JP7026569B2 - Force-imparting operation device - Google Patents

Description

The present invention relates to a force-sensing type operating device.

Conventionally, there is known a force sense imparting type operation device that is used for operating a work machine such as a crane and imparts a force sense to an operator at the time of the operation. For example, Patent Document 1 below discloses an example of such a force-sensing type operating device.

The force-sensing type operation device disclosed in Patent Document 1 includes a stator portion, a rotor portion arranged so as to surround the stator portion and rotatable about a predetermined rotation axis with respect to the stator portion, and a rotor portion. It is equipped with an operation lever fixed to the rotor portion and operated by an operator.

The stator portion has a stator body and an exciting coil. The stator body has a shaft portion arranged so as to be concentric with the rotation shaft of the rotor portion, and a pair of large diameter portions provided at both ends in the longitudinal direction of the shaft portion and extending outward in the radial direction of the shaft portion. Have. The exciting coil is wound around a shaft portion of the stator body between a pair of large diameter portions of the stator body.

Each large diameter portion of the stator body has a plurality of rotor side magnetic pole portions protruding toward the rotor portion on the outer side thereof. The plurality of rotor-side magnetic pole portions are arranged at equal intervals in the circumferential direction about the rotation axis. Further, each rotor-side magnetic pole portion of one large-diameter portion and each rotor-side magnetic pole portion of the other large-diameter portion are arranged at the same position in the circumferential direction about the rotation axis.

The rotor portion has a cylindrical rotor main body and a plurality of rotor-side magnetic pole portions protruding from the rotor main body toward the inner stator portion. The plurality of rotor-side magnetic pole portions are arranged at equal intervals in the circumferential direction about the rotation axis. There is a gap between each rotor side magnetic pole surface, which is the tip surface of each rotor side magnetic pole portion, and each stator side magnetic pole surface, which is the tip surface of each stator side magnetic pole portion, in the radial direction of the circle centered on the rotation axis. It is designed so that it can be opened and faced. The exciting coil excites the stator body and the rotor portion by supplying an exciting current, whereby a magnetic circuit that surrounds the exciting coil on a plane passing through the rotating shaft, the stator side magnetic pole portion and the rotor side magnetic pole portion is formed. It is formed.

When the operator rotates the operation lever from the neutral position, the rotor portion rotates about the rotation axis, and each rotor side magnetic pole surface is displaced so as to be displaced in the circumferential direction with respect to the corresponding stator side magnetic pole surface. .. At this time, each rotor-side magnetic pole surface receives a magnetic attraction from the corresponding stator-side magnetic pole surface, and the magnetic attraction is presented to the operator as a force sense through the operation lever.

Further, the force-sensing type operation device disclosed in Patent Document 1 applies a return force to the operation lever so as to return the operation lever to the neutral position when the operation lever is rotated from the neutral position. It has a neutral position return section. This neutral position return portion has a return portion main body and a pair of compression coil springs.

The return portion main body is arranged on the radial outer side of the rotor portion, and is connected to the rotor portion so as to translate in a direction corresponding to the direction of rotation as the rotor portion rotates. The pair of compression coil springs are separately arranged on both sides of the return portion main body in the direction along the moving direction of the return portion main body. This pair of compression coil springs is compressed by the return portion main body when the return portion main body moves as the rotor portion is rotated by the rotation operation of the operation lever from the neutral position, and is compressed with respect to the return portion main body. Gives an elastic force in the direction opposite to the moving direction. This elastic force is transmitted from the return portion main body to the rotor portion and the operation lever, and becomes the return force for returning the operation lever to the neutral position.

JP-A-2015-72669

However, in the force-sensing type operating device disclosed in Patent Document 1, as a result of long-term use, there is a possibility that a problem may occur in the operation of returning the operating lever to the neutral position by the neutral position returning portion.

Specifically, when the operation lever is rotated from the neutral position and then returned from the rotated position to the neutral position over a long period of time, the compression coil spring of the neutral position return portion is used. Compression and expansion are repeated many times, and as a result, the compression coil spring deteriorates and its elastic force decreases, and the compression coil spring and the return portion main body are worn. In this case, problems such as a decrease in the return force applied to the operation lever and the inability to smoothly return the operation lever to the neutral position occur in the return operation of the operation lever by the neutral position return portion.

An object of the present invention is to provide a force-sensitive operating device capable of maintaining a stable return operation of the operating lever to a neutral position even when used for a long period of time.

Provided by the present invention is a force sense imparting type operation device used for operating a work machine and imparting a force sense to an operator at the time of the operation. This force-sensing type operation device is an operation member operated by an operator to operate the work machine and can be rotated around a predetermined rotation axis from a neutral position, a fixed portion, and a fixed portion. It is configured to be rotatable about the rotation axis with respect to the fixing portion, and includes a rotating portion connected to the operating member so as to rotate with the rotation operation of the operating member. One member of the fixed portion and the rotating portion is arranged outside the radial direction of the circle centered on the rotating axis with respect to the inner member which is the other member of the fixed portion and the rotating portion. It is an outer member having a portion surrounding the inner member. The inner member is provided on the shaft portion having an axial center corresponding to the rotating shaft and arranged apart from each other in the direction along the rotating shaft so as to spread outward in the radial direction of the shaft portion. An inner member body having a pair of large diameter portions and a magnetism that is an exciting coil wound around the shaft portion and causes the force sense when the operation lever is rotated from the neutral position. A device that excites the inner member body and the outer member so as to generate an attractive force between the inner member body and the outer member, and an operation thereof when the operation lever is rotated from the neutral position. It is provided with a neutral position return portion for generating a return force for returning the lever to the neutral position. The outer members are arranged at intervals in the circumferential direction of the circle, and have a plurality of outer magnetic pole portions in which magnetic flux is concentrated when the outer members are excited. When each of the pair of large diameter portions is arranged at intervals in the circumferential direction and is arranged so as to face each of the plurality of outer magnetic flux portions in the radial direction, and the inner member main body is excited. It has a plurality of inner magnetic poles in which the magnetic flux is concentrated. The plurality of inner magnetic pole portions of the pair of large diameter portions are arranged so as to face each other in a direction along the rotation axis and form a pair. The neutral position return portion is a first permanent magnet arranged outside the exciting coil in the radial direction between predetermined pairs of inner magnetic pole portions among the plurality of pairs of inner magnetic pole portions, and has the diameter. The diameter between one having an N pole facing outward in the direction and an S pole facing inward in the radial direction and another pair of inner magnetic pole portions separated from the predetermined pair of inner magnetic pole portions in the circumferential direction. A second permanent magnet arranged outside the exciting coil in the direction having an N pole facing inward in the radial direction and an S pole facing outward in the radial direction, and the operating lever was rotated. When the magnetic attraction force that generates the return force is between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction, and in the radial direction with the second permanent magnet. A magnetic circuit such as that generated between the outer magnetic pole portion located outside the second permanent magnet is formed between the second permanent magnet and the first permanent magnet.

In this force-sensing type operation device, the operation lever is neutralized when the operation lever is rotated from the neutral position by the magnetic attraction force obtained by the first permanent magnet and the second permanent magnet of the neutral position return portion. A return force to return to the position can be applied to the operation lever. The magnetic attraction force obtained by the first permanent magnet and the second permanent magnet does not decrease even if the operating lever is repeatedly rotated for a long period of time, and the permanent magnets are not worn. .. Therefore, this force-sensing type operating device can maintain a stable return operation of the operating lever to the neutral position even when it is used for a long period of time. Moreover, in this force sense applying type operation device, the outer member, the exciting coil, and the inner member main body, which are conventionally provided to apply the force sense when the operation lever is rotated from the neutral position, are used to use the exciting coil. A neutral position that generates a return force to return the operating lever to the neutral position simply by arranging the first permanent magnet and the second permanent magnet in the space existing between the inner magnetic poles of each pair on the outer side in the radial direction of the above. Since the return section can be configured, the neutral position return section can be configured without making any special design changes. Further, since the first and second permanent magnets of the neutral position return portion are arranged in the space as described above, the force sense is compared with the configuration in which the neutral position return portion is provided on the radial outside of the outer member. The grant type operation device can be miniaturized.

The second permanent magnet is arranged between another pair of inner magnetic poles adjacent to each other in the circumferential direction with respect to the predetermined pair of inner magnetic poles in which the first permanent magnet is arranged. Is preferable.

According to this configuration, the second permanent magnet is a pair of inner magnetic poles farther from the predetermined pair of inner magnetic poles than the other pair of inner magnetic poles adjacent to the predetermined pair of inner magnetic poles. The distance of the magnetic path formed between the first permanent magnet and the second permanent magnet can be suppressed as compared with the case where they are arranged between each other. The magnetic attraction acting between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction and the second permanent magnet located outside the second permanent magnet in the radial direction. The magnetic attraction acting between the outer magnetic poles and the outer magnetic poles decreases as the distance of the magnetic path formed between the first permanent magnet and the second permanent magnet increases, but according to this configuration, Since the distance of the magnetic path can be suppressed as described above, it acts between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet and between the second permanent magnet and the outer magnetic pole portion located outside the second permanent magnet, respectively. It is possible to prevent the magnetic attraction force from weakening. Therefore, even if the first and second permanent magnets are small in size or have a weak magnetic force, the force required to return the operating lever to the neutral position should be secured. It is possible to use low-cost permanent magnets due to their small size and weak magnetic force.

A radial gap is provided between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction, and the first permanent magnet and the predetermined one are provided. A gap is provided between each of the pair of inner magnetic pole portions in the direction along the rotation axis, and the second permanent magnet and the outer magnetic pole portion located outside the second permanent magnet in the radial direction. A gap in the radial direction is provided between the two, and a gap in the direction along the rotation axis is provided between the second permanent magnet and each of the inner magnetic pole portions of the other pair. The radial gap of the 1 permanent magnet is smaller than the gap along the rotation axis of the 1st permanent magnet, and the radial gap of the 2nd permanent magnet is the 2nd permanent magnet. It is preferable that it is smaller than the gap in the direction along the rotation axis.

By doing so, the magnetic resistance between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction is the first in the direction along the first permanent magnet and the rotation axis. 1 It is smaller than the magnetic resistance between the inner magnetic poles located on both sides of the permanent magnet, and the magnetism between the second permanent magnet and the outer magnetic poles located outside the second permanent magnet in the radial direction. The resistance is smaller than the magnetic resistance between the second permanent magnet and the inner magnetic poles located on both sides of the second permanent magnet in the direction along the rotation axis. Since the magnetic flux generated by each permanent magnet flows in a path having a smaller magnetic resistance, according to this configuration, the first permanent magnet and the inner magnetic pole portions located on both sides of the first permanent magnet in the direction along the rotation axis. It is possible to suppress the flow of magnetic flux in a path that short-circuits between them, and also short-circuits between the second permanent magnet and the inner magnetic poles located on both sides of the second permanent magnet in the direction along the rotation axis. It is possible to suppress the flow of magnetic flux through various paths. As a result, it is possible to suppress a decrease in the flow of magnetic force in the path from the first permanent magnet to the second permanent magnet through the outer member and from the second permanent magnet to the first permanent magnet through the inner member. Prevents the magnetic attraction acting between the first permanent magnet and its outer outer magnetic pole and between the second permanent magnet and its outer outer magnetic pole due to the flow of the magnetic flux from weakening. be able to. Therefore, even if a permanent magnet having a smaller size or a weaker magnetic force is used as the first and second permanent magnets, the force required for the return force can be secured, and the cost reduction of the permanent magnet can be further promoted. ..

The inner member includes the first permanent magnet and the second permanent magnet at positions inside the radial direction with respect to the first permanent magnet and the second permanent magnet and outside the radial direction with respect to the exciting coil. It is preferable to have a soft magnetic material extending in the circumferential direction so as to connect with a magnet.

By doing so, the soft magnetic material can form a path through which the magnetic flux flowing from the second permanent magnet to the first permanent magnet is close to the first permanent magnet and the second permanent magnet and at a short distance. .. Therefore, the magnetic attraction acting between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction and the second permanent magnet and the second permanent magnet in the radial direction It is possible to secure a larger magnetic attraction force acting between the outer magnetic pole portion located on the outer side. Therefore, even if a permanent magnet having a smaller size or a weaker magnetic force is used as the first and second permanent magnets, the force required for the return force can be secured, and the cost reduction of the permanent magnet can be further promoted. ..

As described above, according to the present invention, it is possible to provide a force-sensing type operating device capable of maintaining a stable return operation of the operating lever to the neutral position even when used for a long period of time.

It is a front view of the force sense application type operation apparatus by one Embodiment of this invention. It is the figure which looked at the fixed part and the rotating part in the direction of the rotation axis, and is the figure which shows the relative positional relationship between the fixed part and the rotating part when the operation lever is in a neutral position. FIG. 2 is a diagram corresponding to FIG. 2 showing a relative positional relationship between a fixed portion and a rotating portion when the operating lever is rotated from the neutral position to the maximum to one side. It is sectional drawing along the IV-IV line in FIG. FIG. 4 is an enlarged view showing the upper half of the cross-sectional view of FIG. 4 and shows a magnetic circuit (flow of magnetic flux) generated when an exciting current is supplied to the exciting coil. It is a cross-sectional view in a direction orthogonal to the rotation axis of the fixed portion and the rotating portion of the mechanics-imparting operation device, and the flow of magnetic flux formed by the plurality of first permanent magnets and the plurality of second permanent magnets of the neutral position return portion is shown. It is a figure which shows. It is a figure which shows the cross section in the direction along the radial direction of the part near the 1st permanent magnet in the force sense application type operation apparatus, and is the figure which shows the direction of the magnetic flux generated by the 1st permanent magnet. It is a figure which shows the cross section in the direction along the radial direction of the part near the 2nd permanent magnet in the force sense application type operation apparatus, and is the figure which shows the direction of the magnetic flux generated by the 2nd permanent magnet. It is a figure which shows the correlation between the rotation operation angle from the neutral position of the operation lever, and the reaction force torque acting on the operation lever when the exciting current supplied to the exciting coil is 0A. It is a figure which shows the correlation between the rotation operation angle from the neutral position of the operation lever, and the reaction force torque acting on the operation lever when the exciting current supplied to the exciting coil is 1A. It is a figure which shows the correlation between the rotation operation angle from the neutral position of the operation lever, and the reaction force torque acting on the operation lever when the exciting current supplied to the exciting coil is 5A. It is sectional drawing in the direction orthogonal to the rotation axis of the fixed part and the rotating part of the dynamics addition type operation apparatus by one modification of this invention.

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

Since the force-sensing type operation device 1 (hereinafter, simply referred to as "operation device 1") according to the present embodiment operates a work machine such as a crane, specifically, a hoisting device or a boom of the suspended load of the work machine. It is used to operate an undulating device for undulating such undulating members, and is configured to give a sense of force to the operator at the time of the operation.

The operating device 1 includes an operating lever 2 (see FIG. 1), a holder 4, a rotating portion 6, a fixing portion 7 (see FIG. 2), an operation angle detection unit (not shown), and a load detection unit 16 (see FIG. 2). 1), a current supply device 18, and a control unit 19.

The operation lever 2 is operated by an operator to operate the work machine. The operating lever 2 can be rotated from the neutral position shown in FIGS. 1 and 2 to one side and the other side opposite to the predetermined rotation axis C. In the present embodiment, the operation lever 2 can be rotated from the neutral position to one side and the other side by a maximum of about 11 degrees, for example, at a rotation operation angle about the rotation axis C. In the following description, the direction along the rotation axis C is referred to as the rotation axis C direction, and the radial direction of the circle centered on the rotation axis C is simply referred to as the radial direction, with the rotation axis C as the center. The circumferential direction of the circle is simply called the circumferential direction.

The holder 4 is configured in a hollow box shape. The holder 4 houses most of the rotating portion 6 and the fixing portion 7 inside.

As shown in FIG. 2, the rotating portion 6 has a portion that is arranged radially outward with respect to the fixed portion 7 and surrounds the fixed portion 7. The rotating portion 6 is held by the holder 4 so as to be rotatable about the rotating shaft C with respect to the fixed portion 7. The rotating portion 6 is coupled to the operating lever 2 so as to rotate with the rotational operation of the operating lever 2. The rotating portion 6 has a rotor 32, a pair of side plates 34 (see FIG. 4), and a rotating portion shaft portion 35.

The rotor 32 (see FIG. 2) has an outer peripheral portion 36 and a plurality of rotor magnetic pole portions 38.

The outer peripheral portion 36 has a cylindrical shape whose axis coincides with the rotation axis C. The outer peripheral portion 36 surrounds the fixing portion 7 in a state of being spaced apart from the fixing portion 7 in the radial direction. The outer peripheral portion 36 has an outer surface facing outward in the radial direction and an inner surface facing inward in the radial direction. The operating lever 2 is fixed to the outer peripheral portion 36 so as to extend radially outward from the outer surface of the outer peripheral portion 36, specifically, upward.

The plurality of rotor magnetic pole portions 38 are portions where magnetic flux is concentrated when the rotor 32 is excited. The number of rotor magnetic pole portions 38 included in the rotor 32 is eight in this embodiment. The plurality of rotor magnetic pole portions 38 project radially inward from the inner surface of the outer peripheral portion 36, and are arranged at intervals in the circumferential direction. Specifically, the plurality of rotor magnetic pole portions 38 are arranged at equal intervals in the circumferential direction and are evenly arranged over the entire circumference of the outer peripheral portion 36. The tip surface of each rotor magnetic pole portion 38 facing inward in the radial direction is located on a common circle centered on the rotation axis C when viewed from the rotation axis C direction, and is a curved surface forming an arc shape along the circle. be. The tip surface of each rotor magnetic pole portion 38 is the rotor magnetic pole surface 38a, which is the magnetic pole surface of the rotor magnetic pole portion 38.

Each rotor magnetic pole portion 38 faces each stator magnetic pole portion 26 described later in the radial direction with a minute gap when the operating lever 2 is in the neutral position (see FIG. 2), and the operating lever 2 is rotated from a neutral position, and the rotor 32 rotates with respect to the stator 8 so as to be displaced in the circumferential direction with respect to each stator magnetic pole portion 26 described later (see FIG. 3). ..

Further, each rotor magnetic pole portion 38 has a range in which the operating lever 2 is rotated to the maximum from the neutral position (for example, the state shown in FIG. 3) and overlaps with the corresponding stator magnetic pole portion 26 in the circumferential direction.

The pair of side plates 34 (see FIG. 4) are arranged so as to sandwich the rotor 32 from both sides in the rotation axis C direction and are fixed to the rotor 32. Each side plate 34 has a substantially circular outer shape having an outer diameter equal to the outer diameter of the outer peripheral portion 36 of the rotor 32. A circular through hole is formed in the center of each side plate 34.

The rotating portion shaft portion 35 has a columnar shape whose axis coincides with the rotating shaft C. One end of the rotating portion shaft portion 35 is inserted into a through hole of one side plate 34 and fixed to the one side plate 34, and the other end of the rotating portion shaft portion 35 is a through hole of the other side plate 34. It is inserted into and fixed to the other side plate 34. The portion between the pair of side plates 34 of the rotating portion shaft portion 35 is rotatable around the axis of the rotating portion shaft portion 35 with respect to the stator 8 described later, and is inside the shaft portion 23 of the stator 8 described later. It is inserted through the space and the through hole of the pair of large diameter portions 24.

The fixing portion 7 is fixed to the holder 4 in the holder 4. In the present embodiment, the fixing portion 7 corresponds to the inner member of the present invention. The fixing portion 7 has a stator 8, an exciting coil 10, a neutral position returning portion 11, a soft magnetic material 13, and an insulator 12.

The stator 8 is formed of a material having a high magnetic permeability (soft magnetic material) such as iron. The stator 8 is an example of the inner member main body in the present invention. As shown in FIG. 4, the stator 8 has a shaft portion 23 and a pair of large diameter portions 24. The shaft portion 23 and the pair of large diameter portions 24 are integrally configured.

The shaft portion 23 has a hollow cylindrical shape having an axial center corresponding to the rotation axis C.

The pair of large-diameter portions 24 are arranged on the shaft portion 23 so as to be spaced apart from each other in the rotation axis C direction and spread outward in the radial direction of the shaft portion 23. Specifically, the pair of large diameter portions 24 are provided at one end and the other end of the shaft portion 23 in the rotation axis C direction, respectively. The pair of large diameter portions 24 are similarly configured. As shown in FIG. 2, each large diameter portion 24 has a central portion 25 and a plurality of stator magnetic pole portions 26.

The central portion 25 is connected to the end portion of the shaft portion 23, and has a substantially polygonal outer shape centered on the rotation axis C when viewed in the rotation axis C direction. A circular through hole communicating with the space in the shaft portion 23 is provided in the central portion of the central portion 25.

The plurality of stator magnetic pole portions 26 are portions where magnetic flux is concentrated when the stator 8 is excited. The stator magnetic pole portion 26 is an example of the inner magnetic pole portion in the present invention. In the present embodiment, the number of stator magnetic pole portions 26 included in the stator 8 is eight. The plurality of stator magnetic pole portions 26 project radially outward from the surface of the central portion 25 facing outward in the radial direction, and are arranged at equal intervals in the circumferential direction. That is, the plurality of stator magnetic pole portions 26 are evenly arranged over the entire circumference of the central portion 25, and project radially outward from the central portion 25. Each of the plurality of stator magnetic pole portions 26 is arranged so as to face each of the plurality of rotor magnetic pole portions 38 described later in the rotating portion 6 in the radial direction.

The tip surface of each stator magnetic pole portion 26 facing outward in the radial direction is located on a common circle centered on the rotation axis C when viewed from the rotation axis C direction, and is an arcuate curved surface along the circle. Is. The tip surface of each stator magnetic pole portion 26 is the stator magnetic pole surface 26a, which is the magnetic pole surface of the stator magnetic pole portion 26. The curvature of the stator magnetic pole surface 26a is equal to the curvature of the rotor magnetic pole surface 38a. When the operating lever 2 is in the neutral position, the stator magnetic pole surface 26a of each stator magnetic pole portion 26 and the rotor magnetic pole surface 38a of the corresponding rotor magnetic pole portions 38 face each other in the radial direction. A minute gap is provided between each stator magnetic pole surface 26a and each corresponding rotor magnetic pole surface 38a.

The plurality of stator magnetic pole portions 26 of the pair of large diameter portions 24 are arranged so as to be spaced apart from each other in the rotation axis C direction and to be paired with each other. In this embodiment, the stator 8 has eight pairs of stator poles 26 arranged in this way.

The exciting coil 10 excites (magnetizes) the stator 8 and the rotor 32 described later of the rotating portion 6 by supplying an exciting current, and when the operating lever 2 is rotated from a neutral position. The stator 8 and the rotor 32 are excited so as to generate a magnetic attraction force between the stator 8 and the rotor 32.

Specifically, the exciting coil 10 is a coil formed by simply winding a conducting wire made of copper or the like, and is wound around a shaft portion 23 between a pair of large diameter portions 24 of the stator 8. There is. In each figure, for the sake of simplification, the conductors constituting the exciting coil 10 are not shown. Further, the exciting coil 10 may be a so-called pancake coil in which a strip-shaped conducting wire is wound flatwise.

The exciting coil 10 forms a magnetic circuit (flow of magnetic flux) as shown by an arrow in FIG. 5, for example, by being supplied with an exciting current. Specifically, the exciting coil 10 passes through the pair of stator magnetic pole portions 26 and the rotor magnetic pole portions 38 facing the stator magnetic pole portions 26, and of the stator 8 and the rotor 32 in the directions along both the rotation axis C direction and the radial direction. A magnetic circuit having a path that surrounds the exciting coil 10 in the cross section is formed. In the state where such a magnetic circuit is formed, the operation lever 2 is rotated, and each rotor magnetic pole portion 38 facing each stator magnetic pole portion 26 rotates around each stator magnetic pole portion 26 corresponding to the rotor magnetic pole portion 38. When the rotor 32 rotates so as to cause a deviation in the direction, the magnetic resistance between each rotor magnetic pole portion 38 and the corresponding stator magnetic pole portions 26 increases. As a result, the magnetic attraction acts in the direction in which the magnetic resistance decreases, that is, in the direction in which the operating lever 2 and the rotor 32 are directed toward the neutral position side. This magnetic attraction force is applied to the operation lever 2 as a force sense.

The neutral position return unit 11 (see FIG. 6) generates a return force for returning the operation lever 2 to the neutral position when the operation lever 2 is rotated from the neutral position. The neutral position return portion 11 has a plurality of first permanent magnets 14a and a plurality of second permanent magnets 14b. In the present embodiment, the number of the first permanent magnets 14a and the number of the second permanent magnets 14b of the neutral position return portion 11 is four each.

The first permanent magnet 14a is a rotation axis between the pair of stator magnetic pole portions 26 in each pair of stator magnetic pole portions 26 arranged in the circumferential direction among the plurality of pairs of stator magnetic pole portions 26 of the stator 8. They are arranged in the spaces in the C direction, respectively, and are arranged outside the exciting coil 10 in the radial direction. As shown in FIG. 7, each first permanent magnet 14a has an N pole facing the outer side in the radial direction (the side opposite to the rotor magnetic pole portion 38) and an S pole facing the inner side in the radial direction (the side opposite to the rotor magnetic pole portion 38). To generate a magnetic flux outward from the N pole of the first permanent magnet 14a in the radial direction.

The second permanent magnet 14b is another pair of stator magnetic pole portions 26 separated in the circumferential direction from a predetermined pair of stator magnetic pole portions 26 in which the first permanent magnet 14a is arranged, specifically, the first permanent magnet portion 26. In another pair of stator magnetic poles 26 adjacent to each pair of stator magnetic poles 26 in which magnets 14a are arranged in the circumferential direction, between the other pairs of stator magnetic poles 26. It is arranged in each space in the rotation axis C direction of the above, and is arranged outside the exciting coil 10 in the radial direction. As shown in FIG. 8, each of the second permanent magnets 14b has an N pole facing the inner side in the radial direction (the side opposite to the rotor magnetic pole portion 38) and an S pole facing the outer side in the radial direction (the side opposite to the rotor magnetic pole portion 38). The rotor magnetic pole portion 38 located on the outer side in the radial direction with respect to the second permanent magnet 14b generates a magnetic flux toward the S pole of the second permanent magnet 14b.

In the fixed portion 7, the first permanent magnets 14a and the second permanent magnets 14b are arranged as described above, so that the directions of the N pole and the S pole are opposite to each other in the radial direction of the first permanent magnet 14a. And the second permanent magnet 14b are arranged alternately in the circumferential direction.

6 A magnetic circuit (flow of magnetic flux) as shown by an arrow is formed inside. Specifically, the predetermined first permanent magnet 14a passes through the radial outer rotor magnetic pole portion 38 and the outer peripheral portion 36 from the N pole, and passes through another rotor magnetic pole portion 38 adjacent to each other in the circumferential direction. It reaches the S pole of the second permanent magnet 14b adjacent to the first permanent magnet 14a in the circumferential direction, and from the N pole of the second permanent magnet 14b to the inside of the second permanent magnet 14b in the radial direction as described later. A magnetic circuit is formed so as to return to the S pole of the predetermined first permanent magnet 14a through the soft magnetic body 13 located. Such a magnetic circuit is formed for each pair of the first permanent magnet 14a and the second permanent magnet 14b adjacent to each other in the circumferential direction, and in a plurality of magnetic circuits thus formed side by side in the circumferential direction, the magnetic flux is alternately formed. The direction of the flow is opposite.

Further, a minute gap α is provided between each first permanent magnet 14a and the rotor magnetic pole portion 38 located outside the first permanent magnet 14a in the radial direction (see FIG. 7), and each second permanent magnet is provided. A similar gap α is provided between the magnet 14b and the rotor magnetic pole portion 38 located outside the second permanent magnet 14b in the radial direction (see FIG. 8). Further, a gap β is provided between each of the first permanent magnets 14a and the stator magnetic pole portions 26 located on both sides of the first permanent magnet 14a in the rotation axis C direction (see FIG. 7), and each second permanent magnet is provided. A similar gap β is provided between the magnet 14b and the stator magnetic pole portions 26 located on both sides of the second permanent magnet 14b in the direction of the rotation axis C (see FIG. 8). The size of the gap α is smaller than the size of the gap β. As a result, the flow of magnetic flux (flow of the broken line arrow in FIGS. 7 and 8) is suppressed in a path that short-circuits the first and second permanent magnets 14a and 14b and the stator magnetic pole portions 26 on both sides thereof. Therefore, the flow of magnetic flux between the first and second permanent magnets 14a and 14b, which are the paths having a smaller magnetic resistance, and the rotor magnetic pole portion 38 on the outer side in the radial direction thereof is promoted.

The operating lever 2 is rotated from a neutral position in a state where the magnetic circuit as described above is formed between the first permanent magnets 14a and the second permanent magnets 14b adjacent to each other in the circumferential direction, and each of the first permanent magnets 14a is operated. And when the rotor 32 rotates so that each rotor magnetic pole portion 38 facing each second permanent magnet 14b is displaced in the circumferential direction from the corresponding first permanent magnet 14a or second permanent magnet 14b. , The magnetic resistance between each of the first permanent magnets 14a and each of the second permanent magnets 14b and the corresponding rotor magnetic pole portion 38 increases. As a result, the magnetic attraction in the direction in which the magnetic resistance becomes smaller, that is, in the direction of returning the rotor 32 and the operating lever 2 to the neutral position, is that in the radial direction with each of the first permanent magnets 14a and each second permanent magnet 14b. It acts between each of the rotor magnetic poles 38 located outside the permanent magnets 14a and 14b of the above. This magnetic attraction force is applied to the rotor 32 and the operation lever 2 as the return force, and when the operator stops applying the force in the rotation operation direction to the operation lever 2, the operation lever 2 is neutralized by the return force. It is designed to be returned to the position.

The soft magnetic material 13 (see FIG. 6) functions as a return yoke that returns magnetic flux from the second permanent magnet 14b to the first permanent magnet 14a adjacent to the second permanent magnet 14b in the circumferential direction. That is, as described above, the portion of the magnetic circuit formed between the first permanent magnet 14a and the second permanent magnet 14b from the N pole of the second permanent magnet 14b to the S pole of the first permanent magnet 14a. The path is formed by this soft magnetic material 13.

The soft magnetic material 13 is formed of a soft magnetic material such as iron, and is located inside the radial direction with respect to the first permanent magnet 14a and the second permanent magnet 14b and outside the radial direction with respect to the exciting coil 10. It extends in the circumferential direction so as to connect the S pole of the first permanent magnet 14a and the N pole of the second permanent magnet 14b. Specifically, the soft magnetic material 13 forms an annular shape having an inner diameter larger than the outer diameter of the exciting coil 10, and is arranged coaxially with the exciting coil 10 so as to surround the exciting coil 10. .. The first permanent magnets 14a and the second permanent magnets 14b are installed on the outer peripheral surface of the soft magnetic material 13.

The dimensions of the soft magnetic material 13 in the rotation axis C direction are equal to the dimensions of the first and second permanent magnets 14a and 14b in the same direction (see FIGS. 7 and 8). Between the soft magnetic material 13 and the stator magnetic pole portions 26 located on both sides of the soft magnetic material 13 in the rotation axis C direction, the first and second permanent magnets 14a and 14b and the stator magnetic pole portions 26 are provided. A gap having the same size as the gap β between them is provided. As a result, leakage of magnetic flux from the soft magnetic material 13 to the stator magnetic pole portion 26 is suppressed.

The insulator 12 insulates between the exciting coil 10 and the soft magnetic body 13. That is, the insulator 12 prevents the current from flowing from the exciting coil 10 to the soft magnetic material 13 and to the permanent magnet 14 via the soft magnetic material 13 when the exciting current flows through the exciting coil 10. It is a thing. The insulator 12 is made of an insulating resin material and has an annular shape having an inner diameter slightly larger than the outer diameter of the exciting coil 10 as a whole (see FIG. 6). The insulator 12 is arranged coaxially with the exciting coil 10 and is arranged so as to surround the exciting coil 10 and covers the entire outer peripheral surface of the exciting coil 10. The soft magnetic material 13 is arranged further radially outside the insulator 12, and is installed on the outer peripheral surface of the insulator 12 so as to surround the insulator 12. The soft magnetic material 13 and the first and second permanent magnets 14a and 14b on the outer peripheral surface thereof are fixed to the insulator 12 by screwing or the like.

The operation angle detection unit (not shown) detects the rotation operation angle from the neutral position of the operation lever 2 about the rotation axis C. Specifically, the operation angle detection unit detects the rotation angle of the rotation unit 6 as the rotation operation angle from the state where the operation lever 2 is in the neutral position. This operation angle detection unit is, for example, a rotary encoder. This operation angle detection unit outputs an operation angle signal indicating the detection result to the control unit 19 (see FIG. 1).

The load detection unit 16 detects a load applied to a device on a work machine operated by the operation device 1, for example, a load of a motor for driving the device. The load detection unit 16 outputs a load signal indicating the detected load to the control unit 19.

The current supply device 18 is a device that supplies an exciting current to the exciting coil 10.

The control unit 19 causes the current supply device 18 to adjust the exciting current supplied to the exciting coil 10 based on the operation angle signal received from the operation angle detection unit and the load signal received from the load detection unit 16. For example, the correlation between the rotation operation angle and the torque around the rotation axis C as a force sense to be generated in the operation lever 2 and the correlation between the torque and the exciting current that needs to be passed through the exciting coil 10 are determined in advance by the control unit. It is incorporated in 19. Based on these correlations, the control unit 19 obtains an exciting current value corresponding to the rotation operation angle indicated by the operation angle signal, and a current supply device so that the excited current of the obtained value flows through the exciting coil 10. 18 is made to adjust the exciting current supplied to the exciting coil 10.

In the operation device 1 according to the present embodiment, when the operation lever 2 is rotated from the neutral position by the magnetic attraction force obtained by the first permanent magnet 14a and the second permanent magnet 14b of the neutral position return portion 11, the operation thereof is performed. A return force for returning the lever 2 to the neutral position can be applied to the operating lever 2. The magnetic attraction force obtained by the first permanent magnets 14a and the second permanent magnets 14b does not decrease even if the operating lever 2 is repeatedly rotated for a long period of time, and the permanent magnets 14a and 14b thereof. Will not wear out. Therefore, the operating device 1 according to the present embodiment can maintain a stable return operation to the neutral position of the operating lever 2 even when it is used for a long period of time.

Moreover, in the operation device 1 according to the present embodiment, the rotor 32, the excitation coil 10 and the stator 8 conventionally provided for imparting a force sense when the operation lever 2 is rotated from the neutral position are used. The operating lever 2 is placed in a neutral position simply by arranging the first permanent magnet 14a and the second permanent magnet 14b in the space existing between the stator magnetic pole portions 26 of each pair on the outer side of the exciting coil 10 in the radial direction. Since the neutral position return unit 11 that generates the return force to return to the position can be configured, the neutral position return unit 11 can be configured without making any special design change. Further, since the neutral position return portion 11 is composed of the first and second permanent magnets 14a and 14b arranged in the space as described above, the neutral position return portion is provided on the radial outer side of the rotor. The operation device 1 can be downsized as compared with the configuration.

Further, in the present embodiment, the second permanent magnet 14b is another pair of stator magnetic pole portions adjacent to a predetermined pair of stator magnetic pole portions 26 in which the first permanent magnet 14a is arranged in the circumferential direction. Since the second permanent magnet 14b is arranged between the 26s, the predetermined pair of stators 14b is more than the other pair of stator magnetic poles 26 adjacent to the predetermined pair of stator magnetic poles 26. Compared to the case where it is arranged between a pair of stator magnetic pole portions 26 far away from the magnetic pole portions 26, the distance of the magnetic path formed between the first permanent magnet 14a and the second permanent magnet 14b is suppressed. can.

The magnetic attraction acting between the first permanent magnet 14a and the rotor magnetic pole portion 36 located outside the first permanent magnet 14a in the radial direction and the second permanent magnet 14b in the radial direction and the second permanent magnet 14b. The magnetic attraction acting between the rotor magnetic pole portion 36 located on the outer side of the magnet decreases as the distance of the magnetic path formed between the first permanent magnet 14a and the second permanent magnet 14b increases. However, in the present embodiment, since the distance of the magnetic path can be suppressed as described above, the distance between the first permanent magnet 14a and the rotor magnetic pole portion 36 located outside the first permanent magnet 14a and the second permanent magnet 14b and the outside thereof. It is possible to prevent the magnetic attraction force acting on each of the positioned rotor magnetic pole portions 36 from weakening. Therefore, even if the first and second permanent magnets 14a and 14b are small in size or have a weak magnetic force, the force required for returning the operating lever 2 to the neutral position is required. Can be secured, and low-cost permanent magnets due to their small size and weak magnetic force can be used as the first and second permanent magnets 14a and 14b.

Further, in the present embodiment, the gap α provided between the first and second permanent magnets 14a and 14b and the rotor magnetic pole portion 36 located outside the permanent magnets 14a and 14b in the radial direction is the first. It is smaller than the gap β between the first and second permanent magnets 14a and 14b and the stator magnetic pole portions 26 located on both sides of the permanent magnets 14a and 14b in the rotation axis C direction. Therefore, the magnetic resistance between the first and second permanent magnets 14a and 14b and the rotor magnetic pole portion 36 located outside the permanent magnets 14a and 14b in the radial direction is the magnetic resistance between the first and second permanent magnets. It is smaller than the magnetic resistance between the 14a and 14b and the stator magnetic pole portions 26 located on both sides of the permanent magnets 14a and 14b in the rotation axis C direction.

Since the magnetic flux generated by the first and second permanent magnets 14a and 14b flows in a path having a smaller magnetic resistance, in the present embodiment, the first and second permanent magnets 14a shown by the dashed arrows in FIGS. 7 and 8 , 14b and the stator magnetic flux portions 26 located on both sides of the permanent magnets 14a and 14b in the rotation axis C direction (paths shown by broken arrows in FIGS. 7 and 8). It is possible to suppress the flow of magnetic flux. As a result, the N pole of the first permanent magnet 14a reaches the S pole of the second permanent magnet 14b adjacent to the first permanent magnet 14a in the circumferential direction through the rotor 32, and the second permanent magnet 14b It is possible to suppress a decrease in the flow of the magnetic flux flowing from the N pole through the soft magnetic body 13 and the magnetic circuit of the path returning to the S pole of the first permanent magnet 14a, and the first and first positions are caused by the flow of the magnetic flux. 2 It is possible to prevent the magnetic attraction force acting between the permanent magnets 14a and 14b and the rotor magnetic pole portion 38 located outside them from weakening.

Further, in the present embodiment, the S pole of the first permanent magnet 14a and its first position at positions radially inside the first and second permanent magnets 14a and 14b and radially outside the exciting coil 10. A soft magnetic material 13 extending in the circumferential direction is provided so as to connect the N pole of the second permanent magnet 14b adjacent to the 1 permanent magnet 14a. Therefore, due to the soft magnetic material 13, the path of the magnetic flux from the N pole of the second permanent magnet 14b to the S pole of the first permanent magnet 14a is close to those of the first and second permanent magnets 14a and 14b, and is a short distance. Can be formed with. Therefore, it is possible to secure a larger magnetic attraction force acting between the first and second permanent magnets 14a and 14b and the rotor magnetic pole portion 38 located outside the permanent magnets 14a and 14b in the radial direction. can. From the above, even if permanent magnets having a smaller size or weaker magnetic force are used as the first and second permanent magnets 14a and 14b, the force required for the return force can be secured, and the first and second permanent magnets can be secured. The cost reduction of the magnets 14a and 14b can be further promoted.

Next, the result of the simulation for analyzing the return force (reaction torque) acting on the operation lever 2 when the operation lever 2 is rotated from the neutral position in the operation device 1 of the present embodiment will be described.

In this simulation, Example 1, Example 2, and Comparative Example were set as examples of the operation device 1 to be analyzed. The configuration of the operation device 1 set for each of these examples is as follows.

[Example 1]
The operating device according to the first embodiment has the same configuration as the operating device 1 described above. Neodymium magnets having a magnet grade of N45SH are used as the first and second permanent magnets 14a and 14b in the configuration. The neodymium magnet having a magnet grade of N45SH has a residual magnetic flux density in the range of 1320 mT to 1380 mT and a coercive force of 907 kA / m or more. Further, the first and second permanent magnets 14a and 14b have a width of 8 mm in the direction along the rotation axis C direction, a length of 15 mm in the circumferential direction, and a thickness of 3 mm in the radial direction. Suppose that Further, it is assumed that the gap α between the first and second permanent magnets 14a and 14b and the rotor magnetic pole portion 38 located outside the permanent magnets 14a and 14b in the radial direction is 0.5 mm. Further, it is assumed that the gap β between the first and second permanent magnets 14a and 14b and the stator magnetic pole portions 26 located on both sides of the permanent magnets 14a and 14b in the rotation axis C direction is 2 mm. Further, the soft magnetic material 13 is formed of a cold rolled steel plate (SPCC), the width of the soft magnetic material 13 in the rotation axis C direction is 8 mm, and the thickness of the soft magnetic material 13 in the radial direction is 1. It shall be 5 mm. Further, the stator 8 and the rotor 32 are formed of a cold rolled steel plate (SPCC).

[Example 2]
The operating device according to the second embodiment is different from the operating device according to the first embodiment only in that it does not have the soft magnetic material 13, and is configured in the same manner as the operating device according to the first embodiment except for the above. And.

[Comparison example]
The operating device according to the comparative example is not provided with the first and second permanent magnets 14a and 14b and the soft magnetic material 13, and is configured in the same manner as the operating device according to the first embodiment except for that point.

Regarding the operating devices according to Examples 1, 2 and Comparative Examples as described above, the rotation operating angle of the operating lever when the operating lever is rotated from the neutral position and the return force for returning the operating lever to the neutral position A simulation was performed to investigate the correlation with the corresponding reaction force torque. This simulation was performed when the exciting current supplied to the exciting coil was 0 A, 1 A, and 5 A, respectively. The rotation operation angle from the neutral position of the operation lever was set in the range of 0 ° to ± 10.5 °. Of the range of this rotation operation angle, the range from 0 ° to + 10.5 ° and the range from 0 ° to -10.5 ° showed the same correlation. The analysis result of the simulation in the range of the rotation operation angle of is described.

9 to 11 show the correlation between the rotation operation angle of the operation lever, which is the analysis result of the simulation, and the reaction force torque acting on the operation lever. FIG. 9 shows the correlation when the exciting current supplied to the exciting coil is 0 A. When the exciting current is 0 A, the reaction force torque is not generated in the operating lever in the operating device according to the comparative example. Therefore, FIG. 9 does not show the analysis result for the comparative example. FIG. 10 shows the correlation when the exciting current supplied to the exciting coil is 1 A. FIG. 11 shows the correlation when the exciting current supplied to the exciting coil is 5 A.

As shown in FIG. 9, even when the exciting current supplied to the exciting coil is 0 A, that is, even when the magnetic attractive force due to the excitation by the exciting coil does not occur, the above-mentioned first embodiment and the above-mentioned embodiment. In 2, the reaction force torque applied to the operation lever is obtained by rotating the operation lever from the neutral position (rotation operation angle 0 °), and this reaction force torque is caused by the magnetic flux generated by the permanent magnet. It turns out that it is something to do. Further, it can be seen that the reaction force torque gradually increases as the rotation operation angle of the operation lever increases. Further, from the analysis result that the reaction force torque is applied to the operating lever in both the first embodiment and the second embodiment, the reaction force is applied regardless of the presence or absence of the soft magnetic material between the exciting coil and each permanent magnet. It can be seen that torque can be obtained. However, since the value of the reaction force torque in the second embodiment is larger than the reaction force torque in the first embodiment, a soft magnetic material is placed between the exciting coil and the permanent magnet to give the operation lever. It can be seen that the reaction force torque generated can be increased.

The reaction force torque can be obtained without the soft magnetic material because the flow of magnetic flux from the N pole of the second permanent magnet to the S pole of the first permanent magnet adjacent to the second permanent magnet in the circumferential direction. The first permanent magnet and the first permanent magnet, which are formed through a pair of large-diameter stator magnetic poles and a central portion located on both sides of the first and second permanent magnets, although they are small, to generate the reaction force torque. 2 It is considered that this is because a magnetic circuit is constructed between the permanent magnet and the magnet.

Further, comparing FIGS. 9 and 10, when an exciting current of 1 A is supplied to the exciting coil (see FIG. 10), compared with the case where the current supplied to the exciting coil is 0 A (see FIG. 9). It can be seen that the reaction force torque applied to the operating lever in the first and second embodiments is slightly increased. This is because the reaction force torque is increased by the magnetic attraction force caused by the excitation by the exciting coil. That is, the reaction force applied to the operating lever by adding the amount corresponding to the reaction force torque applied to the operating lever in the comparative example in FIG. 10 to the reaction force torque caused by the magnetic flux generated by the permanent magnet. It is probable that the torque increased.

Further, as shown in FIG. 11, when the exciting current supplied to the exciting coil is 5 A, it can be seen that the reaction force torque applied to the operating lever is further increased. This is because the reaction force torque applied to the operation lever in the comparative example in FIG. 11 is larger than the reaction force torque in the comparative example of FIG. 10, so that the magnetic attraction force caused by the excitation by the exciting coil is increased. It turns out that it is due to the increase.

From the results of FIGS. 10 and 11, even when the reaction force torque is obtained by the magnetic flux generated by the permanent magnet, the magnetic attraction force caused by the excitation by the exciting coil is adversely affected and the magnetism thereof. It was found that there was no problem that the reaction force torque due to the suction force was reduced.

Further, in FIGS. 10 and 11, the correlation between the rotation operation angle of the operation levers of Examples 1 and 2 and the reaction force torque is such that when the rotation operation angle of the operation lever exceeds about 1.5 °. Since the reaction force torque increases almost linearly as the rotation operation angle of the operation lever increases, the reaction force torque generated by the excitation by the exciting coil and the magnetic flux generated by the permanent magnet are the cause. It was found that the combined use with the reaction force torque does not cause an adverse effect such as the loss of the linearity.

The force sense-imparting operation device according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, in the operating device of the above embodiment, the stator is arranged radially inside, and the rotor is arranged so as to surround the stator on the radial outside of the stator. The arrangement with the child may be reversed. That is, the rotor may be arranged radially inside, and the stator may be arranged so as to surround the rotor on the radial outside of the rotor. In this case, the configurations of the fixed portion and the rotating portion of the embodiment may be exchanged, and the operating lever may be connected to the rotor arranged radially inside the stator.

Further, the operating device does not necessarily have to include a soft magnetic material arranged on the exciting coil side of each permanent magnet. Even in this case, the magnetic attraction force acting between each rotor magnetic pole portion and each permanent magnet when the operating lever is rotated from the neutral position, that is, the returning force for returning the operating lever to the neutral position, is still present. It is given to the operation lever.

Further, each of the first permanent magnets and the second permanent magnets may be divided into two in the circumferential direction. FIG. 12 shows a modified example configured in this way. In the modification, each of the first permanent magnets 14a and each second permanent magnet 14b is divided into two permanent magnets in the circumferential direction, and a gap is provided between the divided two permanent magnets. It should be noted that this gap does not necessarily have to be provided, and the two divided permanent magnets may be in contact with each other. The two divided permanent magnets are arranged so as to be within the circumferential direction of the stator magnetic pole portions 26 located on both sides of the permanent magnets in the rotation axis C direction.

Further, in this modification, the soft magnetic material 13 does not form an annular shape as a whole as in the above embodiment, but is divided into a plurality of pieces in the circumferential direction. The soft magnetic material 13 is divided at each position where each of the first permanent magnets 14a and each of the second permanent magnets 14b is divided into two, and a gap is provided between the divided soft magnetic materials 13. Is provided. Each of the divided soft magnetic materials 13 connects one of the divided permanent magnets of the first permanent magnet 14a and the divided permanent magnet of the second permanent magnet 14a adjacent to the permanent magnet in the circumferential direction. It extends in an arc shape in the circumferential direction.

Further, in this modification, the insulator 12 is also divided into a plurality of parts in the circumferential direction. Specifically, the insulator 12 is divided at each position where the soft magnetic material 13 is divided. The divided insulators 12 are in contact with each other in the circumferential direction. One of the divided soft magnetic materials 13 located on the radial outer side of each of the divided insulators 12 and the first and second permanent magnets 14a and 14b provided on the radial outer side thereof. Permanent magnets are fixed by screwing.

According to this modification, when the insulator 12 and the soft magnetic material 13 are installed around the exciting coil 10 in the fixing portion 6, the insulator 12 and the soft magnetic material 13 are divided into a plurality of parts in the circumferential direction. Therefore, the installation work becomes easy.

Further, the neutral position return portion of the operating device in the present invention may include at least one set including a first permanent magnet and a second permanent magnet. That is, if at least one pair of a first permanent magnet and a second permanent magnet that are arranged apart from each other in the circumferential direction and the directions of the S pole and the N pole in the radial direction are opposite to each other is provided, the first one. A magnetic circuit can be formed between the permanent magnet and the second permanent magnet to obtain a magnetic attraction force that generates a return force to the neutral position when the operating lever is rotated from the neutral position.

Further, the second permanent magnet does not necessarily have a pair of inner magnetic poles adjacent to each other in the circumferential direction with respect to a predetermined pair of inner magnetic poles in which the first permanent magnet forming a magnetic circuit is arranged between the second permanent magnet. It does not have to be arranged between the parts. That is, the second permanent magnet may be arranged between the inner magnetic pole portions of another pair located further in the circumferential direction from the inner magnetic pole portions of the adjacent pair.

1 Force sense application type operation device 2 Operation lever 6 Rotating part (outer member)
7 Fixed part (inner member)
8 Stator (inner member body)
10 Excitation coil 11 Neutral position return part 13 Soft magnetic material 14a First permanent magnet 14b Second permanent magnet 23 Shaft part 24 Large diameter part 26 Stator magnetic pole part (inner magnetic pole part)
38 Rotor magnetic pole (outer magnetic pole)

Claims (4)

It is a force sensation type operation device that is used to operate a work machine and gives a force sensation to the operator at the time of operation.
An operation lever operated by an operator to operate the work machine, which can be rotated around a predetermined rotation axis from a neutral position.
Fixed part and
A rotating portion that is configured to be rotatable about the rotation axis with respect to the fixed portion and is connected to the operating lever so as to rotate with the rotational operation of the operating lever is provided.
One member of the fixed portion and the rotating portion is arranged outside the radial direction of the circle centered on the rotating axis with respect to the inner member which is the other member of the fixed portion and the rotating portion. It is an outer member having a portion surrounding the inner member.
The inner member is provided on the shaft portion having an axial center corresponding to the rotating shaft and arranged apart from each other in the direction along the rotating shaft so as to spread outward in the radial direction of the shaft portion. An inner member body having a pair of large diameter portions and a magnetism that is an exciting coil wound around the shaft portion and causes the force sense when the operation lever is rotated from the neutral position. A device that excites the inner member body and the outer member so as to generate an attractive force between the inner member body and the outer member, and an operation thereof when the operation lever is rotated from the neutral position. A neutral position return portion for generating a return force for returning the lever to the neutral position is provided.
The outer members are arranged at intervals in the circumferential direction of the circle, and have a plurality of outer magnetic pole portions in which magnetic flux is concentrated when the outer members are excited.
When each of the pair of large diameter portions is arranged at intervals in the circumferential direction and is arranged so as to face each of the plurality of outer magnetic flux portions in the radial direction, and the inner member main body is excited. Has multiple inner magnetic poles where magnetic flux is concentrated in
The plurality of inner magnetic pole portions of the pair of large diameter portions are arranged so as to face each other in a direction along the rotation axis and form a pair.
The neutral position return portion is a first permanent magnet arranged outside the exciting coil in the radial direction between predetermined pairs of inner magnetic pole portions among the plurality of pairs of inner magnetic pole portions, and has the diameter. The diameter between one having an N pole facing outward in the direction and an S pole facing inward in the radial direction and another pair of inner magnetic pole portions separated from the predetermined pair of inner magnetic pole portions in the circumferential direction. A second permanent magnet arranged outside the exciting coil in the direction having an N pole facing inward in the radial direction and an S pole facing outward in the radial direction, and the operating lever was rotated. When the magnetic attraction force that generates the return force is between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction, and in the radial direction with the second permanent magnet. A force sense imparting including a magnetic circuit formed between the second permanent magnet and the first permanent magnet so as to occur between the outer magnetic pole portion located outside the second permanent magnet. Mold control device. The second permanent magnet is arranged between another pair of inner magnetic poles adjacent to each other in the circumferential direction with respect to the predetermined pair of inner magnetic poles in which the first permanent magnet is arranged. , The force-imparting operation device according to claim 1. A radial gap is provided between the first permanent magnet and the outer magnetic pole portion located outside the first permanent magnet in the radial direction, and the first permanent magnet and the predetermined one are provided. A gap in the direction along the rotation axis is provided between each of the pair of inner magnetic poles.
A radial gap is provided between the second permanent magnet and the outer magnetic pole portion located outside the second permanent magnet in the radial direction, and the second permanent magnet is different from the second permanent magnet. A gap in the direction along the rotation axis is provided between each of the pair of inner magnetic poles.
The radial gap of the first permanent magnet is smaller than the gap along the rotation axis of the first permanent magnet.
The force-sensing type operating device according to claim 1 or 2, wherein the radial gap of the second permanent magnet is smaller than the gap of the second permanent magnet in the direction along the rotation axis. The inner member includes the first permanent magnet and the second permanent magnet at positions inside the radial direction with respect to the first permanent magnet and the second permanent magnet and outside the radial direction with respect to the exciting coil. The force-sensing type operating device according to any one of claims 1 to 3, which has a soft magnetic material extending in the circumferential direction so as to connect with a magnet.

Images