JP2010211270A - Operation feel feedback input device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation feel feedback input device that generates large rotational resistance with less power and also generates autonomous torque. <P>SOLUTION: The operation feel feedback input device 10 includes: a rotary operation part 12; an encoder 18 which detects a rotating state of the operation part 12; an armature rotor 22 which rotates with the operation part 12; an electromagnetic brake 24 which applies rotational resistance to the operation part 12 through the armature rotor 22; and an electric motor 30 which applies autonomous torque to the operation part 12 through a rotating shaft 14. A control part 28 drives the electromagnetic brake 24, when the rotational resistance is applied, to suppress the consumption of power, and also autonomously rotates the operation part 12 by driving the electric motor 30. Winding 24b is disposed outside the electric motor 30, thereby reducing the total length of the body. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an operation feeling imparting type input device that can be used as an input device for various electronic devices, in-vehicle electrical components, and the like, and can impart a dynamic operation feeling to an operator.

  With regard to this type of operation feeling imparting type input device, a rotary motor is used as an actuator for imparting an operation feeling to the operation unit (for example, see Patent Document 1), or an electromagnetic brake is used (for example, see Patent Document 2). ) Etc. are known as prior art.

  In the former prior art, since the operation unit can be rotated independently by the output of the rotary motor, the rotational force is generated in a direction opposite to the rotation operation of the operator, for example, by appropriately switching the direction of the rotational force. It is also possible to generate a self-supporting rotational force in the same direction as the rotational operation. In addition, even when the operator stops the operation (releases the hand from the operation unit), the operation unit can be returned to a desired rotation position (origin position or the like) by a self-supporting rotational force.

  On the other hand, although the latter prior art can generate rotational resistance by friction caused by an electromagnetic brake, the operation is passive, and the operation unit cannot be rotated autonomously. However, the electromagnetic brake can generate a large rotational resistance by using friction, and therefore has an advantage that the power conversion efficiency is superior to that of the rotary motor. For example, when the rotation of the operation unit is to be restricted at a specific position (when a so-called wall feel is imparted), the electromagnetic brake has an advantage that it consumes less electric power than the rotary motor.

JP 2006-251845 A JP 2005-28510 A

  As described above, in order to rotate the operation unit independently, it is necessary to use a rotary motor for the actuator. In this case, a rotation resistance can be generated in the operation unit, or it can be rotated independently, but it is not suitable for use in generating a large rotation resistance with less power. On the other hand, when the electromagnetic brake is used, a large rotational resistance can be generated with less electric power, but the operation unit cannot be rotated autonomously.

  Therefore, the present invention is intended to provide an operation feeling imparting type input device that can generate a large rotational resistance with less electric power and can generate a self-supporting rotational force.

  Solution 1: The present invention provides an operation unit that is rotated by an operator, a rotation state detection unit that detects and outputs the rotation state of the operation unit, and a rotation resistance or operation unit for the rotation operation to the operation unit. An actuator that provides the operating unit with at least one of the self-supporting rotational force that rotates automatically, and a control unit that controls the operating state of the actuator based on the rotational position and the rotational direction of the operating unit calculated based on the output from the rotational state detecting unit; Is an operation feeling imparting type input device.

  On that basis, the actuator according to the present invention is a self-rotating rotation by rotating the operating portion by rotating the operating portion by pressing the rotor member rotating together with the operating portion to the stator member fixed in a non-rotating state together with the operating portion. Motor means for generating force.

  As described above, in the present invention, the actuator can be composed of two drive sources, the brake means and the motor means. For this reason, the actuator may use either brake means or motor means (both may be used) when generating rotational resistance in the operation unit, but mainly generates braking means when generating particularly large rotational resistance. By using, power consumption can be reduced as a whole. Further, if the motor means is utilized, the operation unit can be rotated autonomously to a desired rotation position.

  In addition, the actuator can generate rotational resistance only with the brake means, or it can generate rotational resistance with only the motor means. Furthermore, since the rotation resistance can be generated by cooperating the motor means and the brake means (in parallel), a stronger rotation resistance can be generated as necessary.

  Further, the actuator can generate a self-supporting rotational force simultaneously with the motor means while generating rotational resistance with the brake means. In this case, it is possible to give the operator a feeling as if the operation unit may rotate autonomously while giving an appropriate resistance feeling to his / her operation. As a result, the use of motor means capable of generating a self-supporting rotational force while using a motor means capable of generating a self-supporting rotational force while reducing the power consumption by mainly covering the generation of rotational resistance with the brake means realizes a greater variety of operational feeling. be able to.

  Solution 2: In the operation feeling imparting type input device of Solution 1, the motor means is an electric motor having an output shaft on the rotation axis of the operation unit. The brake means is an electromagnetic brake having a rotor member made of a magnetic material and installed so as to be movable in the direction of the rotation axis of the operation unit, and an electromagnetic coil that attracts the rotor member to the stator member when energized. At this time, an aspect in which the electromagnetic coil is formed around the rotation axis on the outer periphery of the electric motor is preferable.

  If it is said aspect, when a motor means and a brake means are made into an electric motor and an electromagnetic brake, respectively, size reduction to a rotating shaft direction can be achieved by forming the electromagnetic coil of an electromagnetic brake in the outer side of an electric motor. it can.

  Moreover, since the winding diameter of the electromagnetic coil can be increased because the electromagnetic coil is formed outside the electric motor, compared to a structure with a small winding diameter (for example, when the electromagnetic coil is formed near the outside of the rotating shaft). A large magnetic force can be generated. Further, when the winding diameter is increased, a sufficient magnetic force can be generated with less electric power, so that it is possible to efficiently generate rotational resistance while saving power. Furthermore, if the outer diameters of the stator member and the rotor member are increased in accordance with the increase in the winding diameter, a larger frictional force can be obtained, so that a rotational resistance can be generated more efficiently. In addition, even if the number of turns is reduced instead of increasing the winding diameter, sufficient magnetic force can be generated, contributing to downsizing of the device by reducing the number of turns of the electromagnetic coil without sacrificing rotational resistance. You can also

  Solution 3: In Solution 2, the electromagnetic brake includes an electromagnetic coil in an annular space formed between the inner cylindrical portion and the outer cylindrical portion that are arranged around the rotation axis. You may have further accommodated the coil case. The electric motor may include an armature coil attached to the rotating shaft of the operation unit and a magnet disposed with a clearance on the outer peripheral side of the armature coil. In this case, a mode in which the magnet is attached to the inner peripheral surface of the inner cylindrical portion of the coil case is preferable.

  If it is said aspect, since the coil case (especially inner cylindrical part) of an electromagnetic brake can be utilized also as the outer case (casing) of an electric motor, it can aim at the simplification of a structure by reducing the number of parts that much. it can.

  Solution 4: In the solutions 1 to 3, the control means operates only one of the brake means and the motor means.

  As described above, when the rotational resistance or the self-supporting rotational force is generated using the electromagnetic brake and the electric motor, both of them can be operated simultaneously (solution means 1). In addition, by operating only one of the brake means (electromagnetic brake) or the motor means (electric motor), the mutual magnetic fields interfere with each other, or the magnetic field generated on one side affects the operation of the other. Can be prevented.

  In particular, when the electromagnetic coil of the electromagnetic brake is formed outside the electric motor as in Solution 2 and 3, since the mutual proximity and influence are likely to occur due to structural proximity, the electromagnetic brake and the electric motor are controlled. By properly using these, it is possible to prevent unexpected interference and influences from occurring.

It is the schematic which shows the whole structure of the operation feeling provision type | mold input device of 1st Embodiment. It is a top view (including II-II section in Drawing 1) showing the connection relation of a rotation member and a friction board. It is a block diagram which shows roughly the structure of the control system of an operation feeling provision type | mold input device. It is a flowchart which shows the example of a procedure of the control process which a control part (calculation part) performs. It is the figure which showed the 1st example and 2nd example of the force curve which can be used for a calculation in a calculation process. It is the figure which showed the 3rd example and 4th example of the force curve which can be used for a calculation in a calculation process. It is the schematic which shows the whole structure of the operation feeling provision type | mold input device of 2nd Embodiment. It is the schematic which shows the whole structure of the operation feeling provision type | mold input device of 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The operation feeling imparting type input device of the present invention is used as an input device (user interface) for in-vehicle electrical components such as car navigation devices as well as various electronic devices (computer devices, audio devices, video devices), for example. Can do.

[First Embodiment]
FIG. 1 is a schematic diagram illustrating an overall configuration of an operation feeling imparting type input device 10 according to the first embodiment. In FIG. 1, most of the mechanical configuration of the operation feeling imparting type input device 10 is shown by a vertical section. In FIG. 1, the electrical configuration of the operation feeling imparting type input device 10 is shown as a block element.

[Operation section]
The operation feeling imparting type input device 10 includes an operation unit 12. The operation unit 12 has, for example, a rotary knob shape (dial shape). The operator can rotate the operation unit 12 while pinching the operation unit 12. At this time, the operation unit 12 rotates about a rotation axis CL indicated by a one-dot chain line in the drawing.

  The operation unit 12 is connected to one end of the rotating shaft 14, for example. The rotation shaft 14 extends in one direction (downward in FIG. 1) from the operation unit 12 along the rotation axis CL, and the rotation shaft 14 rotates around the rotation axis CL together with the operation unit 12.

  The rotary shaft 14 is provided with an elastic member 15 in the middle of the axial direction. For this reason, the rotating shaft 14 has the structure divided | segmented into the 1st part 14a and the 2nd part 14b in the axial direction on both sides of the elastic member 15. FIG. The elastic member 15 and the first part 14a and the second part 14b are firmly joined at the respective joints. For the elastic member 15, for example, rubber can be used as a material.

[Rotation detection]
A code plate 16 that is a detection target is attached to the outer periphery of the rotating shaft 14 (first part 14a). The code plate 16 has a thin disk shape centered on the rotating shaft 14, and slits (not shown) are formed at a constant pitch in the circumferential direction. In addition, an index (light-shielding portion) (not shown) is formed on the outer peripheral portion of the code plate 16 in the circumferential direction with the origin position in the rotation direction as a base point.

  For example, an optical encoder 18 is installed in the vicinity of the rotating shaft 14 as a detection unit. The encoder 18 can transmit the slits of the code plate 16 at different positions using, for example, two detection light beams. When the operation unit 12 is rotated, the code plate 16 is rotated together with the rotating shaft 14, and rotation angle signals (A phase and B phase encoder pulses) having a phase difference from each other are output from the encoder 18. The The encoder 18 may be an analog encoder (for example, a magnetic sensor type).

  For example, the rotating member 20 is attached to the rotating shaft 14 near the center of the second part 14b in the axial direction. The rotating member 20 has, for example, a disk-shaped main body portion 20a, and the main body portion 20a extends in the radial direction around the rotating shaft 14 (second part 14b). A through hole 20b is formed at the center position of the main body 20a, and the through hole 20b is formed so as to penetrate the main body 20a in the thickness direction. The rotating member 20 is fixed to the rotating shaft 14 with the rotating shaft 14 (second part 14b) inserted through the through hole 20b. For this reason, the rotating member 20 rotates around the rotation axis CL together with the rotating shaft 14 when the operation unit 12 is operated.

[Armature rotor (rotor member)]
An armature rotor 22 is attached to the rotary shaft 14 at a position adjacent to the rotary member 20 when viewed in the direction along the rotary axis CL. The armature rotor 22 also has a disk-shaped main body 22a, for example, and an insertion hole 22b is formed at the center thereof. The insertion hole 22b of the armature rotor 22 also penetrates the main body portion 22a in the thickness direction, but its inner diameter is slightly larger than the outer diameter of the rotating shaft 14. For this reason, the armature rotor 22 is not fixed to the rotating shaft 14 (second part 14b), and is supported so as to be capable of relative rotation around the rotating axis CL with respect to the rotating shaft 14 and the rotating member 20. ing.

  Further, the armature rotor 22 can be slightly displaced in the direction along the central axis CL with the rotating shaft 14 (second part 14b) inserted through the insertion hole 22b. In addition, between the outer peripheral surface of the rotating shaft 14, and the inner peripheral surface of the insertion hole 22b, the bearing (not shown) which can slide along the rotating shaft 14 may be provided, for example. The entire armature rotor 22 is made of a magnetic material (for example, iron).

[Electromagnetic brake (brake means)]
The operation feeling imparting type input device 10 of the first embodiment includes an electromagnetic brake 24 as a component of the actuator. The electromagnetic brake 24 has a case type core 24a (stator member) having a hollow cylindrical shape, for example, and a structure in which a hoop-like winding 24b (electromagnetic coil) is arranged inside the case type core 24a. is there. A resin bearing 24c, for example, is provided at the center of the case core 24a, and the other end (the lower end as viewed in FIG. 1) of the rotary shaft 14 is rotatable to the case core 24a via the bearing 24c. It is supported. The electromagnetic brake 24 can generate an electromagnetic force in the case-type core 24a in a state where the winding 24b is energized, and can adsorb the armature rotor 22 in the thrust direction.

  The other end (second part 14b) of the rotating shaft 14 passes through the case core 24a and protrudes in the opposite direction (downward as viewed in FIG. 1) to the rotating member 20 and the armature rotor 22, and at this protruding position. A flange-shaped stopper 26 is attached to the rotary shaft 14 (second part 14b). The stopper 26 prevents the rotating shaft 14 from shifting in the axial direction (upward in FIG. 1) with respect to the case mold core 24a.

[Electric motor (motor means)]
Further, the operation feeling imparting type input device 10 of the first embodiment includes an electric motor 30 as a component of the actuator, in addition to the electromagnetic brake 24 described above. In the first embodiment, the electric motor 30 is a DC motor, for example. The output shaft of the electric motor 30 is integrated with the rotating shaft 14 (second part 14b) or is coaxially connected to the rotating shaft 14.

  Although not specifically illustrated here, the electromagnetic brake 24 and the electric motor 30 are fixed to separate device bodies and housings that house the operation feeling imparting type input device 10. For this reason, even if the operation part 12 is rotationally operated, the electromagnetic brake 24 and the electric motor 30 are not rotated by it.

  Further, the operation feeling imparting type input device 10 includes a control unit 28, and an encoder 18, an electromagnetic brake 24, and an electric motor 30 are connected to the control unit 28. The configuration of the control system centering on the control unit 28 will be further described later.

[Give self-supporting rotational force]
The operation feeling imparting type input device 10 energizes the electric motor 30 constituting the actuator, thereby rotating the rotating shaft 14 by the driving force and imparting a self-supporting rotational force (self-supporting rotational force) to the operation unit 12. be able to.

[Granting rotation resistance]
Further, the operation feeling imparting type input device 10 attracts the armature rotor 22 by energizing the electromagnetic brake 24 described above, and imparts a frictional resistance to the rotating member 20 via the armature rotor 22, thereby causing the operating portion 12 to have a rotational resistance. Can be granted. For this reason, the first embodiment employs a structure in which rotation is transmitted between the armature rotor 22 and the rotating member 20.

  That is, the armature rotor 22 is provided with two connection protrusions 22c that protrude from the surface (the upper surface in FIG. 1). These connection protrusions 22c all extend from the surface of the armature rotor 22 (main body portion 22a) toward the rotating member 20. On the other hand, the rotation member 20 has connection holes 20c formed at positions corresponding to the two connection protrusions 22c. These connection holes 20c extend through the main body portion 20a in the thickness direction, and connection protrusions 22c are inserted into the connection holes 20c, respectively. Each connection protrusion 22c has a total length that protrudes to some extent from the surface (upper surface in FIG. 1) of the rotating member 20 (main body portion 20a) in a state of being inserted into the connection hole 20c.

  FIG. 2 is a plan view (including a II-II cross section in FIG. 1) showing a connection relationship between the rotating member 20 and the armature rotor 22. As shown in FIG. 2, the two connecting projections 22c are inserted into the connecting holes 20c of the rotating member 20, and the relative rotation between the rotating member 20 and the armature rotor 22 is restricted in this state. Has been. For this reason, when the armature rotor 22 is attracted by the electromagnetic brake 24, a frictional resistance in the rotation direction is imparted to the rotating member 20 via the armature rotor 22. However, as described above, the connection protrusion 22c is not restricted from moving in the axial direction in the connection hole 20c, and thus the axial force does not reach the entire rotating shaft 14.

[Give rotation resistance by electric motor]
In the first embodiment, rotation resistance can be applied by the electric motor 30. That is, it is possible to apply a rotational resistance to the operation unit 12 by driving the electric motor 30 in a direction opposite to the direction of the rotation operation of the operation unit 12 by the operator. However, in this case, power consumption increases compared to the electromagnetic brake 24.

  The elastic member 15 causes torsional deformation (elastic deformation) in the rotation direction when the operation unit 12 is operated in a state where rotational resistance is applied to the operation unit 12. However, since the elastic member 15 is made of a material having sufficient rigidity with respect to the torque at that time even when the operating portion 12 is operated in a state where the applied rotational resistance is the maximum, the elastic member 15 yields there. And will not break. Therefore, the elastic member 15 can transmit the operation force received by the operation unit 12 from the first part 14 a to the second part 14 b and the rotation member 20 while being deformed within a normal elastic range.

  Accordingly, when the operator applies a certain amount of operating force to the operation unit 12, the operation unit 12 can be continuously rotated while the armature rotor 22 is slipped with respect to the electromagnetic brake 24. Alternatively, even when a rotational resistance is applied by the electric motor 30, if the operator applies a certain amount of operating force to the operation unit 12, the rotational resistance (self-supporting rotational force in the direction opposite to the operation direction) is applied. The operation unit 12 can be continuously rotated while the electric motor 30 is rotated in the reverse direction.

  On the other hand, the elastic member 15 can be returned from the deformation state until then when the operator releases the operation part 12 or loosens the operation force in a state where the elastic deformation has occurred as described above. With this return, the elastic member 15 slightly rotates the operation unit 12 and the code plate 16 together with the first part 14a in the opposite direction. Therefore, when the operation unit 12 does not receive the operation force in a state where the rotation resistance is applied, the rotation angle of the operation unit 12 slightly changes in the direction opposite to the rotation direction so far.

[Control system configuration]
FIG. 3 is a block diagram schematically showing the configuration of the control system of the operation feeling imparting type input device 10. The control unit 28 includes, for example, a calculation unit 28a using a processor (CPU), a storage unit 28b using a memory device such as a RAM and a ROM, a microcomputer having an input unit 28c and an output unit 28d. ing.

  The rotation angle signals output from the encoder 18 are A / D converted by the input unit 28c and input to the calculation unit 28a. The calculation unit 28a calculates the rotation angle and rotation direction of the rotating shaft 14 (operation unit 12) based on the input signal. The calculation unit 28 a outputs a control signal based on the calculation result of the rotation angle and the rotation direction, and controls the operation state of the electromagnetic brake 24 and the electric motor 30. At this time, the control signal for the electromagnetic brake 24 is converted into a drive current or a drive voltage supplied to the electromagnetic brake 24 through the output unit 28d. The control signal for the electric motor 30 is converted into a drive current or a drive voltage through the output unit 28d for each rotation direction (CCW / CW) at that time.

[Connection with external system]
Note that the operation feeling imparting type input device 10 of the first embodiment can be used by being connected to a display device 32 as an external system, for example. In this case, the operation feeling imparting type input device 10 can output an external output signal related to display control from the control unit 28 to the display device 32.

  For example, when a pointer or the like is displayed on a display screen (not shown) of the display device 32 in conjunction with the rotation position of the operation unit 12 (rotation angle viewed on coordinates), the control unit 28 displays the pointer display position. Is output as an external output signal. The display device 32 displays a pointer on the display screen based on the rotation angle coordinates received from the control unit 28. Accordingly, the display device 32 can move the pointer on the display screen in real time in conjunction with the change in the rotation angle of the operation unit 12. However, such a configuration is not particularly essential, and the operation feeling imparting type input device 10 may not be connected to the display device 32 in particular.

[Control processing]
Next, FIG. 4 is a flowchart illustrating a procedure example of control processing executed by the control unit 28 (mainly the calculation unit 28a). The procedure of the control process is stored as a control program in the storage unit 28b, for example. Hereinafter, it demonstrates along each procedure.

  Step S10: First, the calculation unit 28a executes an initial setting process. In this process, for example, the current detection signal input from the encoder 18 is stored, and this state is set as the initial position of the operation unit 12. In addition, the calculation unit 28a reads the coordinate axis data stored in advance in the storage unit 28b, and sets the initial position of the operation unit 12 to the initial rotation angle coordinate on the coordinate axis. The coordinate axis represents the rotation position of the operation unit 12 by a rotation angle (θ).

  Step S20: Next, the computing unit 28a performs angle detection processing. This process is for detecting the current rotation angle (rotation position) of the operation unit 12. For example, the calculation unit 28a detects, based on the detection signal from the encoder 18, how much angle the operation unit 12 has rotated in which direction from the initial position set in the previous initial setting process. Then, the calculation unit 28a calculates the current rotation angle coordinate (θ) corresponding to the rotation angle of the operation unit 12 viewed on the coordinate axis based on the detected rotation direction and rotation angle.

  Step S30: Next, the calculation unit 28a executes calculation processing. This process is based on the current rotation angle coordinate (θ) calculated in the previous angle detection process and a force curve prepared in advance, and a rotational resistance or a self-supporting rotational force generated by the actuator (electromagnetic brake 24, electric motor 30). This is for calculating the magnitude of (and the direction for a self-supporting rotational force). The force curve profile data can be stored in advance in the storage unit 28b, for example. The force curve will be described later with a specific example.

  Step S40: Subsequently, the calculation unit 28a executes actuator drive processing. In this process, the actuator (electromagnetic brake 24, electric motor 30) is actuated based on the calculation result in the previous calculation process, thereby providing the operating unit 12 with rotational resistance or applying independent rotation force. Is. Thereby, an operation feeling can be given to the operation of the operation unit 12 actually performed by the operator.

  Step S50: The computing unit 28a executes signal output processing. This process is for outputting an external output signal to the external display device 32 described above. Specifically, the calculation unit 28a outputs the rotation angle coordinate (θ) corresponding to the current rotation angle of the operation unit 12 to the display device 32 as an external output signal. The display device 32 can control the display position of a pointer or the like on the display screen 32 based on the external output signal. When the operation feeling imparting input device 10 is not connected to the display device 32, it is not necessary to execute this signal output process (step S50).

  After the power is turned on, the calculation unit 28a steadily executes the above processes (steps S20 to S50), whereby the rotation angle coordinate (θ) corresponding to the current rotation angle of the operation unit 12 is calculated in real time. The In addition, the calculation unit 28a drives the actuator (the electromagnetic brake 24, the electric motor 30) based on the rotation angle coordinate (θ) at that time, so that the rotation resistance applied to the operation unit 12 according to the change in the rotation angle, The self-supporting rotational force (size and direction) also changes.

[Example of force curve]
FIG. 5 is a diagram showing a first example ((A) in FIG. 5) and a second example ((B) in FIG. 5) of force curves that can be used for the calculation in the above calculation process (step S30). is there. Each will be described below.

[First example: When turning right]
5A: The force curve of the first example is stored in the storage unit 28b as profile data applicable to control when the operation unit 12 rotates in the right direction (right direction as viewed from above the rotation shaft 14), for example. It is remembered. A portion where the force curve is indicated by a broken line represents that the rotational resistance is generated by the electromagnetic brake 24, and a portion where the force curve is indicated by a solid line indicates that the self-supporting rotational force is expressed by the electric motor 30. It is generated by. The upper side of the vertical axis represents the magnitude of the rotational resistance (FL) in the left direction, and the lower side of the vertical axis represents the magnitude of the self-supporting rotational force (FR) in the right direction.

[Section A: θ0 ≦ θ ≦ θ2]
First, when the detected rotation angle (θ) of the operation unit 12 is between θ0 and θ1 on the coordinate axis, the calculation unit 28a generates a self-supporting rotational force (maximum value Fa) in the right direction based on the force curve. The electric motor 30 is driven to give to the operation unit 12. Thereby, even if an operator does not operate in particular, the operation part 12 rotates to the right direction independently.

  When the rotation angle (θ) of the operation unit 12 moves to the right of θ1 on the coordinate axis, the right-handed rotational force applied to the operation unit 12 gradually decreases. When the rotation angle (θ) reaches θ2 on the coordinate axis, the self-supporting rotational force applied to the operation unit 12 becomes zero. For this reason, unless the operator operates the operation unit 12 in particular, the operation unit 12 stops rotating. The same operation is performed even when the operator operates the operation unit 12 in this section A.

[Section B: θ2 ≦ θ ≦ θn]
Next, when the detected rotation angle (θ) of the operation unit 12 is between θ2 and θn (where θn> θ2) on the coordinate axis, the calculation unit 28a applies to each of the broken line portion and the solid line portion of the force curve. Based on this, the electromagnetic brake 24 and the electric motor 30 are alternately driven so as to give the operating unit 12 the rotational resistance (maximum value Fa) in the left direction and the self-supporting rotational force (maximum value Fa) in the right direction.

  Specifically, first, when the rotation angle (θ) is between θ2 and θ3 on the coordinate axis, the calculation unit 28a is based on the force curve (broken line portion) and the magnitude of the rotation resistance to be applied by the electromagnetic brake 24. Is gradually increased toward the maximum value Fa. Thereby, as the operator rotates the operation unit 12, an operation feeling that gradually increases the resistance force is given. When the rotation angle (θ) reaches θ3 on the coordinate axis, the calculation unit 28a cancels the application of the rotation resistance at once. Thereby, a click feeling can be provided to the operator.

  Further, based on the force curve (solid line part), the calculation unit 28a starts driving the electric motor 30 to give the operation unit 12 a self-supporting rotational force (maximum value Fa) in the right direction from that moment. As a result, the operation feeling as if the rotation of the operation unit 12 was suddenly accelerated (lightened) immediately after the click feeling was given. Note that the self-supporting rotational force applied at this time gradually decreases as the detected rotation angle (θ) of the operation unit 12 moves rightward on the coordinate axis.

  Similarly, when the rotation angle (θ) of the operation unit 12 is between θ4 and θ5 on the coordinate axis, the calculation unit 28a is provided with the rotational resistance to be applied by the electromagnetic brake 24 based on the force curve (dashed line portion). Is gradually increased toward the maximum value Fa. When the rotation angle (θ) reaches θ5 on the coordinate axis, the computing unit 28a cancels the application of the rotation resistance at once, and the force curve (solid line portion) until the rotation angle (θ) reaches θ6 on the coordinate axis. ) To start the electric motor 30 so as to give the operation unit 12 a self-supporting rotational force (maximum value Fa) in the right direction (the same applies to θ6 to θ7 and θ7 to θn on the coordinate axes).

[Section C: θn ≦ θ ≦ θw]
When the rotation angle (θ) of the operation unit 12 moves to the right side of θn on the coordinate axis, the calculation unit 28a is based on the force curve (broken line portion), and from there, the electromagnetic brake 24 increases the rotation resistance toward the maximum value Fmax. Drive. Thereby, it is possible to give the operator an operation feeling as if the rotation operation of the operation unit 12 gradually becomes heavier.

  When the rotation angle (θ) of the operation unit 12 reaches θw on the coordinate axis, the calculation unit 28a drives the electromagnetic brake 24 with the maximum voltage (current) so as to apply the rotation resistance of the maximum value Fmax. As a result, it is possible to give the operator an operation feeling as if the rotation operation of the operation unit 12 was restricted (a feeling of hitting the wall).

[Second example: When turning counterclockwise]
Next, a second example force curve that can be applied during left rotation will be described.
In FIG. 5B, the force curve of the second example is stored in the storage unit 28b as profile data applicable to control when the operation unit 12 rotates leftward (leftward as viewed from above the rotation shaft 14), for example. It is remembered. Similarly, in the second example, the portion where the force curve is indicated by a broken line indicates that the rotational resistance is generated by the electromagnetic brake 24, and the portion where the force curve is indicated by a solid line is there. This means that the self-rotating force is generated by the electric motor 30.

  In this case, the upper side of the vertical axis represents the magnitude of the self-supporting rotational force (FL) in the left direction, and the lower side of the vertical axis represents the magnitude of the rotational resistance (FR) in the right direction. Further, it is assumed that the rotation angle (θ) moves to the left on the coordinate axis in accordance with the rotation operation of the operation unit 12.

[Section A: θ2 ≦ θ ≦ θ0]
First, when the detected rotation angle (θ) of the operation unit 12 is between θ0 and θ1 (movement from right to left) on the coordinate axis, the calculation unit 28a is independent in the left direction based on the force curve. The electric motor 30 is driven so as to apply a rotational force (maximum value Fa) to the operation unit 12. Thereby, even if an operator does not operate in particular, the operation part 12 rotates to the left direction independently.

  When the rotation angle (θ) of the operation unit 12 moves to the left side of θ1 on the coordinate axis, the left-handed self-rotating force applied to the operation unit 12 gradually decreases. When the rotation angle (θ) reaches θ2 on the coordinate axis, the self-supporting rotational force applied to the operation unit 12 becomes zero. For this reason, unless the operator operates the operation unit 12 in particular, the operation unit 12 stops rotating. The same operation is performed even when the operator operates the operation unit 12 in this section A.

[Section B: θn ≦ θ ≦ θ2]
Next, when the detected rotation angle (θ) of the operation unit 12 is between θ2 and θn (where θ2> θn) on the coordinate axis, the following occurs. That is, the arithmetic unit 28a is to provide the operating unit 12 with a rotational resistance (maximum value Fa) in the right direction and a self-supporting rotational force (maximum value Fa) in the left direction based on the broken line portion and the solid line portion of the force curve. The electromagnetic brake 24 and the electric motor 30 are driven alternately.

  Specifically, first, when the rotation angle (θ) is between θ2 and θ3 on the coordinate axis, the calculation unit 28a is based on the force curve (broken line portion) and the magnitude of the rotation resistance to be applied by the electromagnetic brake 24. Is gradually increased toward the maximum value Fa. Thereby, as the operator rotates the operation unit 12, an operation feeling that gradually increases the resistance force is given. When the rotation angle (θ) reaches θ3 on the coordinate axis, the calculation unit 28a cancels the application of the rotation resistance at once. Thereby, a click feeling can be provided to the operator.

  Further, based on the force curve (solid line portion), the calculation unit 28a starts driving the electric motor 30 so as to give the operation unit 12 a self-supporting rotational force (maximum value Fa) in the left direction from that moment. As a result, the operation feeling as if the rotation of the operation unit 12 was suddenly accelerated (lightened) immediately after the click feeling was given. Similarly, the self-supporting rotational force to be applied gradually decreases as the detected rotation angle (θ) of the operation unit 12 moves leftward on the coordinate axis.

  Similarly, when the rotation angle (θ) of the operation unit 12 is between θ4 and θ5 on the coordinate axis, the calculation unit 28a is provided with the rotational resistance to be applied by the electromagnetic brake 24 based on the force curve (dashed line portion). Is gradually increased toward the maximum value Fa. When the rotation angle (θ) reaches θ5 on the coordinate axis, the computing unit 28a cancels the application of the rotation resistance at once, and the force curve (solid line portion) until the rotation angle (θ) reaches θ6 on the coordinate axis. ) To start the electric motor 30 so as to give the operation unit 12 a self-supporting rotational force (maximum value Fa) in the left direction (the same applies to θ6 to θ7 and θ7 to θn on the coordinate axes).

[Section C: θw ≦ θ ≦ θn]
When the rotation angle (θ) of the operation unit 12 moves to the left of θn on the coordinate axis, the calculation unit 28a is based on the force curve (broken line portion), and from there, the electromagnetic brake 24 increases the rotation resistance toward the maximum value Fmax. Drive. Thereby, it is possible to give the operator an operation feeling as if the rotation operation of the operation unit 12 gradually becomes heavier.

  When the rotation angle (θ) of the operation unit 12 reaches θw on the coordinate axis, the calculation unit 28a drives the electromagnetic brake 24 with the maximum voltage (current) so as to apply the rotation resistance of the maximum value Fmax. Thereby, it is possible to give the operator an operation feeling (wall feel) as if the rotation operation of the operation unit 12 was restricted (abutted against the wall).

[Summary of the first example and the second example]
When the operation state of the actuator (the electromagnetic brake 24 and the electric motor 30) is controlled using the force curves of the first example and the second example described above, the operation unit 12 is provided with a rotational resistance for either the right rotation or the left rotation. When applying, only the electromagnetic brake 24 is driven. For this reason, compared with the case where a rotational resistance is generated with the power of the electric motor 30, a large rotational resistance can be generated with less electric power. In particular, when the rotation of the operation unit 12 is restricted (wall pattern), a large rotational resistance is required. However, since the electromagnetic brake 24 has better conversion efficiency than the electric motor 30, power consumption can be reduced accordingly.

  On the other hand, by using not only the electromagnetic brake 24 but also the electric motor 30 as an actuator, the operation unit 12 can be rotated autonomously to a desired rotation position (θ2 on the coordinate axis), and in the middle of the rotation operation. Thus, a self-supporting rotational force that accelerates the rotation of the operation unit 12 can be applied.

[Third example of force curve]
Next, FIG. 6 shows a third example (A in FIG. 6) and a fourth example (B in FIG. 6) of force curves that can be used for the calculation in the above calculation process (step S30). FIG. In these third and fourth examples, the electromagnetic brake 24 is driven only when the rotation of the operation unit 12 is largely restricted (during the wall pattern), and in other cases, the electromagnetic brake 24 is not driven and only the electric motor 30 is driven. Is to drive. Each will be described below.

[Third example: When turning right]
In FIG. 6, (A): The force curve of the third example is profile data applicable to control when the operation unit 12 rotates in the right direction.

[Section A: θ0 ≦ θ ≦ θ2]
First, when the detected rotation angle (θ) of the operation unit 12 is between θ0 and θ1 on the coordinate axis, the calculation unit 28a generates a self-supporting rotational force (maximum value Fa) in the right direction based on the force curve. The electric motor 30 is driven to give to the operation unit 12. Thereby, even if an operator does not operate in particular, the operation part 12 rotates to the right direction independently.

  When the rotation angle (θ) of the operation unit 12 moves to the right of θ1 on the coordinate axis, the right-handed rotational force applied to the operation unit 12 gradually decreases. When the rotation angle (θ) reaches θ2 on the coordinate axis, the self-supporting rotational force applied to the operation unit 12 becomes zero. For this reason, unless the operator operates the operation unit 12 in particular, the operation unit 12 stops rotating. The same operation is performed even when the operator operates the operation unit 12 in this section A.

[Section B: θ2 ≦ θ ≦ θn]
Next, when the detected rotation angle (θ) of the operation unit 12 is between θ2 and θn (where θn> θ2) on the coordinate axis, the calculation unit 28a performs a rotation resistance in the left direction based on the force curve. Only the operating state of the electric motor 30 is controlled so as to give the operation unit 12 the (maximum value Fa) and the self-supporting rotational force in the right direction (maximum value Fa).

  Specifically, when the rotation angle (θ) is between θ2 and θ3 on the coordinate axis, the calculation unit 28a determines the rotation resistance to be applied by the electric motor 30 based on the force curve (upward climbing section). The size is gradually increased toward the maximum value Fa. Thereby, as the operator rotates the operation unit 12, an operation feeling that gradually increases the resistance force is given. When the rotation angle (θ) reaches θ3 on the coordinate axis, the calculation unit 28a cancels the application of the rotation resistance at once. Thereby, a click feeling can be provided to the operator.

  Furthermore, the calculation unit 28a controls the driving force of the electric motor 30 to give the operation unit 12 a self-supporting rotational force (maximum value Fa) in the right direction from the moment based on the force curve. At this time, the rotation direction of the electric motor 30 is reversed from the previous left direction (CCW) to the right direction (CW). As a result, the operation feeling as if the rotation of the operation unit 12 was suddenly accelerated (lightened) immediately after the click feeling was given. Further, the self-supporting rotational force applied at this time gradually decreases as the detected rotation angle (θ) of the operation unit 12 moves rightward on the coordinate axis.

  Similarly, when the rotation angle (θ) of the operation unit 12 is between θ4 and θ5 on the coordinate axis, the calculation unit 28a should be applied by the electric motor 30 based on the force curve (next climbing section). The magnitude of the rotational resistance is gradually increased toward the maximum value Fa. When the rotation angle (θ) reaches θ5 on the coordinate axis, the calculation unit 28a cancels the application of the rotation resistance at once, and based on the force curve until the rotation angle (θ) reaches θ6 on the coordinate axis. The driving force of the electric motor 30 is controlled so as to give a self-supporting rotational force (maximum value Fa) in the right direction to the operation unit 12 (the same applies to θ6 to θ7 and θ7 to θn on the coordinate axes).

[Section C: θn ≦ θ ≦ θw]
When the rotation angle (θ) of the operation unit 12 moves to the right side of θn on the coordinate axis, the calculation unit 28 a stops driving the electric motor 30. The calculation unit 28a then drives the electromagnetic brake 24 to increase the rotational resistance from the force curve (broken line portion) toward the maximum value Fmax. Thereby, it is possible to give the operator an operation feeling as if the rotation operation of the operation unit 12 gradually becomes heavier.

  When the rotation angle (θ) of the operation unit 12 reaches θw on the coordinate axis, the calculation unit 28a drives the electromagnetic brake 24 with the maximum voltage (current) so as to apply the rotation resistance of the maximum value Fmax. Thereby, it is possible to give the operator an operation feeling (wall feel) as if the rotation operation of the operation unit 12 was restricted (abutted against the wall).

[Fourth example: When turning counterclockwise]
In FIG. 6, (B): The force curve of the fourth example is profile data applicable to control when the operation unit 12 rotates leftward (leftward when viewed from above the rotation shaft 14). Here, similarly, the upper side of the vertical axis represents the magnitude of the self-supporting rotational force (FL) in the left direction, and the lower side of the vertical axis represents the magnitude of the rotational resistance (FR) in the right direction. Further, it is assumed that the rotation angle (θ) moves to the left on the coordinate axis in accordance with the rotation operation of the operation unit 12.

[Section A: θ2 ≦ θ ≦ θ0]
First, when the detected rotation angle (θ) of the operation unit 12 is between θ0 and θ1 (movement from right to left) on the coordinate axis, the calculation unit 28a is independent in the left direction based on the force curve. The electric motor 30 is driven so as to apply a rotational force (maximum value Fa) to the operation unit 12. Thereby, even if an operator does not operate in particular, the operation part 12 rotates to the left direction independently.

  When the rotation angle (θ) of the operation unit 12 moves to the left side of θ1 on the coordinate axis, the left-handed self-rotating force applied to the operation unit 12 gradually decreases. When the rotation angle (θ) reaches θ2 on the coordinate axis, the self-supporting rotational force applied to the operation unit 12 becomes zero. For this reason, unless the operator operates the operation unit 12 in particular, the operation unit 12 stops rotating. The same operation is performed even when the operator operates the operation unit 12 in this section A.

[Section B: θn ≦ θ ≦ θ2]
Next, when the detected rotation angle (θ) of the operation unit 12 is between θ2 and θn (where θ2> θn) on the coordinate axis, the calculation unit 28a is based on the force curve and rotates to the right. Only the operating state of the electric motor 30 is controlled so as to give the operation unit 12 the (maximum value Fa) and the left-handed independent rotation force (maximum value Fa).

  Specifically, when the rotation angle (θ) is between θ2 and θ3 on the coordinate axis, the calculation unit 28a is based on the force curve (downward downward section) and should be applied by the electric motor 30. Is gradually increased toward the maximum value Fa. Thereby, as the operator rotates the operation unit 12, an operation feeling that gradually increases the resistance force is given. When the rotation angle (θ) reaches θ3 on the coordinate axis, the calculation unit 28a cancels the application of the rotation resistance at once. Thereby, a click feeling can be provided to the operator.

  Further, the calculation unit 28a controls the driving force of the electric motor 30 so as to give the operation unit 12 a self-supporting rotational force (maximum value Fa) in the leftward direction from the moment based on the force curve. At this time, the rotation direction of the electric motor 30 is reversed from the previous right direction (CW) to the left direction (CCW). As a result, the operation feeling as if the rotation of the operation unit 12 was suddenly accelerated (lightened) immediately after the click feeling was given. Further, the self-supporting rotational force applied at this time gradually decreases as the detected rotation angle (θ) of the operation unit 12 moves leftward on the coordinate axis.

  Similarly, when the rotation angle (θ) of the operation unit 12 is between θ4 and θ5 on the coordinate axis, the calculation unit 28a should be applied by the electric motor 30 based on the force curve (next descending section). The magnitude of the rotational resistance is gradually increased toward the maximum value Fa. When the rotation angle (θ) reaches θ5 on the coordinate axis, the calculation unit 28a cancels the application of the rotation resistance at once, and based on the force curve until the rotation angle (θ) reaches θ6 on the coordinate axis. The driving force of the electric motor 30 is controlled so as to give the left-handed self-rotating force (maximum value Fa) to the operation unit 12 (the same applies to θ6 to θ7 and θ7 to θn on the coordinate axes).

[Section C: θw ≦ θ ≦ θn]
When the rotation angle (θ) of the operation unit 12 moves to the left side of θn on the coordinate axis, the calculation unit 28 a stops driving the electric motor 30. The calculation unit 28a then drives the electromagnetic brake 24 to increase the rotational resistance from the force curve (broken line portion) toward the maximum value Fmax. Thereby, it is possible to give the operator an operation feeling as if the rotation operation of the operation unit 12 gradually becomes heavier.

  When the rotation angle (θ) of the operation unit 12 reaches θw on the coordinate axis, the calculation unit 28a drives the electromagnetic brake 24 with the maximum voltage (current) so as to apply the rotation resistance of the maximum value Fmax. Thereby, it is possible to give the operator an operation feeling (wall feel) as if the rotation operation of the operation unit 12 was restricted (abutted against the wall).

[Summary of the fourth and fifth examples]
When the operation states of the actuators (electromagnetic brake 24, electric motor 30) are controlled using the force curves of the fourth and fifth examples described above, the rotation of the operation unit 12 is greatly increased for either the right rotation or the left rotation. In the case of regulation (wall pattern), only the electromagnetic brake 24 is driven. For this reason, compared with the case where a rotational resistance is generated with the power of the electric motor 30, a large rotational resistance can be generated with less electric power.

  In the first to fourth examples, the rotational resistance of the maximum value Fmax is generated only by the electromagnetic brake 24. However, by driving the electric motor 30 together with the electromagnetic brake 24, a more powerful rotational resistance is generated. Can also be given. Thereby, the very clear wall feel can be provided by restricting the rotation operation of the operation unit 12 more firmly.

[Second Embodiment]
Next, the operation feeling imparting type input device 10 of the second embodiment will be described. FIG. 7 is a schematic diagram showing the overall configuration of the operation feeling imparting type input device 10 of the second embodiment. In the second embodiment, the electromagnetic brake 24 is arranged outside the electric motor 30 so that the electromagnetic brake 24 and the electric motor 30 are arranged at the same position as viewed in the longitudinal direction of the rotary shaft 14 in the first embodiment. It is very different from the form. The other configurations are the same as those in the first embodiment, and here, the same reference numerals are given to the common configurations together with the drawings, and redundant descriptions are omitted.

[Configuration of electromagnetic brake]
In the second embodiment, the electric motor 30 is disposed at a position close to the armature rotor 22 when viewed in the longitudinal direction of the rotary shaft 14 and the winding 24b (electromagnetic coil) of the electromagnetic brake 24 is formed at the outer peripheral position thereof. . For this reason, the electromagnetic brake 24 has an outer cylindrical portion 24d and an inner cylindrical portion 24e that double surround the outside of the electric motor 30, and the double cylindrical portions 24d and 24e serve as casings between them. The winding 24b is accommodated in the formed annular space. The winding 24b is accommodated in a state wound around, for example, a bobbin 24f.

  The inner cylindrical portion 24e has an inner flange portion 24g at one end (upper end in FIG. 7) viewed in the longitudinal direction of the rotating shaft 14, and the inner flange portion 24g is one end of the inner cylindrical portion 24e. To the center of the rotary shaft 14. The surface of the inner flange portion 24g (the upper surface in FIG. 7) is a friction surface that comes into contact with the armature rotor 22 and generates a frictional force when the electromagnetic brake 24 is actuated (when the winding 24b is energized). The friction surface is also formed on the edge (upper edge in FIG. 7) of the outer cylindrical portion 24d and the outer surface (upper surface in FIG. 7) of the bobbin 24f (stator member).

[Arrangement of electric motor]
The electric motor 30 is disposed so as to be fitted inside the inner cylindrical portion 24e, whereby the electromagnetic brake 24 and the electric motor 30 are connected to each other. Further, the inner flange portion 24g contacts the electric motor 30 on the back surface (the lower surface in FIG. 7), thereby positioning the electric motor 30 and the electromagnetic brake 24 with respect to the direction of the rotary shaft 14. Although not particularly illustrated, the electromagnetic brake 24 and the electric motor 30 may be fixed to each other with a screw or the like penetrating the inner flange portion 24g.

  According to the structure of the second embodiment, as compared with the structure in which the electromagnetic brake 24 and the electric motor 30 are arranged at different positions on the rotation axis CL as in the first embodiment, the overall length is shortened (shortened). Torso). For this reason, for example, when attaching to an apparatus main body (not shown), even when there is no space in the longitudinal direction (axial direction) of the rotating shaft 14, it can be dealt with. Further, by reducing the size in the axial direction as a whole, it is possible to contribute to size reduction of the apparatus main body.

  In the case of the second embodiment, since the winding 24b is formed outside the electric motor 30, the winding diameter of the winding 24b can be increased accordingly. Thereby, compared with the structure of 1st Embodiment, a big magnetic force can be generated. In addition, when the winding diameter of the winding 24b is increased, a sufficient magnetic force can be generated with less power (driving current, driving voltage), so that rotational resistance is efficiently generated while saving power. be able to. Further, by increasing the outer diameters of the armature rotor 22 and the cylindrical portions 24d and 24e (stator members) in accordance with the increase in the winding diameter, a larger frictional force can be obtained.

  In addition, even if the number of turns is reduced instead of increasing the winding diameter of the winding 24b, a sufficient magnetic force can be generated. Therefore, the entire number of turns can be reduced without sacrificing the rotational resistance of the electromagnetic brake 24. It can also contribute to downsizing.

[Third Embodiment]
Next, the operation feeling imparting type input device 10 of the third embodiment will be described. FIG. 8 is a schematic diagram illustrating an overall configuration of the operation feeling imparting type input device 10 according to the third embodiment. In the third embodiment, the electromagnetic brake 24 and the electric motor 30 are arranged at the same position as viewed in the longitudinal direction of the rotary shaft 14 by arranging the electromagnetic brake 24 outside the electric motor 30 as in the second embodiment. This point is greatly different from the first embodiment. The other configurations are the same as those in the first embodiment, and here, the same reference numerals are given to the common configurations together with the drawings, and redundant descriptions are omitted.

[Configuration of electric motor]
In the third embodiment, the structure of the electric motor 30 is slightly different from that of the second embodiment. That is, the electric motor 30 has a permanent magnet 30a and an armature coil 30b as its internal structure. Among them, the armature coil 30b is attached to the rotary shaft 14 (the output shaft of the electric motor 30) as in the first and second embodiments, but the permanent magnet 30a is the inner cylindrical portion 24e of the electromagnetic brake 24. It is attached to the inner peripheral surface.

  According to the structure of the third embodiment, the inner cylindrical portion 24 e serving as the coil case of the electromagnetic brake 24 can also be used as the outer case (casing) of the electric motor 30. For this reason, it is not necessary to prepare the electric motor 30 as one drive component, the number of components can be reduced by that much, and further miniaturization can be achieved.

  In the case of the third embodiment, the disk member 30c is attached to the opening of the other end (the lower end in FIG. 8) of the inner cylindrical portion 24e. Is blocked. Further, a disk-shaped bearing 24c is disposed inside the inner flange portion 24g, and a disk-shaped bearing 24c is similarly disposed on the disk member 30c facing the disk-shaped bearing 24c. The rotating shaft 14 (the output shaft of the electric motor 30) is rotatably supported by these two bearings 24c, and a stopper 26 similar to that of the first embodiment is provided on the outer surface (the lower surface in FIG. 8) of the disk member 30c. Is attached.

  In the third embodiment, the code plate 16 is attached to the portion of the rotary shaft 14 that protrudes from the disk member 30c (projects downward in FIG. 8), and the encoder 18 moves along the outer surface of the disk member 30c (see FIG. 8 is attached to the lower surface. As a result, the entire apparatus can be further shortened (shortened).

  In the third embodiment, the elastic member 15 is not provided between the operation unit 12 and the rotating member 20 because of the positional relationship between the code plate 16 and the rotating member 20 viewed in the direction of the rotation axis CL. Even in this case, for example, the main body 20a of the rotating member 20 and the armature rotor 22 are structured to be slightly rotatable, and an elastic member (for example, a leaf spring, a resin spring, etc.) is interposed between them. By connecting the main body 20a and the armature rotor 22 to each other, the reverse rotation of the operation unit 12 can be detected without using the elastic member 15.

[Control Example of Second and Third Embodiments]
The same control examples (FIGS. 3 to 6) as in the first embodiment can also be applied to the operation feeling imparting type input device 10 in the second and third embodiments. In particular, as in the above-described force curve (FIGS. 5 and 6), with respect to the application of rotational resistance, only one of the electromagnetic brake 24 and the electric motor 30 is operated at a time and both are not operated simultaneously. The magnetic field generated by the electromagnetic brake 24 does not interfere with the magnetic field generated by the electric motor 30, and conversely, the magnetic field generated by the electric motor 30 does not interfere with the magnetic field generated by the electromagnetic brake 24. It is possible to reliably prevent the unexpected influence of the magnetic field on the other side.

  According to the operation feeling imparting type input device 10 of each embodiment described above, by providing the electromagnetic brake 24 and the electric motor 30 together, a larger rotational resistance can be obtained with less electric power, and the operation can be performed autonomously. The part 12 can be rotated. In addition, since a self-supporting rotational force can be applied in conjunction with the application of rotational resistance, it is possible to realize a more diverse operational feeling application pattern than when only one of them is applied. Can do.

  The force curve given in the above control example is not limited to the illustrated one, and other patterns may be adopted.

  Further, the detection of the rotation state is not limited to the combination of the code plate 16 and the encoder 18, but may be realized by, for example, a combination of a reflection plate and a photoswitch, or an analog detection means as described above. Good.

  In the above-described embodiment, the operation unit is rotated. However, the present invention can also be applied to an operation unit having other movement forms such as a slide operation. In this case, for example, the operating unit is independently slid using a reciprocating actuator (linear actuator or the like), and the moving state (coordinates) of the operating unit is detected by an encoder or the like. What is necessary is just to control an operation state.

  In the above-described embodiment, an electric motor and an electromagnetic brake using electricity as a power source are illustrated as actuators. However, for example, a motor or a brake using other energy such as hydraulic pressure or pneumatic pressure as a power source may be used.

  In addition, the shapes and arrangements of the various members shown together with the drawings are all preferable examples, and it goes without saying that these can be appropriately changed when implementing the present invention.

DESCRIPTION OF SYMBOLS 10 Operation feeling provision type input device 12 Operation part 14 Rotating shaft 16 Code board 18 Encoder 20 Rotating member 22 Armature rotor 24 Electromagnetic brake 24b Winding (electromagnetic coil)
28 Control part 28a Operation part 28d Output part 30 Electric motor 30a Permanent magnet 30b Armature coil

Claims (4)

An operation unit that is rotated by an operator;
Rotation state detection means for detecting and outputting the rotation state of the operation unit;
An actuator that provides the operating unit with at least one of a rotational resistance to a rotating operation to the operating unit or a self-supporting rotational force that rotates the operating unit independently;
An operation feeling imparting type input device comprising: a rotation position of the operation unit calculated based on an output from the rotation state detection means; and a control means for controlling an operation state of the actuator based on the rotation direction thereof.
The actuator is
A brake member that presses a rotor member that rotates together with the operation unit against a stator member that is fixed so as not to rotate together with the operation unit to generate the rotation resistance, and rotates the operation unit to generate the self-supporting rotational force. An operation feeling imparting type input device comprising: motor means. The operation feeling imparting type input device according to claim 1,
The motor means includes
An electric motor having an output shaft on the rotation axis of the operation unit;
The brake means includes
An electromagnetic brake comprising a magnetic member and an electromagnetic coil configured to adsorb the rotor member to the stator member when energized, and the rotor member installed to be movable in the direction of the rotation axis of the operation unit;
The operation feeling imparting type input device, wherein the electromagnetic coil is formed around the rotation axis on an outer periphery of the electric motor. The operation feeling imparting type input device according to claim 2,
The electromagnetic brake is
A coil case that houses the electromagnetic coil in an annular space formed between the inner cylindrical portion and the outer cylindrical portion that are arranged around the rotation axis;
The electric motor is
An armature coil attached to the rotating shaft of the operation unit and a magnet disposed with a clearance on the outer peripheral side of the armature coil;
The operation feeling imparting type input device, wherein the magnet is attached to an inner peripheral surface of the inner cylindrical portion of the coil case. In the operation feeling imparting type input device according to any one of claims 1 to 3,
The control means includes
Only the brake means or the motor means is actuated, and an operation feeling imparting type input device is provided.

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