside can be brought into contact with the lower fixed contact, the driving body 22 and the rubber contact member 21 can detect the swinging operation direction.

このように構成された力覚付与型入力装置は、操作部４の回転操作時にその回転方向および回転量がエンコーダ９によって検出されると共に、操作部４の揺動操作時にその揺動操作方向が駆動体２２およびラバー接点部材２１によって検出されるようになっている。また、操作部４の押動操作（プッシュ操作）は光検出スイッチ２３によって検出されるようになっている。   In the force sense imparting type input device configured as described above, the rotation direction and amount of rotation are detected by the encoder 9 when the operation unit 4 is rotated, and the swing operation direction is determined when the operation unit 4 is swung. It is detected by the driving body 22 and the rubber contact member 21. Further, the push operation (push operation) of the operation unit 4 is detected by the light detection switch 23.

かかる力覚付与型入力装置の動作について詳しく説明すると、揺動ホルダ１１を介して基台２の受け部２ａ上に揺動可能に支持されているモータユニット２５は、非操作状態において、図４に示すようにケース１および基台２に対して垂直に保持されており、このとき各駆動棒１７の上端部はカム部材１６またはカム部１５ｈの中央凹部（１６ａ）に弾接している。また、かかる非操作時において、ラバースプリング１３の各ドーム形状部１３ａは座屈していないため、モータユニット２５はラバープッシャー１２を介して図４に示す初期位置に押し上げられている。   The operation of the force sense input device will be described in detail. The motor unit 25 supported on the receiving portion 2a of the base 2 via the swing holder 11 so as to be swingable is shown in FIG. As shown in FIG. 4, the upper end of each drive rod 17 is elastically contacted with the central recess (16a) of the cam member 16 or the cam portion 15h. Further, since the respective dome-shaped portions 13 a of the rubber spring 13 are not buckled during such non-operation, the motor unit 25 is pushed up to the initial position shown in FIG. 4 via the rubber pusher 12.

この状態からユーザが操作部４を揺動操作すると、揺動ホルダ１１の突起部１１ａの先端を揺動支点としてモータユニット２５が操作方向へ揺動し、それに伴って上スライダ１５および下スライダ１４（または上スライダ１５のみ）がケース１の上面板１ａに沿ってスライドする。これにより、カム部材１６およびカム部１５ｈと駆動棒１７との相対位置が変化して、駆動棒１７の上端部がカム部材１６およびカム部１５ｈの山部（１６ｃ）を乗り越えて外周凹部（１６ｂ）に入り込むため、駆動棒１７に対するスプリング１８の弾性力の変化がクリック感触として操作部４に伝達され、ユーザは所定量だけ揺動操作できたことを手指にて感得することができる。また、こうしてモータユニット２５が操作部４や揺動ホルダ１１と一体的に所定量だけ揺動すると、揺動操作方向へスライドする上スライダ１５が駆動体２２のスティック部２２ｂを傾倒させて円板部２２ａがドーム状接点部２１ａを選択的に座屈させるため、座屈したドーム状接点部２１ａ内の可動接点が下方の固定接点に接触して揺動操作方向を検出でき、その検出信号が図示せぬ制御装置に出力される。それゆえ、この制御装置によって、例えば、揺動操作方向に応じた車載電気機器の選択等を行うことが可能となる。また、ユーザが操作部４に対する揺動操作力を取り除くと、駆動棒１７がスプリング１８の弾性力によってカム部材１６またはカム部１５ｈの中央凹部（１６ａ）へ押し戻されるため、モータユニット２５がケース１および基台２に対して垂直な姿勢に押し戻されるのに伴い、操作部４や揺動ホルダ１１や上スライダ１５等が図４に示す初期位置へ自動復帰すると共に、座屈していたドーム状接点部２１ａが自身の弾性で元の形状に戻り可動接点と固定接点は離隔する。   When the user swings the operation unit 4 from this state, the motor unit 25 swings in the operation direction with the tip of the protrusion 11a of the swing holder 11 as a swing fulcrum, and accordingly, the upper slider 15 and the lower slider 14 (Or only the upper slider 15) slides along the upper surface plate 1 a of the case 1. As a result, the relative positions of the cam member 16 and the cam portion 15h and the drive rod 17 are changed, and the upper end portion of the drive rod 17 gets over the mountain portion (16c) of the cam member 16 and the cam portion 15h, so that the outer peripheral recess (16b ), The change in the elastic force of the spring 18 with respect to the drive rod 17 is transmitted to the operation unit 4 as a click feeling, and the user can feel with his / her fingers that the user has been able to perform the swing operation by a predetermined amount. Further, when the motor unit 25 swings by a predetermined amount integrally with the operation unit 4 or the swing holder 11 in this way, the upper slider 15 that slides in the swing operation direction tilts the stick portion 22b of the drive body 22 to disc. Since the portion 22a selectively buckles the dome-shaped contact portion 21a, the movable contact in the buckled dome-shaped contact portion 21a can contact the lower fixed contact to detect the swing operation direction, and the detection signal is It is output to a control device (not shown). Therefore, for example, it is possible to select an in-vehicle electric device according to the swing operation direction by this control device. When the user removes the swinging operation force with respect to the operation unit 4, the driving rod 17 is pushed back to the central recess (16 a) of the cam member 16 or the cam unit 15 h by the elastic force of the spring 18. The operation unit 4, the swinging holder 11, the upper slider 15 and the like are automatically returned to the initial positions shown in FIG. The part 21a returns to its original shape by its own elasticity, and the movable contact and the fixed contact are separated.

次に、回転操作時の動作について説明する。ユーザが操作部４を回転操作すると、取付部材８および遊星歯車機構６を介してモータ５の回転軸５ａが回転駆動されるため、この回転軸５ａの回転方向および回転量がエンコーダ９によって検出されて前記制御装置に出力される。それゆえ、この制御装置によって、例えば、回転操作方向に応じた車載電気機器の機能調整等を行うことが可能となる。また、この制御装置は、エンコーダ９からの出力信号に応じてモータ５の駆動停止を制御することができるため、制御装置によって制御されるモータ５の回転力が遊星歯車機構６および取付部材８を介して操作部４に伝達され、回転操作状態に応じた力覚が操作部４に付与される。このとき、操作部４にはサンギヤ３０とリングギヤ３３の歯数比に応じて増幅されたモータ出力が付与されるので、小さなモータ出力で大きな力覚を操作部４に付与することができる。   Next, the operation at the time of the rotation operation will be described. When the user rotates the operation unit 4, the rotation shaft 5 a of the motor 5 is rotationally driven via the mounting member 8 and the planetary gear mechanism 6, so that the rotation direction and the rotation amount of the rotation shaft 5 a are detected by the encoder 9. And output to the control device. Therefore, for example, the function adjustment of the in-vehicle electric device according to the rotation operation direction can be performed by this control device. In addition, since this control device can control the driving stop of the motor 5 in accordance with the output signal from the encoder 9, the rotational force of the motor 5 controlled by the control device causes the planetary gear mechanism 6 and the mounting member 8 to move. The force sense corresponding to the rotational operation state is given to the operation unit 4. At this time, since the motor output amplified according to the gear ratio of the sun gear 30 and the ring gear 33 is applied to the operation unit 4, a large force sense can be applied to the operation unit 4 with a small motor output.

次に、押動操作時の動作について説明する。ユーザが操作部４を下方へ押し込む押動操作を行うと、その押し込み力が取付部材８やモータユニット２５やラバープッシャー１２を介してラバースプリング１３に付与されるため、各ドーム形状部１３ａが座屈してクリック感触を生起する。また、操作部４が押動操作されると、光検出スイッチ２３が遮光部材１１ｃの相対的移動を検出して、その検出信号が前記制御装置に出力される。それゆえ、この制御装置によって、例えば、選択した車載電気機器の決定や選択した機能調整の決定等を行うことが可能となる。このとき、エンコーダホルダ１０のガイド突起１０ａは揺動ホルダ１１の突起部１１ａ内へ深く挿入されていく。また、ユーザが操作部４に対する押し込み力を取り除くと、ラバースプリング１３の各ドーム形状部１３ａが自身の弾性で元の形状に戻るため、ラバープッシャー１２を介してモータユニット２５や取付部材８や操作部４等が初期位置まで押し上げられ、ガイド突起１０ａは突起部１１ａ内を図４に示す高さ位置まで上昇する。   Next, the operation at the time of the push operation will be described. When the user performs a pushing operation to push the operation unit 4 downward, the pushing force is applied to the rubber spring 13 via the mounting member 8, the motor unit 25, and the rubber pusher 12, so that each dome-shaped portion 13 a is seated. Yields a click feeling. When the operation unit 4 is pushed, the light detection switch 23 detects the relative movement of the light blocking member 11c, and a detection signal is output to the control device. Therefore, for example, it is possible to determine a selected in-vehicle electric device, a selected function adjustment, and the like by this control device. At this time, the guide protrusion 10 a of the encoder holder 10 is inserted deeply into the protrusion 11 a of the swing holder 11. Further, when the user removes the pushing force on the operation unit 4, each dome-shaped portion 13 a of the rubber spring 13 returns to its original shape by its own elasticity, so that the motor unit 25, the mounting member 8, and the operation are The part 4 and the like are pushed up to the initial position, and the guide protrusion 10a rises in the protrusion 11a to the height position shown in FIG.

このように本実施形態例に係る力覚付与型入力装置は、揺動ホルダ１１の突起部１１ａの先端を揺動支点として、揺動ホルダ１１とモータユニット２５および操作部４が一体的に揺動するため、揺動操作時に操作部４の揺動半径が大きくなっている。したがって、揺動操作時に操作部４を略水平に移動させることができて操作品位が高まっている。また、操作部４の下端（取付部材８の下端）と延出カバー２０の上端との間に当接を回避するための広い隙間を確保する必要がないので、塵埃等の異物の侵入が抑制できて外観も損なわれない。しかも、この力覚付与型入力装置では、揺動ホルダ１１の突起部１１ａを揺動可能に支持する受け部２ａが基台２の外底面に突設されており、この受け部２ａの内底面側の凹所に突起部１１ａが挿入されているため、基台２の底部がコンパクトになって装置全体の小型化が実現されている。   As described above, in the haptic input device according to this embodiment, the swing holder 11, the motor unit 25, and the operation unit 4 swing integrally with the tip of the protrusion 11 a of the swing holder 11 as a swing fulcrum. Therefore, the swing radius of the operation unit 4 is increased during the swing operation. Therefore, the operation unit 4 can be moved substantially horizontally during the swing operation, and the operation quality is improved. Further, since it is not necessary to secure a wide gap between the lower end of the operation unit 4 (lower end of the mounting member 8) and the upper end of the extension cover 20, entry of foreign matters such as dust is suppressed. It is possible and the appearance is not impaired. In addition, in this force sense imparting type input device, the receiving portion 2a that supports the protruding portion 11a of the swinging holder 11 so as to be swingable is projected on the outer bottom surface of the base 2, and the inner bottom surface of the receiving portion 2a. Since the protrusion 11a is inserted into the recess on the side, the bottom of the base 2 is compact, and the entire apparatus is downsized.

また、本実施形態例に係る力覚付与型入力装置では、モータ５を保持するモータホルダ７と、このモータホルダ７の下部に取り付けられたエンコーダホルダ１０およびラバープッシャー１２とを、突起部１１ａを有する揺動ホルダ１１がラバースプリング１３を介して支える構成になっているため、操作部４の回転操作と揺動操作だけでなく、操作部４の押動操作によっても位置信号を取り出すことができ、装置の多機能化が実現されている。なお、かかる押動操作時にクリック感触を生起するラバースプリング１３はモータ５よりも大径な環状部材なので、弾性的に座屈可能なドーム形状部１３ａを数多く突設することによって容易に耐久性を高めることができる。   In the force sense input device according to this embodiment, the motor holder 7 that holds the motor 5, the encoder holder 10 and the rubber pusher 12 that are attached to the lower part of the motor holder 7, and the protrusion 11 a are provided. Since the swing holder 11 is supported by the rubber spring 13, the position signal can be extracted not only by the rotation operation and swing operation of the operation unit 4 but also by the pushing operation of the operation unit 4. Multifunctionalization of the device is realized. Since the rubber spring 13 that generates a click feeling during the pushing operation is an annular member having a diameter larger than that of the motor 5, it is easy to make durability by projecting a large number of elastically buckling dome-shaped portions 13a. Can be increased.

また、本実施形態例に係る力覚付与型入力装置では、エンコーダホルダ１０に突設したガイド突起１０ａを、揺動ホルダ１１に突設した突起部１１ａの中空部分に摺動可能に嵌挿しているので、押動操作時にガイド突起１０ａを突起部１１ａの内壁面（中空部分の周壁）で案内しながら円滑に昇降させることができると共に、揺動操作時にはガイド突起１０ａと突起部１１ａとが互いに係止された状態に保たれることから、モータユニット２５および揺動ホルダ１１を一体品として傾倒させることができ、良好な操作性が期待できる。   Further, in the force sense imparting input device according to the present embodiment, the guide protrusion 10 a protruding from the encoder holder 10 is slidably inserted into the hollow portion of the protrusion 11 a protruding from the swing holder 11. Therefore, the guide protrusion 10a can be smoothly raised and lowered while being guided by the inner wall surface (the peripheral wall of the hollow portion) of the protrusion 11a during the pushing operation, and the guide protrusion 10a and the protrusion 11a can be Since the locked state is maintained, the motor unit 25 and the swing holder 11 can be tilted as an integrated product, and good operability can be expected.

図５は本発明の第２実施形態例に係る力覚付与型入力装置の断面図であって、図１〜図４と対応する部分には同一符号が付してあるため、重複する説明は省略する。   FIG. 5 is a cross-sectional view of the haptic input device according to the second embodiment of the present invention, and parts corresponding to those in FIGS. Omitted.

図５に示す力覚付与型入力装置が前述した第１実施形態例と異なる点は、基台２の受け部２ａを大きめの凹状に形成して、この受け部２ａの平坦な内底面に突起部１１ａよりも十分に大径な弾性マット部材２４を敷設し、この弾性マット部材２４上に突起部１１ａを搭載したことにある。弾性マット部材２４は弾性に優れたウレタンゴムやシリコンゴム等からなるマット状の部材であり、モータユニット２５を支える揺動ホルダ１１の突起部１１ａを搭載することによって、弾性マット部材２４は押し撓められるので、突起部１１ａは揺動可能な安定した姿勢で弾性マット部材２４に支持されている。   5 differs from the first embodiment described above in that the receiving portion 2a of the base 2 is formed in a large concave shape and is projected on the flat inner bottom surface of the receiving portion 2a. The elastic mat member 24 having a diameter sufficiently larger than that of the portion 11 a is laid, and the protruding portion 11 a is mounted on the elastic mat member 24. The elastic mat member 24 is a mat-like member made of urethane rubber, silicon rubber or the like having excellent elasticity. By mounting the protrusion 11a of the swing holder 11 that supports the motor unit 25, the elastic mat member 24 is pushed and bent. Therefore, the protrusion 11a is supported by the elastic mat member 24 in a stable posture capable of swinging.

このように構成された力覚付与型入力装置は、受け部２ａの中心線に対して突起部１１ａの先端がずれて配置された場合でも、突起部１１ａが弾性マット部材２４を押し撓めた安定した姿勢で支持されるため、かかる組み込み位置のずれに起因する操作部４およびモータ５の中立位置での傾きを確実に防止することができる。すなわち、モータユニット２５はその揺動支点が受け部２ａの中心線と合致していなくても、弾性マット部材２４によって揺動可能な安定した姿勢に支持されるので、ケース１や基台２に対するモータユニット２５の組み付け位置を高精度に規定する必要がなくなって組立性が大幅に向上し、操作部４やモータ５を所望の姿勢に容易かつ確実に組み付けることができる。   In the force sense input device configured as described above, even when the tip of the protrusion 11a is shifted from the center line of the receiving portion 2a, the protrusion 11a pushes and bends the elastic mat member 24. Since it is supported in a stable posture, it is possible to reliably prevent tilting at the neutral position of the operation unit 4 and the motor 5 due to such a shift in the assembling position. That is, the motor unit 25 is supported in a stable posture capable of swinging by the elastic mat member 24 even if its swing fulcrum does not coincide with the center line of the receiving portion 2a. There is no need to define the assembly position of the motor unit 25 with high accuracy, so that the assemblability is greatly improved, and the operation unit 4 and the motor 5 can be easily and reliably assembled in a desired posture.

本発明の第１実施形態例に係る力覚付与型入力装置の分解斜視図である。1 is an exploded perspective view of a haptic input device according to a first embodiment of the present invention. 該入力装置に備えられる遊星歯車機構の分解斜視図である。It is a disassembled perspective view of the planetary gear mechanism with which this input device is equipped. 該入力装置に備えられるカム部材の平面図である。It is a top view of the cam member with which this input device is equipped. 該入力装置の断面図である。It is sectional drawing of this input device. 本発明の第２実施形態例に係る力覚付与型入力装置の断面図である。It is sectional drawing of the force sense provision type input device which concerns on the 2nd Example of this invention. 従来例に係る力覚付与型入力装置の断面図である。It is sectional drawing of the force sense provision type input device which concerns on a prior art example.

符号の説明Explanation of symbols

１ ケース
２ 基台
２ａ 受け部
３ プリント配線板
４ 操作部
５ モータ
５ａ 回転軸
６ 遊星歯車機構
７ モータホルダ
８ 取付部材
９ エンコーダ
１０ エンコーダホルダ
１０ａ ガイド突起
１１ 揺動ホルダ
１１ａ 突起部
１１ｃ 遮光部材
１２ ラバープッシャー
１３ ラバースプリング
１３ａ ドーム形状部
１４ 下スライダ
１５ 上スライダ
１６ カム部材
１７ 駆動棒
１８ スプリング
１９ カバー部材
２０ 延出カバー
２１ ラバー接点部材
２２ 駆動体
２３ 光検出スイッチ
２４ 弾性マット部材 DESCRIPTION OF SYMBOLS 1 Case 2 Base 2a Receiving part 3 Printed wiring board 4 Operation part 5 Motor 5a Rotating shaft 6 Planetary gear mechanism 7 Motor holder 8 Mounting member 9 Encoder 10 Encoder holder 10a Guide protrusion 11 Swing holder 11a Projection part 11c Light-shielding member 12 Rubber Pusher 13 Rubber spring 13a Dome-shaped portion 14 Lower slider 15 Upper slider 16 Cam member 17 Drive rod 18 Spring 19 Cover member 20 Extension cover 21 Rubber contact member 22 Drive body 23 Light detection switch 24 Elastic mat member

Claims (6)

少なくとも回転操作および揺動操作が可能な操作部と、この操作部の揺動操作に伴って揺動され、かつ、前記操作部にその回転操作に応じた所要の力覚を付与するモータと、このモータを保持するモータ保持部材と、このモータ保持部材を介して前記モータを揺動可能に支持するハウジングとを備え、
前記モータ保持部材が前記操作部の反対側であって前記モータの回転軸の延長方向に突設された突起部を有すると共に、前記ハウジングが前記突起部を搭載して前記モータ保持部材を揺動可能に支持する受け部を有することを特徴とする力覚付与型入力装置。 An operation unit capable of at least a rotation operation and a rocking operation, a motor which is swung in accordance with a rocking operation of the operation unit, and which gives a required force sense according to the rotation operation to the operation unit; A motor holding member for holding the motor, and a housing for swingably supporting the motor via the motor holding member;
The motor holding member has a protruding portion that is opposite to the operation portion and protrudes in the extending direction of the rotating shaft of the motor, and the housing mounts the protruding portion and swings the motor holding member A force sense input device having a receiving portion that supports the force sense. 請求項１の記載において、前記受け部が前記ハウジングの外底面に突設されており、この受け部の内底面側の凹所に前記突起部が挿入されていることを特徴とする力覚付与型入力装置。   2. The haptic device according to claim 1, wherein the receiving portion protrudes from an outer bottom surface of the housing, and the protruding portion is inserted into a recess on the inner bottom surface side of the receiving portion. Type input device. 請求項１または２の記載において、前記受け部の内底面に前記突起部よりも大径な弾性マット部材が敷設されており、この弾性マット部材上に前記突起部が搭載されていることを特徴とする力覚付与型入力装置。   3. The elastic mat member according to claim 1 or 2, wherein an elastic mat member having a diameter larger than that of the protruding portion is laid on the inner bottom surface of the receiving portion, and the protruding portion is mounted on the elastic mat member. A force sense input device. 請求項１〜３のいずれか１項の記載において、前記モータ保持部材が、前記モータに取り付けられる第１保持部と、前記第１保持部に取り付けられているラバープッシャーと、前記突起部を有する第２保持部とを備えており、
これら前記ラバープッシャーと前記第２保持部との間に介装されて弾性的に座屈可能な弾発復帰手段を設け、
前記操作部を前記駆動軸の軸線方向に沿って押し込むことにより前記ラバープッシャーが前記弾発復帰手段を座屈させるようにしたことを特徴とする力覚付与型入力装置。 4. The motor holding member according to claim 1, wherein the motor holding member includes a first holding portion attached to the motor, a rubber pusher attached to the first holding portion, and the protrusion. and a second holding portion,
Is interposed between these the rubber pusher and the second holding portion provided elastically buckled a resilient return hand stage,
The force-applying input device, wherein the rubber pusher buckles the elastic return means by pushing the operating portion along the axial direction of the drive shaft. 請求項４の記載において、前記弾発復帰手段が複数のドーム形状部を円周方向に沿って突設した環状のラバースプリングからなり、このラバースプリングの外径を前記モータよりも大径に設定したことを特徴とする力覚付与型入力装置。   5. The bullet return means according to claim 4, wherein the elastic return means comprises an annular rubber spring having a plurality of dome-shaped portions protruding along the circumferential direction, and the outer diameter of the rubber spring is set larger than that of the motor. A haptic input device characterized by that. 請求項４または５の記載において、前記第１保持部の外底面に前記モータの回転軸に沿って延びるガイド突起が突設されていると共に、前記第２保持部の前記突起部が中空であって、この中空部分に前記ガイド突起が摺動可能に嵌挿されていることを特徴とする力覚付与型入力装置。   6. The guide projection according to claim 4 or 5, wherein a guide projection extending along the rotation axis of the motor is provided on the outer bottom surface of the first holding portion, and the projection portion of the second holding portion is hollow. The force giving type input device is characterized in that the guide projection is slidably fitted into the hollow portion.
JP2004287219A 2004-09-30 2004-09-30 Haptic input device Expired - Lifetime JP4262661B2 (en)

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US4394548A (en) * 1982-03-08 1983-07-19 Amp Incorporated Joystick switch
DE9105251U1 (en) * 1991-04-29 1991-09-12 Bohl, Alexander, 8494 Waldmünchen Digital cross control
US5589828A (en) * 1992-03-05 1996-12-31 Armstrong; Brad A. 6 Degrees of freedom controller with capability of tactile feedback
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