JP6698173B2 - Operating device - Google Patents

Operating device Download PDF

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Publication number
JP6698173B2
JP6698173B2 JP2018552494A JP2018552494A JP6698173B2 JP 6698173 B2 JP6698173 B2 JP 6698173B2 JP 2018552494 A JP2018552494 A JP 2018552494A JP 2018552494 A JP2018552494 A JP 2018552494A JP 6698173 B2 JP6698173 B2 JP 6698173B2
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virtual rotation
rotation axis
actuator
operating device
virtual
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JPWO2018096911A1 (en
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慎也 浦山
慎也 浦山
上ノ町　孝志
孝志 上ノ町
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Alps Alpine Co Ltd
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Alps Electric Co Ltd
Alps Alpine Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K20/00—Arrangement or mounting of change-speed gearing control devices in vehicles
    • B60K20/02—Arrangement or mounting of change-speed gearing control devices in vehicles of initiating means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce

Description

本発明は、操作装置に関し、特に、操作時に操作感を発生する操作レバーするものである。  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device, and more particularly to an operating lever that produces an operational feeling during operation.

車両の運転席付近に、トランスミッションを切り替える操作装置が設けられる。例えば、特許文献１に開示されている操作装置は、２本の回転軸を中心として２方向に回転するシフトレバーを備える。操作装置は、シフトレバーの位置に応じた電気信号を車両に送ることにより、トランスミッションを切り替える。特許文献１のシフトレバーは、直線状に延びた棒状の形状をもち、筐体の外に位置する一端に固定されたノブを含む。  An operation device for switching the transmission is provided near the driver's seat of the vehicle. For example, the operating device disclosed in Patent Document 1 includes a shift lever that rotates in two directions around two rotary shafts. The operating device switches the transmission by sending an electric signal corresponding to the position of the shift lever to the vehicle. The shift lever of Patent Document 1 has a rod-like shape that extends linearly, and includes a knob fixed to one end located outside the housing.

また、操作装置は、筐体内にあるシフトレバーの他端に可動に取り付けられたプランジャを備える。プランジャは、シフトレバーの中の弾性部材によってシフトレバーの延びる方向に付勢されて、筐体内に固定された凹凸面に押しつけられている。操作者がノブを握ってシフトレバーを回転させると、プランジャが凹凸面に沿って移動する。プランジャと凹凸面との間の抵抗力により、操作者が操作感を感じる。２つの回転方向のいずれにおいても、共通の連続した凹凸面に１つのプランジャが押しつけられて、操作感が発生する。  The operating device also includes a plunger movably attached to the other end of the shift lever in the housing. The plunger is biased by the elastic member in the shift lever in the extending direction of the shift lever and pressed against the uneven surface fixed in the housing. When the operator grips the knob and rotates the shift lever, the plunger moves along the uneven surface. The operator feels the operation due to the resistance force between the plunger and the uneven surface. In each of the two rotation directions, one plunger is pressed against the common continuous uneven surface, and a feeling of operation is generated.

特開平１０−２８７１４４号明細書JP-A-10-287144

しかしながら、特許文献１のシフトレバーでは、回転軸からプランジャの先端までの距離が短いと抵抗力の変化が発生しにくいので、シフトレバーの延びる方向に沿って回転軸からプランジャの先端まである程度の長さが必要である。また、回転軸からプランジャの先端までの距離が短いと、プランジャの先端の移動距離が短くなり、プランジャの大きさを小さくする必要が生じて強度が弱くなる。そのため、シフトレバーの延びる方向に装置を薄型化することが困難であるという不利益がある。  However, in the shift lever of Patent Document 1, when the distance from the rotary shaft to the tip of the plunger is short, the resistance force is less likely to change. Is necessary. In addition, when the distance from the rotary shaft to the tip of the plunger is short, the moving distance of the tip of the plunger becomes short, and it becomes necessary to reduce the size of the plunger, and the strength becomes weak. Therefore, there is a disadvantage that it is difficult to make the device thinner in the direction in which the shift lever extends.

本発明はかかる事情に鑑みてなされたものであり、その目的は、抵抗力の変化を大きく維持しながら高い強度で薄型化できる操作装置を提供することにある。  The present invention has been made in view of such circumstances, and an object thereof is to provide an operating device that can be made thin with high strength while maintaining a large change in resistance force.

本発明は、操作者の操作を受けて第１仮想回転軸と第２仮想回転軸との周りで回転可能な操作部材と、第１凹凸面をもつ第１カムと、前記操作部材が前記第１仮想回転軸の周りで回転するときに前記操作部材と共に回転する第１ガイド部材と、前記第１ガイド部材に規定された第１経路で移動可能な第１アクチュエータと、前記第１アクチュエータを前記第１凹凸面に付勢する第１弾性部材と、第２凹凸面をもつ第２カムと、前記操作部材が前記第２仮想回転軸の周りで回転するときに前記操作部材と共に回転する第２ガイド部材と、前記第２ガイド部材に規定された第２経路で移動可能な第２アクチュエータと、前記第２アクチュエータを前記第２凹凸面に付勢する第２弾性部材と、前記操作部材を前記第１仮想回転軸の周りに回転可能に支持する中間支持体と、前記中間支持体を前記第２仮想回転軸の周りに回転可能に支持する支持体と、を備え、前記操作部材が、前記第１仮想回転軸と前記第２仮想回転軸とに略直交する軸方向に延びた操作軸を含み、前記第１仮想回転軸が、前記操作部材と共に前記第２仮想回転軸の周りで回転し、前記第１経路と前記第２経路との両方が、前記軸方向に略直交する方向に延びている、前記第１ガイド部材が、前記操作部材に固定されており、前記第２ガイド部材が、前記中間支持体と一体的な部材として構成されている、、操作装置である。

According to the present invention, an operation member that is rotatable around a first virtual rotation axis and a second virtual rotation axis in response to an operator's operation, a first cam having a first uneven surface, and the operation member is the first A first guide member that rotates together with the operating member when rotating about one virtual rotation axis; a first actuator that is movable on a first path defined by the first guide member; A first elastic member that urges the first uneven surface, a second cam that has a second uneven surface, and a second cam that rotates together with the operating member when the operating member rotates around the second virtual rotation axis. The guide member, the second actuator movable along the second path defined by the second guide member, the second elastic member for urging the second actuator toward the second uneven surface, and the operation member An operation supporting member includes: an intermediate support member that rotatably supports the first imaginary rotation axis; and a support member that rotatably supports the intermediate support member about the second imaginary rotation axis. An operating shaft extending in an axial direction substantially orthogonal to the first virtual rotating shaft and the second virtual rotating shaft is included, and the first virtual rotating shaft rotates around the second virtual rotating shaft together with the operating member. Both the first path and the second path extend in a direction substantially orthogonal to the axial direction, the first guide member is fixed to the operation member, and the second guide member is The operating device is configured as an integral member with the intermediate support .

この構成によれば、第１アクチュエータの移動する第１経路と第２アクチュエータの移動する第２経路との両方が、軸方向に略直交する方向に延びているので、軸方向に第１アクチュエータと第２アクチュエータとの少なくとも一方が移動する場合に比べて、装置を軸方向に薄型化することができる。また、第１仮想回転軸から第１アクチュエータの先端までの距離を長くして抵抗力の変化を大きく維持しながら、第１アクチュエータを太くして強度を高くしても、操作装置が軸方向に大きくならない。すなわち、抵抗力の変化を大きく維持しながら高い強度で薄型化することができる。  According to this configuration, both the first path of movement of the first actuator and the second path of movement of the second actuator extend in a direction substantially orthogonal to the axial direction, so that the first actuator moves in the axial direction. The device can be made thinner in the axial direction as compared with the case where at least one of the second actuator moves. In addition, even if the first actuator is thickened and the strength is increased while the distance from the first virtual rotation shaft to the tip of the first actuator is lengthened to maintain a large change in the resistance force, the operating device does not move in the axial direction. Does not grow. That is, it is possible to reduce the thickness with high strength while maintaining a large change in the resistance force.

好適には本発明の操作装置において、第１仮想回転軸と第２仮想回転軸とが略直交している。  Preferably, in the operating device of the present invention, the first virtual rotation axis and the second virtual rotation axis are substantially orthogonal to each other.

この構成によれば、直交した２方向に回転する操作装置において、抵抗力の変化を大きく維持しながら高い強度で薄型化することができる。  According to this configuration, the operating device that rotates in two orthogonal directions can be thinned with high strength while maintaining a large change in resistance force.

好適には本発明の操作装置において、操作部材が第１仮想回転軸の周りで回転するときに、１つの回転位置において第１経路が第２仮想回転軸に略平行であり、かつ、１つの回転位置において第１アクチュエータが第２仮想回転軸上に配置される。  Preferably, in the operating device of the present invention, when the operating member rotates about the first virtual rotation axis, the first path is substantially parallel to the second virtual rotation axis at one rotation position, and The first actuator is arranged on the second virtual rotation axis in the rotation position.

この構成によれば、操作部材が第１仮想回転軸の周りで回転するときに、１つの回転位置において第１経路が、第２仮想回転軸に略平行であり、かつ、その１つの回転位置において第１アクチュエータが、第２仮想回転軸上に配置されるので、その１つの回転位置を保ちながら操作部材が第２仮想回転軸の周りで回転するときに、第１アクチュエータがその場で回転するだけで、第１アクチュエータと第１カムとの相対位置が大きく変わらない。そのため、操作部材が第２仮想回転軸の周りで回転するときに、第２アクチュエータにより発生する抵抗力に、第１アクチュエータにより発生する抵抗力が大きく加わらない。従って、操作部材が第２仮想回転軸の周りで回転するときの抵抗力を制御しやすい。  According to this configuration, when the operating member rotates about the first virtual rotation axis, the first path is substantially parallel to the second virtual rotation axis at one rotation position, and the one rotation position is Since the first actuator is arranged on the second virtual rotation axis in, the first actuator rotates on the spot when the operating member rotates around the second virtual rotation axis while maintaining the one rotation position. However, the relative position between the first actuator and the first cam does not change significantly. Therefore, when the operating member rotates around the second virtual rotation axis, the resistance force generated by the first actuator is not significantly added to the resistance force generated by the second actuator. Therefore, it is easy to control the resistance force when the operation member rotates around the second virtual rotation axis.

好適には本発明の操作装置において、第１アクチュエータが、回転対称な形状であり、第１アクチュエータの対称中心が、１つの回転位置において第２仮想回転軸に略一致する。  Preferably, in the operating device of the present invention, the first actuator has a rotationally symmetric shape, and the center of symmetry of the first actuator substantially coincides with the second virtual rotation axis at one rotation position.

この構成によれば、第１アクチュエータが、回転対称な形状であり、第１アクチュエータの対称中心が、１つの回転位置において第２仮想回転軸に略一致するので、操作部材が第２仮想回転軸の周りで回転するときに、第１アクチュエータと第１カムとの相対位置を一定に保つことができる。  According to this configuration, the first actuator has a rotationally symmetric shape, and the center of symmetry of the first actuator substantially coincides with the second virtual rotation axis at one rotation position. Therefore, the operating member has the second virtual rotation axis. The relative position of the first actuator and the first cam can be kept constant when rotating around the.

好適には本発明の操作装置において、第１凹凸面は、局所的に窪んだ第１谷部をもち、操作部材が第１仮想回転軸の周りの第１安定位置に位置しているときに第１アクチュエータが第１谷部にはまる。  Preferably, in the operating device of the present invention, the first uneven surface has a locally depressed first valley portion, and when the operating member is located at the first stable position around the first virtual rotation axis. The first actuator fits in the first valley.

この構成によれば、操作部材が第１仮想回転軸の周りの第１安定位置に位置しているときに第１アクチュエータが第１谷部にはまるので、操作部材が第２仮想回転軸の周りで回転するとき、操作部材の第１仮想回転軸の周りにおける意図しない回転を防ぐことができる。  According to this configuration, the first actuator fits in the first valley when the operating member is located at the first stable position around the first virtual rotation axis, so that the operating member rotates around the second virtual rotation axis. It is possible to prevent unintentional rotation of the operating member around the first virtual rotation axis when rotating with.

好適には本発明の操作装置において、操作部材を第１仮想回転軸の周りに回転可能に支持する中間支持体と、中間支持体を第２仮想回転軸の周りに回転可能に支持する支持体と、をさらに備え、第１ガイド部材が、操作部材に固定されており、第２ガイド部材が、中間支持体と一体的な部材として構成されている。  Suitably, in the operating device of the present invention, an intermediate support body that rotatably supports the operation member around the first virtual rotation axis, and a support body that rotatably supports the intermediate support body around the second virtual rotation axis. And, the first guide member is fixed to the operation member, and the second guide member is configured as a member integral with the intermediate support.

この構成によれば、第２ガイド部材が中間支持体と一体的な部材として構成されているので、別体である場合に比べて部品点数を減らすことができる。  According to this structure, since the second guide member is configured as a member integrated with the intermediate support body, the number of parts can be reduced as compared with the case where it is a separate body.

好適には本発明の操作装置において、第１カムが、支持体に固定されている。  Preferably, in the operating device of the present invention, the first cam is fixed to the support.

この構成によれば、第１カムが支持体に固定されているので、操作部材が第１仮想回転軸の周りで回転するときに第１アクチュエータが通る第１凹凸面上の領域は、第２仮想回転軸の周りでの操作部材の回転位置に応じて異なる。従って、第１カムを中間支持体に固定する場合に比べて、多様な操作感を操作者に与えることができる。  According to this structure, since the first cam is fixed to the support, the area on the first uneven surface through which the first actuator passes when the operating member rotates around the first virtual rotation axis is the second area. It depends on the rotational position of the operating member around the virtual axis of rotation. Therefore, compared to the case where the first cam is fixed to the intermediate support, it is possible to give the operator a variety of operational feelings.

好適には本発明の操作装置において、操作部材が第２仮想回転軸の周りで回転するときに、第２経路が第１仮想回転軸に略平行であり、かつ、第２アクチュエータが第１仮想回転軸上に配置される。  Preferably, in the operating device of the present invention, when the operating member rotates about the second virtual rotation axis, the second path is substantially parallel to the first virtual rotation axis, and the second actuator is the first virtual rotation axis. It is arranged on the axis of rotation.

この構成によれば、操作部材が第２仮想回転軸の周りで回転するときに、第２経路が第１仮想回転軸に略平行であり、かつ、第２アクチュエータが第１仮想回転軸上に配置されるので、操作部材が第１仮想回転軸の周りで回転するときに、第２アクチュエータがその場で回転するだけで、第２アクチュエータと第２カムとの相対位置が大きく変わらない。そのため、操作部材が第１仮想回転軸の周りで回転するときに、第１アクチュエータにより発生する抵抗力に、第２アクチュエータにより発生する抵抗力が大きく加わらない。従って、操作部材が第１仮想回転軸の周りで回転するときの抵抗力を制御しやすい。  According to this configuration, when the operating member rotates about the second virtual rotation axis, the second path is substantially parallel to the first virtual rotation axis, and the second actuator is on the first virtual rotation axis. Since they are arranged, when the operating member rotates around the first virtual rotation axis, only the second actuator rotates in place, and the relative position of the second actuator and the second cam does not change significantly. Therefore, when the operating member rotates around the first virtual rotation axis, the resistance force generated by the second actuator is not significantly added to the resistance force generated by the first actuator. Therefore, it is easy to control the resistance force when the operating member rotates around the first virtual rotation axis.

好適には本発明の操作装置において、第２アクチュエータが、回転対称な形状であり、第２アクチュエータの対称中心が、第１仮想回転軸に略一致する。  Preferably, in the operating device of the present invention, the second actuator has a rotationally symmetrical shape, and the center of symmetry of the second actuator is substantially coincident with the first virtual rotation axis.

この構成によれば、第２アクチュエータが、回転対称な形状であり、第２アクチュエータの対称中心が、第１仮想回転軸に略一致するので、操作部材が第１仮想回転軸の周りで回転するときに、第２アクチュエータと第２カムとの相対位置を一定に保つことができる。  According to this configuration, the second actuator has a rotationally symmetric shape, and the center of symmetry of the second actuator substantially coincides with the first virtual rotation axis, so that the operating member rotates about the first virtual rotation axis. At this time, the relative position between the second actuator and the second cam can be kept constant.

本発明によれば、抵抗力の変化を大きく維持しながら高い強度で薄型化できる操作装置を提供することができる。  According to the present invention, it is possible to provide an operating device that can be thinned with high strength while maintaining a large change in resistance force.

本発明の実施形態に係る操作装置の斜視図である。It is a perspective view of the operating device concerning the embodiment of the present invention. 第２支持体と第３支持体とを省略した図１に示す操作装置の斜視図である。It is a perspective view of the operating device shown in FIG. 1 which abbreviate|omitted the 2nd support body and the 3rd support body. 第２支持体と第３支持体とを省略した図１に示す操作装置の分解斜視図である。It is a disassembled perspective view of the operating device shown in FIG. 1 which abbreviate|omitted the 2nd support body and the 3rd support body. 図３に示す操作部材と中間支持体と第１アクチュエータと第２アクチュエータとの分解斜視図である。FIG. 4 is an exploded perspective view of an operation member, an intermediate support body, a first actuator, and a second actuator shown in FIG. 3. 支持体を省略した図１に示す操作装置の平面図である。It is a top view of the operating device shown in FIG. 1 which omitted the support body. 図５の６−６線を通る断面における操作装置の断面図である。FIG. 6 is a cross-sectional view of the operating device taken along a line 6-6 in FIG. 5. 図５の７−７線を通る断面における操作装置の断面図である。FIG. 7 is a cross-sectional view of the operating device taken along a line 7-7 in FIG. 5. 図６の８−８線を通る断面における操作装置の断面図である。FIG. 8 is a cross-sectional view of the operating device taken along a line 8-8 in FIG. 6. 操作部材が第１回転位置にあるときの、図２に示す操作装置の斜視図である。FIG. 3 is a perspective view of the operating device shown in FIG. 2 when the operating member is in the first rotation position. 操作部材が第１回転位置にあるときの、図６と同じ断面における操作装置の断面図である。FIG. 7 is a sectional view of the operating device in the same section as FIG. 6 when the operating member is in the first rotation position. 操作部材が第２回転位置にあるときの、図２に示す操作装置の斜視図である。It is a perspective view of the operating device shown in FIG. 2 when an operating member is in a 2nd rotation position. 操作部材が第２回転位置にあるときの、図７と同じ断面における操作装置の断面図である。FIG. 8 is a sectional view of the operating device in the same section as FIG. 7 when the operating member is in the second rotation position.

（全体構成）
以下、本発明の実施形態に係る操作装置について説明する。図１は、本実施形態の操作装置１００の斜視図である。操作装置１００は、外形が略直方体で中空の支持体１１０と、支持体１１０に可動に支持された操作部材１２０とを含む。支持体１１０は、図示しない車両に固定されている。操作部材１２０は、支持体１１０内で２つの回転方向に傾倒可能に支持されている。操作装置１００は、図示しない位置検出部により検出した操作部材１２０の回転方向と回転量とに応じて、車両のトランスミッションを切り替える。(overall structure)
Hereinafter, the operating device according to the embodiment of the present invention will be described. FIG. 1 is a perspective view of an operating device 100 of this embodiment. The operation device 100 includes a support body 110 having a substantially rectangular parallelepiped outer shape and a hollow body, and an operation member 120 movably supported by the support body 110. The support 110 is fixed to a vehicle (not shown). The operation member 120 is supported in the support 110 so as to be tiltable in two rotation directions. The operation device 100 switches the transmission of the vehicle according to the rotation direction and the rotation amount of the operation member 120 detected by the position detection unit (not shown).

本明細書において、互いに直交するｘ方向、ｙ方向、及びｚ方向を規定する。ｘ方向は、互いに逆を向くｘ１方向とｘ２方向とを区別せずに表す。ｙ方向は互いに逆を向くｙ１方向とｙ２方向とを区別せずに表す。ｚ方向は互いに逆を向くｚ１方向とｚ２方向とを区別せずに表す。これらの方向は、相対的な位置関係を説明するために便宜上規定するのであって、実際の使用時の方向を限定するわけではない。構成要素の形状は、「略」という記載があるかないかにかかわらず、本明細書で開示された実施形態の技術思想が実現される限り、記載された表現に基づく厳密な幾何学的な形状に限定されない。  In this specification, the x direction, the y direction, and the z direction which are orthogonal to each other are defined. The x direction is expressed without distinguishing the x1 direction and the x2 direction, which are opposite to each other. The y direction is expressed without distinguishing the y1 direction and the y2 direction which are opposite to each other. The z direction is expressed without distinguishing the z1 direction and the z2 direction which are opposite to each other. These directions are defined for convenience of explanation of the relative positional relationship, and do not limit the directions in actual use. Regardless of whether or not there is a description of “substantially”, the shape of the component is a strict geometric shape based on the described expression as long as the technical idea of the embodiment disclosed in the present specification is realized. Not limited.

図１に示すように、支持体１１０は、全体として中空の略直方体形状であり、第１支持体１１１と第２支持体１１２と第３支持体１１３とを含む。図２は、図１に示す第２支持体１１２と第３支持体１１３とを省略した操作装置１００の斜視図である。図２に示すように、第１支持体１１１のｚ１側は、解放されており、図１に示すようにｘｙ平面に略平行な平板状の第２支持体１１２により覆われている。第２支持体１１２には、ｚ方向に貫通した貫通孔１１２−１が設けられている。図２に示すように、第１支持体１１１のｙ２側は、解放されており、図１に示すようにｚｘ平面に略平行な平板状の第３支持体１１３により覆われている。  As shown in FIG. 1, the support 110 has a substantially hollow rectangular parallelepiped shape as a whole, and includes a first support 111, a second support 112, and a third support 113. FIG. 2 is a perspective view of the operating device 100 in which the second support 112 and the third support 113 shown in FIG. 1 are omitted. As shown in FIG. 2, the z1 side of the first support body 111 is open and is covered with a flat plate-shaped second support body 112 substantially parallel to the xy plane as shown in FIG. The second support 112 is provided with a through hole 112-1 penetrating in the z direction. As shown in FIG. 2, the y2 side of the first support 111 is released, and is covered with a flat plate-shaped third support 113 that is substantially parallel to the zx plane as shown in FIG.

図３は、図１に示す第２支持体１１２と第３支持体１１３とを省略した操作装置１００の、ｚ１側から見た分解斜視図である。図３に示すように、操作装置１００は、支持体１１０の内部に、さらに、第１カム１３０と第２カム１３５と中間支持体１４０と第１ガイド部材１５０と第２ガイド部材１５５と第１アクチュエータ１６０と第１弾性部材１６９と第２アクチュエータ１７０と第２弾性部材１７９とを含む。  FIG. 3 is an exploded perspective view of the operating device 100 from which the second support 112 and the third support 113 shown in FIG. 1 are omitted, as viewed from the z1 side. As shown in FIG. 3, the operating device 100 further includes a first cam 130, a second cam 135, an intermediate support 140, a first guide member 150, a second guide member 155, and a first guide member 155 inside the support 110. The actuator 160, the first elastic member 169, the second actuator 170, and the second elastic member 179 are included.

図３に示すように、第１支持体１１１は、第１軸受１１４と第２軸受１１５と第１カム固定部１１６と第２カム固定部１１７とを含む。第１軸受１１４は、第１支持体１１１内のｘ１側端部に設けられており、ｘ２方向とｚ１方向とに解放された窪みである。第２軸受１１５は、第１支持体１１１内のｘ２側端部に設けられており、ｘ１方向とｚ１方向とに解放された窪みである。第１カム固定部１１６は、第１支持体１１１内のｘ１側端部に設けられており、ｘ２方向とｚ１方向とに解放された略直方体の部位である。第２カム固定部１１７は、第１支持体１１１内のｙ１側端部付近に設けられており、ｙ２方向とｚ１方向とに解放された略直方体の部位である。第１カム固定部１１６は、第１軸受１１４と第２軸受１１５との間に位置している。  As shown in FIG. 3, the first support 111 includes a first bearing 114, a second bearing 115, a first cam fixing portion 116, and a second cam fixing portion 117. The first bearing 114 is a recess provided in the x1 side end of the first support 111 and opened in the x2 direction and the z1 direction. The second bearing 115 is a recess that is provided in the x2 side end of the first support 111 and that is open in the x1 direction and the z1 direction. The first cam fixing portion 116 is provided at the end of the first support body 111 on the x1 side, and is a substantially rectangular parallelepiped portion opened in the x2 direction and the z1 direction. The second cam fixing portion 117 is provided in the vicinity of the y1 side end portion in the first support 111, and is a substantially rectangular parallelepiped portion opened in the y2 direction and the z1 direction. The first cam fixing portion 116 is located between the first bearing 114 and the second bearing 115.

図４は、操作部材１２０と中間支持体１４０と第１アクチュエータ１６０と第２アクチュエータ１７０との、ｚ２側から見た分解斜視図である。図５は、支持体１１０を省略した操作装置１００の平面図である。図６は、図５の６−６線を通りｚｘ平面に平行な断面における操作装置１００の断面図である。図７は、図５の７−７線を通りｙｚ平面に平行な断面における操作装置１００の断面図である。図８は、図６の８−８線を通りｘｙ平面に平行な断面における操作装置１００の断面図である。  FIG. 4 is an exploded perspective view of the operation member 120, the intermediate support 140, the first actuator 160, and the second actuator 170 as seen from the z2 side. FIG. 5 is a plan view of the operating device 100 in which the support 110 is omitted. FIG. 6 is a cross-sectional view of the operating device 100 in a cross section passing through the line 6-6 in FIG. 5 and parallel to the zx plane. FIG. 7 is a cross-sectional view of the operating device 100 in a cross section parallel to the yz plane that passes through line 7-7 in FIG. FIG. 8 is a cross-sectional view of the operating device 100 in a cross section that passes through line 8-8 in FIG. 6 and is parallel to the xy plane.

（第１カム）
図３に示すように、第１カム１３０は、略直方体の外形をもち、ｘ２側の面からｘ１方向に窪んだ第１窪み１３１をもち、第１窪み１３１の中にｘ２方向を向いた第１凹凸面１３２をもつ。図６に示すように、第１凹凸面１３２は、ｘ方向に平行な後述の第２仮想回転軸１０２に重なる位置において、ｘ１方向に最も窪んだ第１谷部１３３をもつ。第１カム１３０のｚ２側端部付近が、図３に示す第１カム固定部１１６に固定されている。図２に示すように、第１カム１３０は、第１支持体１１１内のｘ１側端部付近に位置している。(First cam)
As shown in FIG. 3, the first cam 130 has a substantially rectangular parallelepiped outer shape, has a first recess 131 recessed in the x1 direction from the surface on the x2 side, and has a first recess 131 facing the x2 direction. It has one uneven surface 132. As shown in FIG. 6, the first concavo-convex surface 132 has a first valley 133 that is most recessed in the x1 direction at a position that is parallel to the x direction and that overlaps with a second virtual rotation shaft 102 described later. The vicinity of the z2 side end portion of the first cam 130 is fixed to the first cam fixing portion 116 shown in FIG. As shown in FIG. 2, the first cam 130 is located in the vicinity of the x1 side end of the first support body 111.

（第２カム）
図３に示すように、第２カム１３５は、略直方体の外形をもち、ｙ２側の面からｙ１方向に窪んだ第２窪み１３６をもち、第２窪み１３６の中にｙ２方向を向いた第２凹凸面１３７をもつ。図７に示すように、第２凹凸面１３７は、ｙ方向に平行な後述の第１仮想回転軸１０１に重なる位置において、ｙ１方向に最も窪んだ第２谷部１３８をもつ。第２カム１３５は、図３に示す第２カム固定部１１７に固定されており、図２に示すように、第１支持体１１１内のｙ１側端部付近に位置している。(2nd cam)
As shown in FIG. 3, the second cam 135 has a substantially rectangular parallelepiped outer shape, has a second recess 136 that is recessed in the y1 direction from the surface on the y2 side, and has a second recess 136 that faces the y2 direction. It has two uneven surfaces 137. As shown in FIG. 7, the second concave-convex surface 137 has a second valley 138 that is most recessed in the y1 direction at a position that is parallel to the y direction and that overlaps with a first virtual rotation axis 101 described later. The second cam 135 is fixed to the second cam fixing portion 117 shown in FIG. 3, and is located in the vicinity of the y1 side end portion in the first support body 111, as shown in FIG.

（中間支持体）
図５に示すように、中間支持体１４０は、ｚ方向から見たとき中空の略長方形に見える枠体１４１を含む。図３に示すように、枠体１４１は、共にｙｚ平面に略平行で対向した第１板部１４１−１と第２板部１４１−２とを含み、さらに、共にｚｘ平面に略平行で対向した第３板部１４１−３と第４板部１４１−４とを含む。第３板部１４１−３は、第１板部１４１−１のｙ１側端部と第２板部１４１−２のｙ１側端部とを、ｘ方向に連結している。第４板部１４１−４は、第１板部１４１−１のｙ２側端部と第２板部１４１−２のｙ２側端部とを、ｘ方向に連結している。第４板部１４１−４は、第３板部１４１−３よりｙ２側に位置している。(Intermediate support)
As shown in FIG. 5, the intermediate support 140 includes a frame body 141 that looks like a hollow rectangular shape when viewed from the z direction. As shown in FIG. 3, the frame body 141 includes a first plate portion 141-1 and a second plate portion 141-2, both of which face each other in substantially parallel to the yz plane, and both of which face each other in substantially parallel to the zx plane. The third plate portion 141-3 and the fourth plate portion 141-4 are included. The third plate portion 141-3 connects the y1 side end portion of the first plate portion 141-1 and the y1 side end portion of the second plate portion 141-2 in the x direction. The fourth plate portion 141-4 connects the y2 side end portion of the first plate portion 141-1 and the y2 side end portion of the second plate portion 141-2 in the x direction. The fourth plate portion 141-4 is located on the y2 side of the third plate portion 141-3.

図５に示すように中間支持体１４０は、第１板部１４１−１のｘ１側の面からｘ１方向に突出した略円柱形の第１シャフト１４２（図４）と、第２板部１４１−２のｘ２側の面からｘ２方向に突出した略円柱形の第２シャフト１４３（図３）とをさらに含む。  As shown in FIG. 5, the intermediate support 140 includes a substantially cylindrical first shaft 142 (FIG. 4) protruding in the x1 direction from the x1 side surface of the first plate portion 141-1 and the second plate portion 141-. 2 further includes a substantially cylindrical second shaft 143 (FIG. 3) protruding in the x2 direction from the surface on the x2 side of 2.

図３に示すように、第３板部１４１−３のｙ２側の面には、ｙ１方向に窪んだ略円筒形状の第１中間軸受１４４が設けられている。第４板部１４１−４には、ｙ方向に貫通した略円筒形状の第２中間軸受１４５が設けられている。中間支持体１４０は、さらに、略円柱状の第３シャフト１４６を含む。図８に示すように、第１中間軸受１４４と第２中間軸受１４５と第３シャフト１４６との各中心は、ｙ方向に平行な第１仮想回転軸１０１に一致している。第３シャフト１４６のｙ１側端部は、第１中間軸受１４４内に固定されている。第３シャフト１４６のｙ２側端部は、第２中間軸受１４５内に固定されている。  As shown in FIG. 3, a substantially cylindrical first intermediate bearing 144 recessed in the y1 direction is provided on the y2 side surface of the third plate portion 141-3. The fourth plate portion 141-4 is provided with a substantially cylindrical second intermediate bearing 145 penetrating in the y direction. The intermediate support 140 further includes a substantially cylindrical third shaft 146. As shown in FIG. 8, the centers of the first intermediate bearing 144, the second intermediate bearing 145, and the third shaft 146 coincide with the first virtual rotation shaft 101 parallel to the y direction. The y1-side end of the third shaft 146 is fixed in the first intermediate bearing 144. The y2-side end of the third shaft 146 is fixed in the second intermediate bearing 145.

図２に示すように、第１シャフト１４２は、第１支持体１１１の第１軸受１１４により回転可能に支持されている。第２シャフト１４３は、第１支持体１１１の第２軸受１１５により回転可能に支持されている。図８に示すように、第１シャフト１４２と第２シャフト１４３との各中心は、ｘ方向に平行な第２仮想回転軸１０２に一致している。すなわち、中間支持体１４０の全体が、支持体１１０（図２）により第２仮想回転軸１０２の周りに回転可能に支持されている。  As shown in FIG. 2, the first shaft 142 is rotatably supported by the first bearing 114 of the first support body 111. The second shaft 143 is rotatably supported by the second bearing 115 of the first support body 111. As shown in FIG. 8, the centers of the first shaft 142 and the second shaft 143 coincide with the second virtual rotation shaft 102 parallel to the x direction. That is, the entire intermediate support 140 is rotatably supported by the support 110 (FIG. 2) around the second virtual rotation shaft 102.

（操作部材）
図３に示すように、操作部材１２０は、基部１２１と、基部１２１からｚ１方向に延びた操作軸１２２とを含む。(Operation member)
As shown in FIG. 3, the operating member 120 includes a base 121 and an operating shaft 122 extending from the base 121 in the z1 direction.

図５に示すように、基部１２１は、ｙ方向において第３板部１４１−３と第４板部１４１−４とにより挟まれているので、ｙ方向に移動しない。図３に示すように、基部１２１には、ｙ方向に貫通した略円筒形状の貫通軸孔１２３が設けられている。図８に示すように、貫通軸孔１２３内に第３シャフト１４６の一部が位置している。貫通軸孔１２３の直径は、第３シャフト１４６の直径と同程度である。貫通軸孔１２３の中心は、第１仮想回転軸１０１に一致する。中間支持体１４０は、第３シャフト１４６を介して操作部材１２０を第１仮想回転軸１０１の周りに回転可能に支持している。  As shown in FIG. 5, since the base 121 is sandwiched by the third plate part 141-3 and the fourth plate part 141-4 in the y direction, it does not move in the y direction. As shown in FIG. 3, the base 121 is provided with a substantially cylindrical penetrating shaft hole 123 penetrating in the y direction. As shown in FIG. 8, a part of the third shaft 146 is located in the through shaft hole 123. The diameter of the through shaft hole 123 is approximately the same as the diameter of the third shaft 146. The center of the through shaft hole 123 coincides with the first virtual rotation shaft 101. The intermediate support 140 supports the operation member 120 via the third shaft 146 so as to be rotatable around the first virtual rotation shaft 101.

図３に示す操作軸１２２の延びる方向は、軸方向と呼ばれ、図８に示す第１仮想回転軸１０１と第２仮想回転軸１０２とに略直交する。図３に示す状態において、軸方向はｚ方向に略一致する。ただし、軸方向は、第１仮想回転軸１０１の周りで回転する。操作軸１２２は、略円筒形状であり、ｚ２側の一端が基部１２１に固定されている。図１に示すように、操作軸１２２の一部は、支持体１１０の貫通孔１１２−１を通って外部まで延びている。操作部材１２０は、操作軸１２２のｚ１側の端部からｚ１方向に突出した取り付け突起１２４をさらに含む。取り付け突起１２４は、支持体１１０の外部に位置している。取り付け突起１２４には、操作者が握る図示しないノブが取り付けられる。  The extending direction of the operation shaft 122 shown in FIG. 3 is called an axial direction, and is substantially orthogonal to the first virtual rotation shaft 101 and the second virtual rotation shaft 102 shown in FIG. In the state shown in FIG. 3, the axial direction substantially coincides with the z direction. However, the axial direction rotates around the first virtual rotation axis 101. The operation shaft 122 has a substantially cylindrical shape, and one end on the z2 side is fixed to the base 121. As shown in FIG. 1, a part of the operation shaft 122 extends to the outside through the through hole 112-1 of the support body 110. The operation member 120 further includes a mounting protrusion 124 that protrudes in the z1 direction from the end of the operation shaft 122 on the z1 side. The mounting protrusions 124 are located outside the support 110. A knob (not shown) that is gripped by the operator is attached to the attachment protrusion 124.

図８に示すように、操作部材１２０は、操作者の操作を受けて第１仮想回転軸１０１の周りで回転可能であることに加えて、中間支持体１４０と共に第２仮想回転軸１０２の周りでも回転可能である。第１仮想回転軸１０１と第２仮想回転軸１０２とは、同一平面内で略直交している。第１仮想回転軸１０１は、操作軸１２２の軸方向と直交した状態で、操作部材１２０と共に第２仮想回転軸１０２の周りで回転する。  As shown in FIG. 8, the operation member 120 is rotatable around the first virtual rotation shaft 101 in response to the operation of the operator, and is also rotatable around the second virtual rotation shaft 102 together with the intermediate support 140. But it can be rotated. The first virtual rotation shaft 101 and the second virtual rotation shaft 102 are substantially orthogonal to each other in the same plane. The first virtual rotation shaft 101 rotates around the second virtual rotation shaft 102 together with the operation member 120 in a state orthogonal to the axial direction of the operation shaft 122.

（第１ガイド部材）
図４に示すように、第１ガイド部材１５０は、操作部材１２０と一体的に形成されており、操作部材１２０に固定されている。第１ガイド部材１５０は、操作部材１２０の基部１２１のｘ１側からｘ１方向に突出している。(First guide member)
As shown in FIG. 4, the first guide member 150 is formed integrally with the operating member 120 and is fixed to the operating member 120. The first guide member 150 projects in the x1 direction from the x1 side of the base 121 of the operation member 120.

図８に示すように、第１ガイド部材１５０には、ｘ１側端部からｘ２方向に窪んだ略円筒形状の第１外穴１５１と、第１外穴１５１のｘ２側端部からさらにｘ２方向に窪んだ略円筒形状の第１内穴１５２とが設けられている。第１外穴１５１と第１内穴１５２との各中心は、図８に示す回転位置において第２仮想回転軸１０２に一致する。第１内穴１５２の直径は、第１外穴１５１の直径より小さい。第１ガイド部材１５０は、操作部材１２０が第１仮想回転軸１０１の周りで回転するときに操作部材１２０と共に回転する。  As shown in FIG. 8, the first guide member 150 has a substantially cylindrical first outer hole 151 recessed from the x1 side end portion in the x2 direction, and a further x2 direction from the x2 side end portion of the first outer hole 151. And a first inner hole 152 having a substantially cylindrical shape that is recessed in. The centers of the first outer hole 151 and the first inner hole 152 coincide with the second virtual rotation shaft 102 at the rotation position shown in FIG. The diameter of the first inner hole 152 is smaller than the diameter of the first outer hole 151. The first guide member 150 rotates together with the operation member 120 when the operation member 120 rotates around the first virtual rotation axis 101.

（第２ガイド部材）
図４に示すように、第２ガイド部材１５５は、中間支持体１４０と一体的な部材として形成されており、中間支持体１４０に固定されている。第２ガイド部材１５５は、中間支持体１４０の第３板部１４１−３のｙ１側の面からｙ１方向に突出している。(Second guide member)
As shown in FIG. 4, the second guide member 155 is formed as an integral member with the intermediate support 140, and is fixed to the intermediate support 140. The second guide member 155 projects in the y1 direction from the y1 side surface of the third plate portion 141-3 of the intermediate support 140.

図８に示すように、第２ガイド部材１５５には、ｙ１側端部からｙ２方向に窪んだ略円筒形状の第２外穴１５６と、第２外穴１５６のｙ２側端部からさらにｙ２方向に窪んだ略円筒形状の第２内穴１５７とが設けられている。第２外穴１５６と第２内穴１５７との各中心は、第１仮想回転軸１０１に一致する。第２内穴１５７の直径は、第２外穴１５６の直径より小さい。第２ガイド部材１５５は、操作部材１２０と中間支持体１４０とが第２仮想回転軸１０２の周りで回転するときに操作部材１２０と共に回転する。  As shown in FIG. 8, the second guide member 155 has a substantially cylindrical second outer hole 156 recessed from the y1 side end portion in the y2 direction, and a y2 direction from the y2 side end portion of the second outer hole 156. And a second inner hole 157 having a substantially cylindrical shape that is recessed in. The centers of the second outer hole 156 and the second inner hole 157 coincide with the first virtual rotation shaft 101. The diameter of the second inner hole 157 is smaller than the diameter of the second outer hole 156. The second guide member 155 rotates together with the operation member 120 when the operation member 120 and the intermediate support 140 rotate around the second virtual rotation shaft 102.

（第１アクチュエータ）
図３に示すように、第１アクチュエータ１６０は、第１大径部１６１と第１小径部１６２と第１ヘッド１６３とを含む。図８に示す回転位置において、第１大径部１６１と第１小径部１６２とは、いずれも、第２仮想回転軸１０２上に中心軸をもつ略円筒形状である。第１大径部１６１のｘ２側の面に、第１小径部１６２のｘ１側端部が固定されている。第１ヘッド１６３は、第１大径部１６１のｘ１側の面からｘ１方向に突出している。図８に示す回転位置において、第１ヘッド１６３は、第２仮想回転軸１０２上に中心軸をもつ略円錐形状である。第１ヘッド１６３のｘ１側に先端が位置しており、先端は丸みを帯びている。(First actuator)
As shown in FIG. 3, the first actuator 160 includes a first large diameter portion 161, a first small diameter portion 162, and a first head 163. In the rotation position shown in FIG. 8, both the first large diameter portion 161 and the first small diameter portion 162 are substantially cylindrical shapes having a central axis on the second virtual rotation shaft 102. The x1 side end of the first small diameter portion 162 is fixed to the x2 side surface of the first large diameter portion 161. The first head 163 projects in the x1 direction from the surface of the first large diameter portion 161 on the x1 side. In the rotation position shown in FIG. 8, the first head 163 has a substantially conical shape having a central axis on the second virtual rotation shaft 102. The tip is located on the x1 side of the first head 163, and the tip is rounded.

図８に示すように、第１大径部１６１は、第１外穴１５１内に位置している。第１小径部１６２は、第１内穴１５２内に位置している。図８に示す回転位置において、第１大径部１６１が第１外穴１５１内で摺動可能であり、第１小径部１６２が第１内穴１５２内で摺動可能である。第１アクチュエータ１６０は、第１ガイド部材１５０に規定された経路（以下、第１経路と呼ぶ場合がある）に沿って移動可能である。図８に示す１つの回転位置において、第１経路は、第２仮想回転軸１０２に略平行であり、本実施形態では第２仮想回転軸１０２に一致する。  As shown in FIG. 8, the first large diameter portion 161 is located inside the first outer hole 151. The first small diameter portion 162 is located inside the first inner hole 152. In the rotational position shown in FIG. 8, the first large diameter portion 161 is slidable in the first outer hole 151 and the first small diameter portion 162 is slidable in the first inner hole 152. The first actuator 160 is movable along a path defined by the first guide member 150 (hereinafter, also referred to as a first path). At one rotation position shown in FIG. 8, the first path is substantially parallel to the second virtual rotation shaft 102, and in the present embodiment, coincides with the second virtual rotation shaft 102.

図８に示すように、操作部材１２０が第１仮想回転軸１０１の周りで回転するときの１つの回転位置において、第１アクチュエータ１６０が全体として第２仮想回転軸１０２上に配置され、かつ、同じ１つの回転位置において第２仮想回転軸１０２を中心として回転対称な形状である。  As shown in FIG. 8, at one rotation position when the operation member 120 rotates around the first virtual rotation shaft 101, the first actuator 160 is arranged as a whole on the second virtual rotation shaft 102, and The shape is rotationally symmetrical about the second virtual rotation axis 102 at the same one rotation position.

（第１弾性部材）
図８に示すように、第１弾性部材１６９は、第１アクチュエータ１６０の第１小径部１６２の周りに巻かれた金属製の巻きばねである。第１弾性部材１６９は、ｘ方向において、第１大径部１６１内でｘ２側に位置する第１ガイド部材１５０の一部と、ｘ１側に位置する第１大径部１６１との間に挟まれている。第１弾性部材１６９は、第１アクチュエータ１６０を弾性的に第１凹凸面１３２に付勢する。他の例において、第１弾性部材１６９は、ゴムや板バネなど他の弾性部材であってもよい。(First elastic member)
As shown in FIG. 8, the first elastic member 169 is a metal spiral spring wound around the first small diameter portion 162 of the first actuator 160. The first elastic member 169 is sandwiched between a part of the first guide member 150 located on the x2 side in the first large diameter portion 161 and the first large diameter portion 161 located on the x1 side in the x direction. Has been. The first elastic member 169 elastically biases the first actuator 160 toward the first uneven surface 132. In another example, the first elastic member 169 may be another elastic member such as rubber or a leaf spring.

第１ガイド部材１５０のｘ１側の端部付近は、部分的に第１カム１３０の第１窪み１３１内に位置している。第１アクチュエータ１６０の第１ヘッド１６３のｘ１側端部は、第１カム１３０の第１凹凸面１３２に接触している。  The vicinity of the end of the first guide member 150 on the x1 side is partially located in the first recess 131 of the first cam 130. The x1 side end of the first head 163 of the first actuator 160 is in contact with the first uneven surface 132 of the first cam 130.

（第２アクチュエータ）
図３に示すように、第２アクチュエータ１７０は、第２大径部１７１と第２小径部１７２と第２ヘッド１７３とを含む。図８に示すように、第２大径部１７１と第２小径部１７２とは、いずれも、第１仮想回転軸１０１上に中心軸をもつ略円筒形状である。第２大径部１７１のｙ２側の面に、第２小径部１７２のｙ１側端部が固定されている。第２ヘッド１７３は、第２大径部１７１のｙ１側の面からｙ１方向に突出している。第２ヘッド１７３は、第１仮想回転軸１０１上に中心軸をもつ略円錐形状である。第２ヘッド１７３のｙ１側に先端が位置しており、先端は丸みを帯びている。(Second actuator)
As shown in FIG. 3, the second actuator 170 includes a second large diameter portion 171, a second small diameter portion 172, and a second head 173. As shown in FIG. 8, each of the second large diameter portion 171 and the second small diameter portion 172 has a substantially cylindrical shape having a center axis on the first virtual rotation shaft 101. The y1 side end of the second small diameter portion 172 is fixed to the y2 side surface of the second large diameter portion 171. The second head 173 projects in the y1 direction from the y1-side surface of the second large diameter portion 171. The second head 173 has a substantially conical shape having a central axis on the first virtual rotation shaft 101. The tip is located on the y1 side of the second head 173, and the tip is rounded.

図８に示すように、第２大径部１７１は、第２外穴１５６内に位置している。第２小径部１７２は、第２内穴１５７内に位置している。第２大径部１７１が第２外穴１５６内で第１仮想回転軸１０１に沿って摺動可能であり、第２小径部１７２が第２内穴１５７内で第１仮想回転軸１０１に沿って摺動可能である。第２アクチュエータ１７０は、第２ガイド部材１５５規定された経路（以下、第２経路と呼ぶ場合がある）に沿って移動可能である。第２経路は、第１仮想回転軸１０１に略平行であり、本実施形態では第１仮想回転軸１０１に一致する。  As shown in FIG. 8, the second large diameter portion 171 is located inside the second outer hole 156. The second small diameter portion 172 is located inside the second inner hole 157. The second large diameter portion 171 is slidable in the second outer hole 156 along the first virtual rotation shaft 101, and the second small diameter portion 172 is in the second inner hole 157 along the first virtual rotation shaft 101. Can be slid. The second actuator 170 is movable along a path defined by the second guide member 155 (hereinafter sometimes referred to as a second path). The second path is substantially parallel to the first virtual rotation axis 101 and coincides with the first virtual rotation axis 101 in this embodiment.

図８に示すように、第２アクチュエータ１７０は全体として、第１仮想回転軸１０１上に配置されており、第１仮想回転軸１０１を中心として回転対称な形状である。第１経路と第２経路との両方が、軸方向に略直交する方向に延びている。  As shown in FIG. 8, the second actuator 170 as a whole is disposed on the first virtual rotation shaft 101 and has a rotationally symmetric shape about the first virtual rotation shaft 101. Both the first path and the second path extend in a direction substantially orthogonal to the axial direction.

（第２弾性部材）
図８に示すように、第２弾性部材１７９は、第２アクチュエータ１７０の第２小径部１７２の周りに巻かれた金属製の巻きばねである。第２弾性部材１７９は、ｙ方向において、第２大径部１７１内でｙ２側に位置する第２ガイド部材１５５の一部と、ｙ１側に位置する第２大径部１７１との間に挟まれている。第２弾性部材１７９は、第２アクチュエータ１７０を弾性的に第２凹凸面１３７に付勢する。他の例において、第２弾性部材１７９は、ゴムや板バネなど他の弾性部材であってもよい。(Second elastic member)
As shown in FIG. 8, the second elastic member 179 is a metal wound spring wound around the second small diameter portion 172 of the second actuator 170. The second elastic member 179 is sandwiched between a part of the second guide member 155 located on the y2 side in the second large diameter portion 171 and the second large diameter portion 171 located on the y1 side in the y direction. Has been. The second elastic member 179 elastically biases the second actuator 170 toward the second uneven surface 137. In another example, the second elastic member 179 may be another elastic member such as rubber or a leaf spring.

第２ガイド部材１５５のｙ１側の端部付近は、部分的に第２カム１３５の第２窪み１３６内に位置している。第２アクチュエータ１７０の第２ヘッド１７３のｙ１側端部は、第２カム１３５の第２凹凸面１３７に接触している。  The vicinity of the y1-side end of the second guide member 155 is partially located in the second recess 136 of the second cam 135. An end portion of the second head 173 of the second actuator 170 on the y1 side is in contact with the second uneven surface 137 of the second cam 135.

（動作）
図１から図８は、操作部材１２０をどの方向にも回転させていない初期位置における操作装置１００の図である。初期位置において、操作装置１００は、図８に示す第１仮想回転軸１０１の周りの回転という観点から、初期状態の第１安定位置にある。初期位置において、操作装置１００は、図８に示す第２仮想回転軸１０２の周りの回転という観点から、初期状態の第２安定位置にある。(motion)
1 to 8 are diagrams of the operating device 100 in an initial position in which the operating member 120 is not rotated in any direction. In the initial position, the operating device 100 is in the initial stable first position from the viewpoint of rotation around the first virtual rotation axis 101 shown in FIG. 8. In the initial position, the operating device 100 is in the second stable position in the initial state from the viewpoint of rotation around the second virtual rotation shaft 102 shown in FIG. 8.

操作装置１００は、図８に示す第１仮想回転軸１０１を中心として、図６に示す第１回転方向１８１と第２回転方向１８２とに回転させることができる。第１回転方向１８１は、操作部材１２０のｚ１側端部がｘ１方向に動く方向である。第２回転方向１８２は、操作部材１２０のｚ１側端部がｘ２方向に動く方向である。さらに、操作装置１００は、図８に示す第２仮想回転軸１０２を中心として、図７に示す第３回転方向１８３と第４回転方向１８４とに回転させることができる。第３回転方向１８３は、操作部材１２０のｚ１側端部がｙ１方向に動く方向である。第４回転方向１８４は、操作部材１２０のｚ１側端部がｙ２方向に動く方向である。  The operating device 100 can be rotated about the first virtual rotation shaft 101 shown in FIG. 8 in the first rotation direction 181 and the second rotation direction 182 shown in FIG. The first rotation direction 181 is a direction in which the z1-side end portion of the operation member 120 moves in the x1 direction. The second rotation direction 182 is a direction in which the z1-side end portion of the operation member 120 moves in the x2 direction. Furthermore, the operating device 100 can be rotated about the second virtual rotation shaft 102 shown in FIG. 8 in the third rotation direction 183 and the fourth rotation direction 184 shown in FIG. 7. The third rotation direction 183 is a direction in which the z1-side end portion of the operation member 120 moves in the y1 direction. The fourth rotation direction 184 is a direction in which the z1-side end portion of the operation member 120 moves in the y2 direction.

図６に示す第１安定位置において、第１アクチュエータ１６０の移動可能な第１経路は、第２仮想回転軸１０２に略平行であり、第１アクチュエータ１６０の回転対称の中心は第２仮想回転軸１０２に略一致している。操作部材１２０が図６に示す第１安定位置に位置しているとき、第１アクチュエータ１６０の第１ヘッド１６３のｘ１側端部が第１谷部１３３にはまる。そのため、操作部材１２０は、ある程度の力を受けないと第１仮想回転軸１０１（図８）の周りで回転しない。  In the first stable position shown in FIG. 6, the movable first path of the first actuator 160 is substantially parallel to the second virtual rotation axis 102, and the center of rotational symmetry of the first actuator 160 is the second virtual rotation axis. It substantially coincides with 102. When the operating member 120 is located at the first stable position shown in FIG. 6, the x1 side end of the first head 163 of the first actuator 160 fits into the first valley 133. Therefore, the operation member 120 does not rotate around the first virtual rotation axis 101 (FIG. 8) unless it receives a certain amount of force.

図７に示すように、第２アクチュエータ１７０の移動可能な第２経路は、回転位置にかかわらず第１仮想回転軸１０１に略平行であり、第２アクチュエータ１７０の回転対称の中心は回転位置にかかわらず第１仮想回転軸１０１に略一致している。図７に示す第２安定位置において、第１仮想回転軸１０１は、ｙ方向に略平行である。操作部材１２０が図７に示す第２安定位置に位置しているとき、第２アクチュエータ１７０の第２ヘッド１７３のｙ１側端部が第２谷部１３８にはまる。そのため、操作部材１２０は、ある程度の力を受けないと第２仮想回転軸１０２（図８）の周りで回転しない。  As shown in FIG. 7, the movable second path of the second actuator 170 is substantially parallel to the first virtual rotation axis 101 regardless of the rotation position, and the center of rotational symmetry of the second actuator 170 is at the rotation position. Regardless, it substantially matches the first virtual rotation axis 101. In the second stable position shown in FIG. 7, the first virtual rotation shaft 101 is substantially parallel to the y direction. When the operating member 120 is located at the second stable position shown in FIG. 7, the y1 side end of the second head 173 of the second actuator 170 fits into the second valley 138. Therefore, the operation member 120 does not rotate around the second virtual rotation shaft 102 (FIG. 8) unless a certain amount of force is applied.

図９は、図６に示す操作部材１２０を第１回転方向１８１にある程度回転させた第１回転位置における、操作装置１００の斜視図である。図１０は、操作部材１２０が第１回転位置（図９）にあるときの操作装置１００の断面図である。図１０は、図６と同じ平面における断面を示す。  FIG. 9 is a perspective view of the operation device 100 in the first rotation position where the operation member 120 shown in FIG. 6 is rotated to some extent in the first rotation direction 181. FIG. 10 is a cross-sectional view of the operating device 100 when the operating member 120 is in the first rotation position (FIG. 9). FIG. 10 shows a cross section in the same plane as FIG.

図９に示すように、操作部材１２０を第１回転方向１８１（図６）に回転させるとき、図７に示すように、第２アクチュエータ１７０は、第２谷部１３８内にはまったまま維持される。そのため、図９に示すように、中間支持体１４０は、支持体１１０に対して回転しない。図１０に示すように、第１アクチュエータ１６０が第１凹凸面１３２に沿って移動するときに発生する抵抗力が、操作者に操作感として伝わる。図１０に示す第１回転位置にあるとき、第１ガイド部材１５０に沿った第１アクチュエータ１６０の第１経路は、第２仮想回転軸１０２に対して傾く。  As shown in FIG. 9, when the operation member 120 is rotated in the first rotation direction 181 (FIG. 6 ), the second actuator 170 is maintained in the second valley 138 as shown in FIG. 7. It Therefore, as shown in FIG. 9, the intermediate support 140 does not rotate with respect to the support 110. As shown in FIG. 10, the resistance force generated when the first actuator 160 moves along the first uneven surface 132 is transmitted to the operator as a feeling of operation. When in the first rotation position shown in FIG. 10, the first path of the first actuator 160 along the first guide member 150 is inclined with respect to the second virtual rotation shaft 102.

図６に示す操作部材１２０が第２回転方向１８２に回転するときの動作は、第１回転方向１８１に回転するときの動作と対称的であるので説明を省略する。  The operation when the operation member 120 shown in FIG. 6 rotates in the second rotation direction 182 is symmetrical to the operation when it rotates in the first rotation direction 181, and therefore a description thereof will be omitted.

図１１は、図７に示す操作部材１２０を第３回転方向１８３にある程度回転させた第２回転位置における、操作装置１００の斜視図である。図１２は、操作部材１２０が第２回転位置（図１１）にあるときの操作装置１００の断面図である。図１２は、図７と同じ平面における断面を示す。  FIG. 11 is a perspective view of the operation device 100 in the second rotation position where the operation member 120 shown in FIG. 7 is rotated to some extent in the third rotation direction 183. FIG. 12 is a cross-sectional view of the operating device 100 when the operating member 120 is in the second rotation position (FIG. 11). FIG. 12 shows a cross section in the same plane as FIG.

図１１に示すように、操作部材１２０を第３回転方向１８３（図７）に回転させるとき、図６に示すように、第１アクチュエータ１６０が第１谷部１３３内にはまったまま維持される。そのため、図１１に示すように、操作部材１２０は、中間支持体１４０に対して回転しない。図１２に示すように、第２アクチュエータ１７０が第２凹凸面１３７に沿って移動するときに発生する抵抗力が、操作者に操作感として伝わる。図１２に示す第２回転位置にあるとき、第２ガイド部材１５５に沿った第２アクチュエータ１７０の第２経路は、第１仮想回転軸１０１に平行である。  As shown in FIG. 11, when the operation member 120 is rotated in the third rotation direction 183 (FIG. 7 ), the first actuator 160 is retained in the first trough 133 as shown in FIG. 6. .. Therefore, as shown in FIG. 11, the operation member 120 does not rotate with respect to the intermediate support 140. As shown in FIG. 12, the resistance force generated when the second actuator 170 moves along the second uneven surface 137 is transmitted to the operator as an operational feeling. When in the second rotation position shown in FIG. 12, the second path of the second actuator 170 along the second guide member 155 is parallel to the first virtual rotation axis 101.

図７に示す操作部材１２０が第４回転方向１８４に回転するときの動作は、第３回転方向１８３に回転するときの動作と対称的であるので説明を省略する。  The operation when the operation member 120 shown in FIG. 7 rotates in the fourth rotation direction 184 is symmetrical to the operation when it rotates in the third rotation direction 183, and therefore a description thereof will be omitted.

（まとめ）
本実施形態によれば、第１アクチュエータ１６０の移動する第１経路と第２アクチュエータ１７０の移動する第２経路との両方が、軸方向に略直交する方向に延びているので、軸方向に第１アクチュエータ１６０と第２アクチュエータ１７０との少なくとも一方が移動する場合に比べて、装置を軸方向に薄型化することができる。また、第１仮想回転軸１０１から第１アクチュエータ１６０の先端までの距離を長くして抵抗力の変化を大きく維持しながら、第１アクチュエータ１６０を太くして強度を高くしても、操作装置１００が軸方向に大きくならない。すなわち、抵抗力の変化を大きく維持しながら高い強度で薄型化することができる。(Summary)
According to the present embodiment, both the first path of movement of the first actuator 160 and the second path of movement of the second actuator 170 extend in a direction substantially orthogonal to the axial direction, so that the first path in the axial direction The device can be made thinner in the axial direction than when at least one of the first actuator 160 and the second actuator 170 moves. Further, even if the first actuator 160 is thickened to increase the strength while maintaining a large change in the resistance force by increasing the distance from the first virtual rotation shaft 101 to the tip of the first actuator 160, the operating device 100 Does not grow in the axial direction. That is, it is possible to reduce the thickness with high strength while maintaining a large change in the resistance force.

本実施形態によれば、直交した２方向に回転する操作装置１００において、抵抗力の変化を大きく維持しながら高い強度で薄型化することができる。  According to this embodiment, the operating device 100 that rotates in two orthogonal directions can be thinned with high strength while maintaining a large change in resistance force.

本実施形態によれば、操作部材１２０が第１仮想回転軸１０１の周りで回転するときに、１つの回転位置において第１経路が、第２仮想回転軸１０２に略平行であり、かつ、その１つの回転位置において第１アクチュエータ１６０が、第２仮想回転軸１０２上に配置されるので、その１つの回転位置を保ちながら操作部材１２０が第２仮想回転軸１０２の周りで回転するときに、第１アクチュエータ１６０がその場で回転するだけで、第１アクチュエータ１６０と第１カム１３０との相対位置が大きく変わらない。そのため、操作部材１２０が第２仮想回転軸１０２の周りで回転するときに、第２アクチュエータ１７０により発生する抵抗力に、第１アクチュエータ１６０により発生する抵抗力が大きく加わらない。従って、操作部材１２０が第２仮想回転軸１０２の周りで回転するときの抵抗力を制御しやすい。  According to the present embodiment, when the operation member 120 rotates around the first virtual rotation shaft 101, the first path is substantially parallel to the second virtual rotation shaft 102 at one rotation position, and Since the first actuator 160 is arranged on the second virtual rotation shaft 102 at one rotation position, when the operation member 120 rotates around the second virtual rotation shaft 102 while maintaining the one rotation position, Only the rotation of the first actuator 160 on the spot does not significantly change the relative position between the first actuator 160 and the first cam 130. Therefore, when the operating member 120 rotates around the second virtual rotation shaft 102, the resistance force generated by the first actuator 160 is not significantly added to the resistance force generated by the second actuator 170. Therefore, it is easy to control the resistance force when the operation member 120 rotates around the second virtual rotation shaft 102.

本実施形態によれば、第１アクチュエータ１６０が、回転対称な形状であり、第１アクチュエータ１６０の対称中心が、１つの回転位置において第２仮想回転軸１０２に略一致するので、操作部材１２０が第２仮想回転軸１０２の周りで回転するときに、第１アクチュエータ１６０と第１カム１３０との相対位置を一定に保つことができる。  According to the present embodiment, the first actuator 160 has a rotationally symmetric shape, and the center of symmetry of the first actuator 160 substantially coincides with the second virtual rotation shaft 102 at one rotation position. When rotating around the second virtual rotation shaft 102, the relative position between the first actuator 160 and the first cam 130 can be kept constant.

本実施形態によれば、操作部材１２０が第１仮想回転軸１０１の周りの第１安定位置に位置しているときに第１アクチュエータ１６０が第１谷部１３３にはまるので、操作部材１２０が第２仮想回転軸１０２の周りで回転するとき、操作部材１２０の第１仮想回転軸１０１の周りにおける意図しない回転を防ぐことができる。  According to the present embodiment, since the first actuator 160 fits in the first valley 133 when the operating member 120 is located at the first stable position around the first virtual rotation axis 101, the operating member 120 is When rotating around the second virtual rotation axis 102, it is possible to prevent unintended rotation of the operating member 120 around the first virtual rotation axis 101.

本実施形態によれば、第２ガイド部材１５５が中間支持体１４０と一体的な部材として構成されているので、別体である場合に比べて部品点数を減らすことができる。  According to the present embodiment, since the second guide member 155 is configured as a member integrated with the intermediate support 140, the number of parts can be reduced as compared with the case where it is a separate body.

本実施形態によれば、第１カム１３０が支持体１１０に固定されているので、操作部材１２０が第１仮想回転軸１０１の周りで回転するときに第１アクチュエータ１６０が通る第１凹凸面１３２上の領域は、第２仮想回転軸１０２の周りでの操作部材１２０の回転位置に応じて異なる。従って、第１カム１３０を中間支持体１４０に固定する場合に比べて、多様な操作感を操作者に与えることができる。  According to the present embodiment, since the first cam 130 is fixed to the support 110, the first uneven surface 132 through which the first actuator 160 passes when the operating member 120 rotates around the first virtual rotation axis 101. The upper region differs depending on the rotational position of the operation member 120 around the second virtual rotation axis 102. Therefore, compared to a case where the first cam 130 is fixed to the intermediate support 140, a variety of operational feelings can be given to the operator.

変形例において、第２ガイド部材１５５は、中間支持体１４０に固定されず、操作部材１２０に固定されてもよい。  In a modification, the second guide member 155 may be fixed to the operation member 120 instead of being fixed to the intermediate support 140.

変形例によれば、操作部材１２０が第２仮想回転軸１０２の周りで回転するときに、第２経路が第１仮想回転軸１０１に略平行であり、かつ、第２アクチュエータ１７０が第１仮想回転軸１０１上に配置されるので、操作部材１２０が第１仮想回転軸１０１の周りで回転するときに、第２アクチュエータ１７０がその場で回転するだけで、第２アクチュエータ１７０と第２カム１３５との相対位置が大きく変わらない。そのため、操作部材１２０が第１仮想回転軸１０１の周りで回転するときに、第１アクチュエータ１６０により発生する抵抗力に、第２アクチュエータ１７０により発生する抵抗力が大きく加わらない。従って、操作部材１２０が第１仮想回転軸１０１の周りで回転するときの抵抗力を制御しやすい。  According to the modified example, when the operation member 120 rotates about the second virtual rotation shaft 102, the second path is substantially parallel to the first virtual rotation shaft 101, and the second actuator 170 is the first virtual rotation shaft. Since it is arranged on the rotary shaft 101, when the operating member 120 rotates around the first virtual rotary shaft 101, the second actuator 170 only rotates in-situ and the second actuator 170 and the second cam 135. The relative position with does not change much. Therefore, when the operating member 120 rotates around the first virtual rotation axis 101, the resistance force generated by the second actuator 170 is not significantly added to the resistance force generated by the first actuator 160. Therefore, it is easy to control the resistance force when the operation member 120 rotates around the first virtual rotation axis 101.

変形例によれば、第２アクチュエータ１７０が、回転対称な形状であり、第２アクチュエータ１７０の対称中心が、第１仮想回転軸１０１に略一致するので、操作部材１２０が第１仮想回転軸１０１の周りで回転するときに、第２アクチュエータ１７０と第２カム１３５との相対位置を一定に保つことができる。  According to the modified example, the second actuator 170 has a rotationally symmetric shape, and the center of symmetry of the second actuator 170 substantially coincides with the first virtual rotation shaft 101, so that the operation member 120 has the first virtual rotation shaft 101. The relative position between the second actuator 170 and the second cam 135 can be kept constant when rotating around.

なお、第１カム１３０は中間支持体１４０に固定してもよい。この場合、上述とは逆に、第１アクチュエータ１６０が通る第１凹凸面１３２上の領域が、第２仮想回転軸１０２の周りでの操作部材１２０の回転位置によらず一定になるため、操作者に一定の操作感を与えることができる。また、第１アクチュエータ１６０が通る第１凹凸面１３２上の領域が限定されるため、第１カム１３０のサイズを小型にすることができる。  The first cam 130 may be fixed to the intermediate support 140. In this case, conversely to the above, the region on the first uneven surface 132 through which the first actuator 160 passes becomes constant regardless of the rotational position of the operation member 120 around the second virtual rotation axis 102, and thus the operation is performed. It is possible to give a certain operation feeling to the person. Further, since the area on the first uneven surface 132 through which the first actuator 160 passes is limited, the size of the first cam 130 can be reduced.

本発明は上述した実施形態には限定されない。すなわち、当業者は、本発明の技術的範囲またはその均等の範囲内において、上述した実施形態の構成要素に関し、様々な変更、コンビネーション、サブコンビネーション、並びに代替を行ってもよい。  The present invention is not limited to the above embodiments. That is, a person skilled in the art may make various changes, combinations, sub-combinations, and substitutions with respect to the constituent elements of the above-described embodiments within the technical scope of the present invention or the equivalent scope thereof.

本発明は、例えば車両、列車、航空機、船舶、宇宙船などにおいてトランスミッションの変更などに使用する操作装置に適用可能である。  INDUSTRIAL APPLICABILITY The present invention is applicable to an operating device used for changing a transmission in a vehicle, train, aircraft, ship, spacecraft, etc.

１００…操作装置、１０１…第１仮想回転軸、１０２…第２仮想回転軸
１１０…支持体、１２０…操作部材、１２２…操作軸、
１３０…第１カム、１３２…第１凹凸面、１３３…第１谷部、
１３５…第２カム、１３７…第２凹凸面、１３８…第２谷部
１４０…中間支持体、１５０…第１ガイド部材、１５５…第２ガイド部材
１６０…第１アクチュエータ、１６９…第１弾性部材
１７０…第２アクチュエータ、１７９…第２弾性部材100... Operating device, 101... 1st virtual rotating shaft, 102... 2nd virtual rotating shaft 110... Support body, 120... Operating member, 122... Operating shaft,
130... 1st cam, 132... 1st uneven surface, 133... 1st valley part,
135... 2nd cam, 137... 2nd uneven surface, 138... 2nd trough part 140... Intermediate support body, 150... 1st guide member, 155... 2nd guide member 160... 1st actuator, 169... 1st elastic member 170...Second actuator, 179...Second elastic member

Claims (8)

操作者の操作を受けて第１仮想回転軸と第２仮想回転軸との周りで回転可能な操作部材と、
第１凹凸面をもつ第１カムと、
前記操作部材が前記第１仮想回転軸の周りで回転するときに前記操作部材と共に回転する第１ガイド部材と、
前記第１ガイド部材に規定された第１経路で移動可能な第１アクチュエータと、
前記第１アクチュエータを前記第１凹凸面に付勢する第１弾性部材と、
第２凹凸面をもつ第２カムと、
前記操作部材が前記第２仮想回転軸の周りで回転するときに前記操作部材と共に回転する第２ガイド部材と、
前記第２ガイド部材に規定された第２経路で移動可能な第２アクチュエータと、
前記第２アクチュエータを前記第２凹凸面に付勢する第２弾性部材と、
前記操作部材を前記第１仮想回転軸の周りに回転可能に支持する中間支持体と、
前記中間支持体を前記第２仮想回転軸の周りに回転可能に支持する支持体と、
を備え、
前記操作部材が、前記第１仮想回転軸と前記第２仮想回転軸とに略直交する軸方向に延びた操作軸を含み、
前記第１仮想回転軸が、前記操作部材と共に前記第２仮想回転軸の周りで回転し、
前記第１経路と前記第２経路との両方が、前記軸方向に略直交する方向に延びており、
前記第１ガイド部材が、前記操作部材に固定されており、
前記第２ガイド部材が、前記中間支持体と一体的な部材として構成されている、
操作装置。 An operation member that is rotatable about a first virtual rotation axis and a second virtual rotation axis in response to an operation of an operator;
A first cam having a first uneven surface,
A first guide member that rotates together with the operating member when the operating member rotates about the first virtual rotation axis;
A first actuator movable along a first path defined by the first guide member;
A first elastic member for urging the first actuator toward the first uneven surface;
A second cam having a second uneven surface,
A second guide member that rotates together with the operating member when the operating member rotates about the second virtual rotation axis;
A second actuator movable along a second path defined by the second guide member;
A second elastic member for urging the second actuator toward the second uneven surface;
An intermediate support body that rotatably supports the operation member around the first virtual rotation axis;
A support that supports the intermediate support rotatably around the second virtual rotation axis;
Equipped with
The operation member includes an operation shaft extending in an axial direction substantially orthogonal to the first virtual rotation shaft and the second virtual rotation shaft,
The first virtual rotation axis rotates with the operating member around the second virtual rotation axis,
Both of said second path and said first path extends in a direction substantially perpendicular to the axial direction,
The first guide member is fixed to the operation member,
The second guide member is configured as a member integral with the intermediate support,
Operating device. 前記第１仮想回転軸と前記第２仮想回転軸とが略直交している、
請求項１に記載の操作装置。 The first virtual rotation axis and the second virtual rotation axis are substantially orthogonal to each other,
The operating device according to claim 1. 前記操作部材が前記第１仮想回転軸の周りで回転するときに、１つの回転位置において前記第１経路が前記第２仮想回転軸に略平行であり、かつ、前記１つの回転位置において前記第１アクチュエータが前記第２仮想回転軸上に配置される、
請求項１または請求項２に記載の操作装置。 When the operation member rotates about the first virtual rotation axis, the first path is substantially parallel to the second virtual rotation axis at one rotation position, and the first path is at the one rotation position at the first rotation position. 1 actuator is disposed on the second virtual rotation axis,
The operating device according to claim 1 or 2. 前記第１アクチュエータが、回転対称な形状であり、
前記第１アクチュエータの対称中心が、前記１つの回転位置において前記第２仮想回転軸に略一致する、
請求項３に記載の操作装置。 The first actuator has a rotationally symmetric shape,
A center of symmetry of the first actuator substantially coincides with the second virtual rotation axis at the one rotation position,
The operating device according to claim 3. 前記第１凹凸面は、局所的に窪んだ第１谷部をもち、
前記操作部材が前記第１仮想回転軸の周りの第１安定位置に位置しているときに前記第１アクチュエータが前記第１谷部にはまる、
請求項１乃至請求項４の何れか一項に記載の操作装置。 The first uneven surface has a locally depressed first valley portion,
The first actuator fits in the first trough when the operating member is located at a first stable position around the first virtual rotation axis,
The operating device according to any one of claims 1 to 4. 前記第１カムが、前記支持体に固定されている、
請求項１乃至請求項５の何れか一項に記載の操作装置。 The first cam is fixed to the support,
The operating device according to any one of claims 1 to 5 . 前記操作部材が前記第２仮想回転軸の周りで回転するときに、前記第２経路が前記第１仮想回転軸に略平行であり、かつ、前記第２アクチュエータが前記第１仮想回転軸上に配置される、
請求項１乃至請求項６の何れか一項に記載の操作装置。 When the operation member rotates about the second virtual rotation axis, the second path is substantially parallel to the first virtual rotation axis, and the second actuator is on the first virtual rotation axis. Placed,
The operating device according to any one of claims 1 to 6 . 前記第２アクチュエータが、回転対称な形状であり、
前記第２アクチュエータの対称中心が、前記第１仮想回転軸に略一致する、
請求項７に記載の操作装置。 The second actuator has a rotationally symmetrical shape,
A center of symmetry of the second actuator substantially coincides with the first virtual rotation axis,
The operating device according to claim 7 .
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