JP6208522B2 - Operation device having operation resistance imparting function - Google Patents

Description

  The present invention relates to an operating device provided in a construction machine or the like.

  2. Description of the Related Art Conventionally, an operation device provided in a construction machine is mainly a hydraulic one and is generally constituted by a so-called remote control valve. This remote control valve has an operation lever operated by an operator, and a valve body that outputs a pilot pressure corresponding to the operation of the operation lever. In such a hydraulic operation device, the operator can feel the load currently generated by the reaction force applied to the operation lever, which greatly assists the operator in performing precise operations. .

  However, with the digitization of construction machines and the like, an electric operating device instead of a hydraulic type has been provided. This electric operation device includes an operation lever and a detector that detects an operation direction and an operation amount thereof, for example, a sensor or a rotary encoder, and outputs an electric signal corresponding to the detection result to output an electric circuit or a hydraulic circuit. It is used for control. Therefore, when this electric operation device is used, basically the reaction force corresponding to the current load is not transmitted to the operator.

  Therefore, in recent years, in order to improve operability, a function corresponding to the reaction force, that is, a force opposite to the operation direction, which is artificially applied to the operation lever by the power generated by a motor or the like, that is, resistance force An operation device having a grant function has been developed. For example, Patent Document 1 detects an operation lever, a motor that generates power for applying a reaction force (operation resistance) to the operation lever, a mechanism that transmits the power of the motor to the operation lever, and necessary information. And an arithmetic and control unit that controls the driving force of the motor based on a detection signal of the external sensor.

JP 2011-59934 A

  In the operation device as described above, a so-called runaway of the motor (the motor abnormally outputs regardless of the signal of the external sensor, etc.) occurs due to an abnormality of the computer constituting the arithmetic control device or a failure of the motor itself. There is a possibility that the operation lever may become inoperable due to the runaway. Specifically, the driving force of the motor is controlled to a magnitude that allows the operation while giving resistance to the operation force applied to the operation lever, but due to an abnormality of the computer or a failure of the motor. For example, if the driving force of the motor is fixed at the maximum output, the operator may not be able to return the operation lever to the neutral position against the driving force. Therefore, in an operating device having such a resistance force imparting function, it is important to ensure high safety regardless of the runaway of the motor or the like.

  In view of such circumstances, the present invention has a function of imparting resistance to operation, and can ensure high safety regardless of runaway of a motor or the like for the provision of the resistance. It is an object to provide a simple operation device.

An operating device provided by the present invention includes an operating member capable of receiving an operation from a neutral position in a first operating direction and a second operating direction opposite to the first operating direction, and in conjunction with the operation of the operating member. An operation transmission member that moves in a specific movement direction and has a first restricted portion and a second restricted portion, and a first restriction member that is movable in a direction along the movement direction of the operation transmission member, and binding on the first restrained segment to limit the relative displacement in the direction of movement of the operation transmitting member with respect to the first constraining member within a specific range, movement in the direction along the movement direction of the operation transmitting member a second restraining member which, to that restrains the second restrained segment to limit the relative displacement in the direction of movement of the operation transmitting member with respect to the second constraining member within a specific range, the The first restraining member and the second An interlocking mechanism that is coupled to the first restraining member and the second restraining member so that the bundle members are interlocked in opposite directions, and that constitutes a resistance force transmission mechanism together with the first restraining member and the second restraining member, and the operation member The first restraining member provides resistance to the first restrained portion against the movement of the operation transmitting member corresponding to the first operation direction when the operation member is operated in the first operation direction. Force in which the second restraining member provides resistance to the second restrained portion with respect to the motion of the operation transmitting member corresponding to the second manipulation direction when is operated in the second manipulation direction. A resistance applying device for applying the resistance to the resistance transmission mechanism.

  According to this operation device, since the first restraining member and the second restraining member that restrain the operation transmitting member are connected via the interlocking mechanism so as to be interlocked in the opposite directions, both the restraining member and the interlocking mechanism are connected. When the operating member is operated in any one of the first and second operating directions by applying a force in a specific direction from the resistance applying device to the resistance transmitting mechanism including Can provide resistance. Specifically, when the operation member is operated in the first operation direction, the force applied by the resistance force applying device is transmitted as resistance force to the operation member via the first restraining member and the operation transmission member. When the operation member is operated in the second operation direction, the force applied by the resistance force applying device is transmitted as resistance force to the operation member via the second restraining member and the operation transmission member.

  The direction in which the force applied to the resistance transmission mechanism by the resistance applying device always gives resistance to the operation regardless of the operation direction of the operation member, in other words, to return the operation member to the neutral position. If the resistance applying device abnormally outputs in either the forward or reverse direction due to an abnormality such as the resistance applying device or a controller for controlling the same (for example, when the motor runs away) However, the output acts as a force for returning the operation member to the neutral position. Therefore, it is possible to ensure high safety even when the resistance applying device is abnormal.

  The resistance applying device may be connected to the first restricting member or the second restricting member among the components of the resistance transmitting mechanism. However, the resistance applying device is connected to the interlocking mechanism for operating resistance. It is more preferable to give the following force. With this structure, the force applied to the interlocking mechanism by the resistance applying device can be transmitted to the first restraining member and the second restraining member in a well-balanced manner through the interlocking mechanism.

  As the interlocking mechanism, for example, a gear mechanism is suitable. Specifically, the first restraining member has a first gear, the second restraining member has a second gear, and the interlocking mechanism interlocks the first gear and the second gear in opposite directions. It is preferable to include at least one intermediate gear that meshes with the first and second gears. These gears can reliably interlock the first and second restraining members with a compact structure.

  In this invention, it is preferable to further provide the supporting member which supports the said operation transmission member, the said 1st, and 2nd restraining member so that these can move to the said specific movement direction.

  As the support member, a member that supports the operation transmission member and the first and second restraining members so as to be rotatable around a common support shaft is preferable. Thus, by unifying the rotation center axes of the operation transmitting member and the two restraining members, the support member can support each member so as to be movable in a common movement direction with a compact structure.

  In this case, the first restraining member has an arc shape centered on the support shaft and has a shape surrounding the first restraining space for receiving the first restrained portion. Only the relative rotation of the first constrained part with respect to the first constraining member is allowed, and the second constraining member receives the second constrained part in an arc shape centered on the support shaft. It is preferable to have a shape surrounding the second constraining space and allow relative rotation of the second constrained portion with respect to the second constraining member only in the second constraining space.

  As described above, according to the present invention, a function of imparting a resistance force to an operation is provided, and high safety is ensured regardless of the runaway of the resistance force imparting device for imparting the resistance force. It is possible to provide an operating device that can

It is a front view of the operating device concerning a 1st embodiment of the present invention. It is the disassembled perspective view which looked at the said operating device from the lower right. It is the perspective view which looked at the said operating device from the lower left. It is a perspective view which shows the initial state immediately after the torque which a motor outputs in the said operating device was provided to the resistive force provision mechanism. (A) is a front view showing a state where the operation lever is fully operated leftward with the motor stopped, and (b) is a state where the operation lever is fully operated rightward with the motor stopped. FIG. FIG. 4A is a front view showing a state in which the operating lever is half-operated in the left direction while receiving resistance from the initial state shown in FIG. 4, and FIG. 4B is a state in which the operating lever is fully operated in the left direction. It is a front view. 4A is a front view showing a state where the operating lever is half-operated in the right direction while receiving resistance from the initial state shown in FIG. 4, and FIG. 4B is a state where the operating lever is fully operated in the right direction. It is a front view. (A) is a front view showing a state in which the motor has runaway in a normal direction, and (b) is a front view showing a state in which the motor has runaway in a direction opposite to the normal direction. It is a section front view of the operating device concerning a 2nd embodiment of the present invention. FIG. 10 is a sectional view taken along line XX in FIG. 9. It is a perspective view which shows the principal part of the operating device which concerns on the 3rd Embodiment of this invention. 11A is a cross-sectional front view showing a state where the operation lever of the operation device shown in FIG. 11 is held in a neutral position, and FIG. 11B is a cross-sectional front view showing a state where the operation lever is half-operated leftward. (C) is a sectional front view showing a state where the operation lever is fully operated in the left direction. It is a front view of the operating device which concerns on the 4th Embodiment of this invention. It is the XIV-XIV sectional view taken on the line of FIG.

  Preferred embodiments of the present invention will be described with reference to the drawings. The operation device according to the embodiment described below is provided in a construction machine such as a crane or an excavator, and outputs an electrical signal corresponding to the operation content in response to the operation of the operator. The type of machine on which the operating device according to the invention is mounted is not limited.

  1 to 8 show an operating device according to a first embodiment of the present invention. This operating device includes an operating lever 10 corresponding to an operating member, an operation transmitting member 20, a first restraining member 30, a second restraining member 40, an interlocking mechanism 50, and a motor 60 constituting a resistance applying device. And a casing 70.

  The operation lever 10 is supported by the casing 70, which is a support member, so as to be rotatable about a predetermined rotation center axis. The rotation center axis is the depth of FIG. 1 in this embodiment. The horizontal axis corresponding to the direction is set. As a result, the operation lever 10 has a leftward direction that is the first operation direction from the neutral position and a direction opposite to the neutral position with respect to the neutral position where the operation lever 10 faces directly upward as shown in FIG. It is possible to perform a rotation operation to the right direction which is the second operation direction.

  The operation transmission member 20 rotates around the rotation center axis in conjunction with the rotation operation of the operation lever 10 (in this embodiment, integrally with the operation lever 10). The first support shaft portion 23, the second support shaft portion 24, the first constrained portion 25, and the second constrained portion 26 are integrally provided.

  The main body plate 22 is configured by a flat plate having a uniform thickness, and the thickness direction of the main body plate 22 is accommodated in the casing 70 in a posture that is parallel to the rotation center axis, that is, the front-rear direction of the apparatus. The operation lever 10 is integrally connected to the upper end of the main body plate 22. The specific shape of the main body plate 22 is not particularly limited. The main body plate 22 according to this embodiment has a shape composed of an upper part forming a large semicircle and a lower part forming a semicircle having a smaller diameter than the upper part.

  The first and second support shaft portions 23, 24 protrude from the main body plate 22 in the front-rear direction, and end portions thereof are respectively supported by the front-rear walls of the casing 70. Therefore, in this embodiment, the axis passing through the centers of the both support shaft portions 23 and 24 corresponds to the rotation center axis of the operation lever 10.

  The first constrained portion 25 and the second constrained portion 26 are provided at positions away from the support shaft portions 23 and 24. The first and second restrained portions 25 and 26 according to this embodiment have shaft shapes extending in the front-rear direction, similar to the first and second support shaft portions 23 and 24, respectively. Project in the front-rear direction from the front and rear sides. However, the projecting dimensions of the restrained portions 25 and 26 are set to dimensions smaller than the projecting dimensions of the both support shaft portions 23 and 24 (dimensions that do not interfere with the front and rear walls of the casing 70).

  The first restraining member 30 and the second restraining member 40 are disposed on both front and rear sides of the main body plate 22 and can move in a direction along the movement direction of the operation transmitting member 20, that is, in this embodiment. In the form, it is supported in the casing 70 so as to be rotatable about the rotation center axis, in other words, to be rotatable about both the support shaft portions 23 and 24.

  The first and second restraining members 30 and 40 according to this embodiment are constituted by circular spur gears having the same shape. That is, the outer peripheral portions of the first and second restraining members 30 and 40 constitute a first gear and a second gear, respectively. The first and second restraining members 30 and 40 have through holes 32 and 42, respectively, in the central portions thereof, and the first and second support shaft portions 23 and 24 are inserted into the through holes 32 and 42, respectively. ing. That is, the first and second restraining members 30 and 40 can rotate relative to the operation transmission member 20 around the rotation center axis (that is, around the first and second support shaft portions 23 and 24). The first and second support shaft portions 23 and 24 are respectively supported so as to be.

  The first restraining member 30 has a shape that functions as a member that restricts relative rotation of the operation transmitting member 20 with respect to the first restraining member 30 within a specific range. Specifically, the first restraining member 30 has a shape surrounding a first restraining space 34 that is a long hole penetrating the first restraining member 30. The first constraining space 34 is formed in the upper part of the first constraining member 30 and has an arc shape with the rotation center axis as the center. The first constrained portion 25 is provided in the first constraining space 34. Inserted from the inside. Accordingly, the first restraining member 30 is rotated relative to the first restraining member 30 with respect to the operation transmitting member 20 and the operation lever 10 connected thereto by the arc length of the first restraining space 34. Allow movement.

  The second restraining member 40 has a shape that functions as a member that restricts relative rotation of the operation transmission member 20 with respect to the second restraining member 40 within a specific range. Specifically, the second restraining member 40 has a shape surrounding a second restraining space 44 that is a long hole penetrating the second restraining member 40. The second constraining space 44 is formed in an upper part of the second constraining member 40 and has an arc shape with the rotation center axis as a center, and the second constrained portion 26 is provided in the second constraining space 44. Inserted from the inside. Therefore, the second restraining member 40 is rotated relative to the second restraining member 40 with respect to the operation transmitting member 20 and the operation lever 10 connected thereto by the arc length of the second restraining space 44. Allow movement.

  The interlocking mechanism 50 is connected to both the restraining members 30 and 40 so that the first and second restraining members 30 and 40 are interlocked in opposite directions, and is resistant together with the first and second restraining members 30 and 40. Configure the force transmission mechanism. Specifically, the interlocking mechanism 50 according to this embodiment includes a first intermediate gear 52 and a second intermediate gear 54 that mesh with each other. These intermediate gears 52 and 54 are constituted by spur gears having the same shape, and the first and second intermediate gears 52 and 54 are engaged with the first restraining member 30 and the second restraining member 40, respectively. In this manner, the casing 70 is rotatably supported. Accordingly, when one of the first and second restraining members 30 and 40 rotates leftward or rightward, the interlocking mechanism 50 rotates in the opposite direction at the same rotational speed in conjunction with this. Rotate to

  Here, as shown in FIG. 1, the rotational phases of the two restraining members 30 and 40 interconnected by the interlocking mechanism 50 coincide with each other at the uppermost position of the first and second restraining spaces 34 and 44 (completely). (Overlapping). Here, the uppermost position means that the first and second restrained portions 25 and 26 are located at the exact center of the restraining spaces 34 and 44 when the operation lever 10 is in the neutral position as shown in FIG. The positions of the restraining spaces 34 and 44 are equivalent.

  The motor 60 includes a motor main body 62 and an output shaft 64 protruding from the motor main body 62, and the output shaft 64 is connected to the first intermediate gear 52 of the resistance force transmission mechanism. That is, the motor 60 rotationally drives the first intermediate gear 52. This rotational drive can provide resistance to the operation by the first restraining member 30 and the second restraining member 40 respectively when the operating lever 10 is operated in any one of the first and second operating directions. It ’s done in the direction you can. That is, when the operation lever 10 is operated in the left direction, which is the first operation direction, the first restraining member 30 corresponds to the left rotation of the operation transmitting member 20 corresponding to the first operation direction. 25, when the operation lever 10 is operated in the right direction which is the second operation direction, the corresponding operation transmission member 20 is rotated in the right direction. Thus, the motor 60 operates in a direction in which the second restraining member 40 applies resistance to the first restrained portion 26 (that is, imparts a rightward rotational force).

  More specifically, the motor main body 62 of the motor 60 always applies the operation resistance regardless of the operation direction of the operation lever 10, as shown by the white arrows in FIGS. Is operated so as to apply torque in the counterclockwise direction to the output shaft 64. Details of the application of the resistance force will be described later.

  In the operating device according to this embodiment, the motor 60 is electrically connected to the controller 80, and the drive of the motor 60 is controlled by the controller 80. Specifically, the controller 80 performs the following arithmetic control operation.

  1) Based on the output signal of the encoder built in the motor 60, the operation position of the operation lever 10 is determined from the rotational position of the output shaft 64 of the motor 60.

  2) Based on signals output from sensors provided in various places such as a construction machine where the operation device is provided, the work state and the corresponding load in the construction machine are grasped.

  3) Based on the operation position of the operation lever 10 and the work state, if a hydraulic operation device (for example, a remote control valve) is used, a reaction force that will act on the operation lever is predicted and calculated. The output shaft 64 of the motor 60 is rotated with a torque that gives resistance corresponding to a force to the operation lever 10. The magnitude of this torque is set to such an extent that the operator can operate by overcoming the resistance while giving resistance to the operation of the operation lever 10.

  Next, the operation of the operating device according to the first embodiment will be described.

  First, when the motor 60 is not energized, the first and second restraining members 30 and 40 and the first and second intermediate gears 52 and 54 are held at the reference positions as shown in FIG. This reference position is a position at which the first and second restraining spaces 34 and 44 surrounded by the first and second restraining members 30 and 40 coincide with each other at the uppermost position shown in FIG. Therefore, even if the motor 60 is not energized as it is, the operation lever 10 is more specifically within the range of the arc lengths of both the restraining spaces 34 and 44 as shown in FIGS. 5 (a) and 5 (b). The first and second restrained portions 25 and 26 of the operation transmitting member 20 can be rotated within a range in which the first and second restrained portions 25 and 26 can move within the first and second restraining spaces 34 and 44. In other words, if the operator selects a mode in which the motor 60 is not operated, the operator can freely rotate the operation lever 10 within a range corresponding to the arc length of the restraining spaces 34 and 44 without receiving resistance by the motor 60. Can be operated.

  On the other hand, when the mode for giving the operating resistance to the operating lever 10 is selected, the controller 80 operates the motor 60 to turn it from the output shaft 64 to the direction indicated by the white arrow in FIG. (Turning direction) torque is output. This torque is transmitted to the first restraining member 30 via the first intermediate gear 52 of the interlocking mechanism 50, thereby rotating the first restraining member 30 in the direction (clockwise direction) indicated by the black arrow in FIG. . On the other hand, the torque is also transmitted to the second restraining member 40 via the second intermediate gear 54 meshed with the first intermediate gear 52 of the interlocking mechanism 50, whereby the second restraining member 40 is transmitted to the first restraining member 40. It is rotated in the opposite direction to the restraining member 30, that is, in the direction (counterclockwise direction) indicated by the black broken line arrow in FIG.

  Therefore, in the initial stage from when the mode for giving the operating resistance is selected until the operating lever 10 is operated, the left end of the first restraining space 34 of the first restraining member 30 is seen from the front shown in FIG. The first constraining part 36 adjacent to the first constraining part abuts the first constrained part 25 of the operation transmitting member 20 from the left side, and at the same time, the second constraining member 40 at the right end of the second constraining space 44 The second restraining portion 46 that is an adjacent portion abuts against the second restrained portion 26 of the operation transmitting member 20 from the right side. That is, the operation transmitting member 20 is configured so that the first and second restrained portions 25 and 26 are sandwiched from the left and right sides by the first and second restraining portions 36 and 46 of the first and second restraining members 30 and 40. The operation lever 10 which is restrained and connected to the operation transmission member 20 is held in the neutral position shown in FIG.

  Next, when the operation lever 10 is operated in the left direction (first operation direction) against the output torque of the motor 60 from the state shown in FIG. 4, the operation force is the first of the operation transmission member 20. All the gears including the gears of the first restraining member 30 and the second restraining gear 40 and the intermediate gears 52 and 54 are transmitted from the restrained portion 25 to the first restraining portion 36 of the first restraining member 30. As shown in FIG. 6A, the motor 60 is rotated in the direction opposite to the direction of the output torque of the motor 60 (the direction of the white arrow in the figure) (the first restraining member 30 is the direction of the solid line arrow in the figure). It is done. That is, the first restraining member 30 gives a resistance (that is, a resistance due to the output torque of the motor 60) opposite to the operation direction of the operation lever 10 to the operation transmission member 20 and the operation lever 10 while operating the operation lever 10. Rotate in the same direction as the operation direction.

  On the other hand, the second restraining member 40 connected to the first restraining member 30 via the interlocking mechanism 50 rotates in the opposite direction to the first restraining member 30 (the direction of the broken arrow in FIG. 6A). The second restraining portion 46 of the second restraining member 40 gradually moves away from the second restrained portion 26. Further, when both the restraining members 30 and 40 are rotated in the opposite directions by the operation of the operation lever 10 in the left direction, the both restraining members 30 and 40 are moved to the reference positions, that is, both restraints as shown in FIG. When the spaces 34 and 44 return to a position where they overlap with each other at the uppermost position, the second constrained portion 26 of the second constraining member 40 has the second constraining space 44 as shown in FIG. It hits the portion 48 adjacent to the left end (that is, the portion opposite to the second restraining portion 46), thereby preventing the operation transmitting member 20 and the operation lever 10 from rotating further to the left. That is, this position corresponds to a position where the operation lever 10 is fully operated leftward.

  Conversely, even when the operation lever 10 is operated in the right direction (second operation direction) from the state shown in FIG. 4, the operation lever 10 does not change the direction of the output torque of the motor 60. Operating resistance is given by the same principle. Specifically, when the operating lever 10 is operated in the right direction, the operating force is transmitted from the second restricted portion 26 of the operation transmitting member 20 to the second restricting portion 46 of the second restricting member 40, thereby The gears of the second restraining member 40 and the gears of the first restraining member 30 and all the gears including the intermediate gears 52 and 54 are shown in FIG. It is rotated in a direction opposite to the direction corresponding to the direction of the extraction arrow (the direction of the second restraining member 40 is the direction of the black dashed arrow in the figure). That is, the second restraining member 40 gives the operation lever 10 and the operation lever 10 a resistance opposite to the operation direction of the operation lever 10 (that is, a resistance due to the output torque of the motor 60) while operating the operation lever 10. Rotate in the same direction as the operation direction.

  On the other hand, since the first restraining member 30 rotates in the opposite direction to the second restraining member 40 (the direction of the solid line arrow in FIG. 7A), the first restraining portion 36 of the first restraining member 30 is the first. Gradually move away from the restrained portion 25. Further, when both the restraining members 30 and 40 are rotated in opposite directions by the operation of the operation lever 10 in the right direction and both the restraining members 30 and 40 are returned to the reference position as shown in FIG. As shown in FIG. 7B, the first constrained portion 25 is a portion of the first constraining member 30 adjacent to the right end of the first constraining space 34 (that is, the portion on the opposite side of the first constraining portion 36). 38), the operation transmitting member 20 and the operation lever 10 are prevented from rotating further to the right. That is, this position corresponds to a position where the operation lever 10 is fully operated in the right direction.

  In this way, the torque output from the motor 60 acts in a direction that always gives resistance to the operation regardless of the operation direction of the operation lever 10, in other words, a direction that tries to return the operation lever 10 to the neutral position. Therefore, even if the controller 60 or the motor 60 breaks down and the motor 60 runs out of control in either the normal direction (that is, the direction for giving the operating resistance as described above) or the opposite direction (that is, the maximum torque is always increased). Even in an abnormal state where the output continues, the operation lever 10 is held in the neutral position.

  Specifically, when the motor 60 runs away in the direction indicated by the white arrow in FIG. 8A, that is, in the normal direction, the output torque of each gear 52, 54, 30 is indicated by the black arrow (second restraining member 40 in the figure). Is rotated in the direction of the black dashed arrow). As a result, the first restraining portion 36 of the first restraining member 30 contacts the first restrained portion 25 of the operation transmitting member 20 from the left side, and at the same time, the second restraining portion 46 of the second restraining member 40 becomes the operation transmitting member. A state of abutting from the right side to the 20 second restrained portions 26, that is, the same state as the initial stage state shown in FIG. 4 is formed. Therefore, regardless of the runaway of the motor 60, the operation lever 10 is held in the neutral position shown in FIG.

  On the other hand, when the motor 60 runs away in the direction indicated by the white arrow in FIG. 8B, that is, in the direction opposite to the normal direction, the output torque of the gears 52, 54, and 30 is indicated by the black arrows (second The restraining member 40 is rotated in the direction of a black broken line arrow). As a result, the portion of the first restraining member 30 on the side opposite to the first restraining portion 36 (the portion adjacent to the right end of the first restraining space 34) 38 is against the first restrained portion 25 of the operation transmitting member 20. The portion of the second restraining member 40 opposite to the second restraining portion 46 (the portion adjacent to the left end of the second restraining space 44) 48 of the second restraining member 40 at the same time as contacting from the right side is second restrained of the operation transmitting member 20. The state of abutting from the left side with respect to the portion 26, that is, the initial stage state shown in FIG. A state is formed in which the restrained portions 25 and 26 are restrained from the left and right, and in this case, the operation lever 10 is held at the neutral position shown in FIG.

  Thus, when the motor 60 runs away, the operation lever 10 is held in the neutral position regardless of the direction. This ensures high safety of the operating device.

  In the first embodiment, the operation transmission member 20 and the operation lever 10 are directly connected to each other so as to rotate integrally. However, between the operation lever and the operation transmission member according to the present invention, Another member, for example, a motion transmission mechanism may be interposed. Therefore, the operation transmission member according to the present invention does not necessarily perform the same movement as the operation lever, and may be any one that performs a certain specific movement.

  An example thereof is shown in FIGS. 9 and 10 as a second embodiment. The operation device shown here includes an operation lever 110 corresponding to an operation member, an operation transmission member 120, a first restraining member 130, a second restraining member 140, an interlocking mechanism 150, and a motor constituting a resistance applying device. 160, a casing 170 that is a support member, and a link mechanism 180 that is a motion transmission mechanism. The operation lever 110, the operation transmission member 120, the first and second restraining members 130 and 140, the interlocking mechanism 150, the motor 160, and the casing 170 are the operation lever 10 and the operation transmission member according to the first embodiment, respectively. 20, corresponding to the first and second restraining members 30, 40, the interlocking mechanism 50, the motor 60, and the casing 70, and the description of the points that coincide is omitted.

  Unlike the first embodiment, the operation transmitting member 120 can be rotated around a rotation axis 121 independent of the rotation center axis below the rotation center axis of the operation lever 110. Supported by the casing 170, the link mechanism 180 connects the operation transmission member 120 so as to rotate about the rotation shaft 121 in conjunction with the rotation operation of the operation lever 110. The operation transmission member 120 includes a first restricted portion 125 and a second restricted portion 126 similar to the first restricted portion 25 and the second restricted portion 26 of the first embodiment.

  The first and second restraining members 130 and 140 are, as in the case of the first and second restraining members 30 and 40, a) configured by a spur gear, and b) to the operation transmission member 120 around the rotating shaft 121. C) The arc length of the first constraining space 134 and the second constraining space 144 surrounding each of the arc-shaped first constraining portions 125 and 126 into which the first and second constrained portions 125 and 126 can be inserted, respectively. The relative rotation of the operation transmitting member 120 with respect to the first and second restraining members 130 and 140 is allowed only in the range of. However, unlike the first and second restraining members 30 and 40, the first and second restraining members 130 and 140 have a fan shape centered on the rotating shaft 121, and teeth are formed only on a part of the outer periphery thereof. Have.

  The interlocking mechanism 150 includes first and second intermediate gears 152 and 154 that are meshed with each other, like the interlocking mechanism 50 according to the first embodiment, and the first intermediate gear 152 is the first restraining member 130. And the second intermediate gear 152 is engaged with the second restraining member 140. However, the interlocking mechanism 150 further includes a bevel gear 156 that rotates coaxially with the first intermediate gear 152.

  On the other hand, the motor 160 has a motor main body 162 and an output shaft 164 like the motor 60, but a bevel gear 166 is fixed to the output shaft 164, and the bevel gear 166 is meshed with the bevel gear 156. These bevel gears 156 and 166 are used by crossing the center shafts of the intermediate gears 152 and 154 and the output shaft 164 of the motor 160 so that the motor 160 is placed in the casing 170 in a vertical position as shown in the figure. Makes it possible to house. That is, in the operating device according to the second embodiment, it is possible to obtain the same effects as the operating device according to the first embodiment while suppressing the horizontal dimension.

  In the present invention, the specific shapes and arrangements of the operation transmitting member and the first and second restraining members can be freely set. As a modification thereof, the main part of the operating device according to the third embodiment is shown in FIGS. This operating device includes an operating lever 210 corresponding to an operating member, an operation transmitting member 220, a first restraining member 230, a second restraining member 240, an interlocking mechanism 250, and a motor 260 constituting a resistance applying device. And an unillustrated casing.

  Similar to the first embodiment, the operation lever 210 is provided so as to be rotatable leftward and rightward from the neutral position. The operation transmission member 220 is connected to the operation lever 210 so as to rotate about the axis X shown in FIG. 11 in conjunction with the rotation operation of the operation lever 210. A speeder 212 is interposed. The speed increaser 212 amplifies the rotation amount of the operation transmission member 220 with respect to the rotation operation amount of the operation lever 210. The speed increaser 212 may also serve as a motion conversion mechanism that makes the rotation center axis of the operation lever 210 different from the rotation center axis X of the operation transmission member 220.

  The operation transmission member 220 integrally includes a main body portion 222 and a constrained convex portion 224. The main body 222 has a cylindrical shape centered on the axis X, and a rotation support shaft (not shown) is inserted inside the main body 222. The constrained convex portion 224 protrudes radially outward from a portion of the outer peripheral surface of the main body portion 222 in the radial direction and extends over the entire region of the main body portion 222 in the axial direction. In this embodiment, as will be described later, one end portion (left end portion in FIG. 11) of the constrained convex portion 224 in the axial direction constitutes the first constrained portion, and the other end portion (FIG. 11). Then, the right end portion) constitutes the second restrained portion. Further, the constrained convex portion 224 shown in the figure has a mountain-shaped cross section whose width decreases toward the tip.

  In this embodiment, the operation transmitting member 220 and the operation lever 210 are arranged so that the constrained convex portion 224 faces directly upward as shown in FIG. 12A in a state where the operation lever 210 is in a neutral position. And the rotation phase is set.

  The first and second restraining members 230 and 240 are disposed on both sides in the axial direction (left and right sides in FIG. 11) with the operation transmission member 220 interposed therebetween, and follow the movement direction of the operation transmission member 220. It is supported by a support member (not shown) so that it can move in the direction, that is, in the third embodiment, it can rotate about the rotation center axis X.

  Specifically, the first and second restraining members 230 and 240 are respectively provided with outer walls 232 and 242 that cover the operation transmission member 220 from both outer sides in the axial direction, and more axially than the outer walls 232 and 242. And cylindrical inner side walls 234 and 244 located inside. Through holes 233 and 243 through which the rotation support shaft of the operation transmitting member 220 can be inserted are provided in the center of the outer walls 232 and 242, and the restraining members 230 and 240 are operated by the operation center around the rotation support shaft. It is possible to rotate relative to the transmission member 220.

  The inner side walls 234 and 244 respectively have a cylindrical inner peripheral surface that covers the axial ends of the first and second restraining members 230 and 240 from the outer side in the radial direction, and a cone that decreases in diameter toward the inner side. Each of which has a bevel gear 236, 246.

  The first restraining member 230 includes a first restraining portion 238 for restricting relative rotation of the operation transmitting member 220 with respect to the first restraining member 230 within a specific range. The first constraining portion 238 protrudes inward in a partial region in the circumferential direction from the inner peripheral surface of the inner wall 232, and a portion corresponding to the first constrained portion of the constrained convex portion 224 (see FIG. 11 in the clockwise direction of FIG. 12 to restrain the portion from the circumferential direction. Accordingly, the internal space surrounded by the first restraining member 230, that is, the arc-shaped space excluding the first restraining portion 238 corresponds to the first restraining space for receiving the first restrained portion.

  Similarly, the second restraining member 240 has a second restraining portion 248 for restricting relative rotation of the operation transmitting member 220 with respect to the second restraining member 240 within a specific range. The second constraining portion 248 protrudes inward in a partial region in the circumferential direction from the inner peripheral surface of the inner wall 242, and a portion corresponding to the second constrained portion of the constrained convex portion 224 (see FIG. 11 in the counterclockwise direction of FIG. 12 to restrain the portion from the circumferential direction. Therefore, the inner space surrounded by the second restraining member 240, that is, the arc-shaped space excluding the second restraining portion 248 corresponds to the second restraining space for receiving the second restrained portion.

  The first and second restraining portions 238 and 248 have a mountain-shaped cross section whose width decreases toward the tip (radially inner end). The inclination angles of the both side surfaces of the restraining portions 238 and 248 are set so as to substantially match the both side surfaces of the restrained convex portion 224.

  The interlocking mechanism 250 is connected to both the restraining members 230 and 240 so that the first and second restraining members 230 and 240 are interlocked in opposite directions, similarly to the interlocking mechanism 50 according to the first embodiment. Here, it is constituted by a pair of upper and lower bevel gears 252 and 254. These bevel gears 252 and 254 are arranged so that their central axes are directed in the vertical direction and mesh with both of the bevel gears 236 and 246 formed on both the restraining members 230 and 240 at the same time. Any one of these bevel gears 252 and 254 can be omitted.

  Here, the rotational phases of the two restraining members 230 and 240 interconnected by the interlocking mechanism 250 are the first and second restraints with the restrained convex portion 224 facing upward as shown in FIG. The parts 238 and 248 restrain the restrained convex part 224 from both the left and right sides, and both restraining members 230 and 240 rotate in opposite directions from this position, whereby both restraining parts 238 are shown in FIG. , 248 are set to coincide with each other in the axial direction at the lowest position.

  Further, in this embodiment, step portions 239 and 249 are formed at the root portions of both the restraining portions 238 and 248 (portions close to the inner peripheral surface of the inner side walls 234 and 244), respectively, as shown in FIG. Since the stepped portions 239 and 249 are in contact with each other in the circumferential direction at a position where the constrained convex portion 224 at the uppermost position is constrained from both the left and right sides, the side surfaces of the first and second constraining portions 238 and 248 The shapes of the first and second restraining portions 238 and 248 including both the step portions 239 and 249 are set so that a slight gap is secured between the restraint convex portion 224 and the side surface. The clearance is for allowing the operating lever 210 to have play in the neutral position (that is, allowing movement within a minute range without being restrained by both restraining members 230 and 240).

  Similar to the motor 60 according to the first embodiment, the motor 260 has a motor main body and an output shaft, and the output shaft is composed of both the restraining members 230 and 240 and the interlocking mechanism 250. For example, the lower bevel gear 254 is connected with a speed increaser 270 as shown in FIG. The speed increaser 270 increases the rotation of the bevel gear 254 and transmits it to the output shaft of the motor 260.

  In the operating device according to this embodiment, the motor 260 is connected to the controller 280 and is driven in such a direction as to apply torque in the direction indicated by the white arrow in FIG. The That is, the direction in which the clockwise torque in FIGS. 12A to 12C is applied to the first restraining member 230, and the counterclockwise torque in FIG. 12 is applied to the second restraining member 240. Driven by.

  Next, the operation of the operating device according to the third embodiment will be described.

  First, when the motor 260 is energized, the output torque of the motor 260 is transmitted to the first and second restraining members 230 and 240 via the bevel gear 254, whereby both the restraining members 230 and 240 are shown in FIG. Torques in opposite directions are given as indicated by white arrows in (a). As a result, the operation transmitting member 220 is held at the reference position in which the constrained convex portion 224 faces directly upward as shown in FIG. 12A, and the constrained convex portion 224 includes the first and second constraining members 230, 240 is restrained from the left and right sides. Therefore, the operation lever 210 is held at a neutral position that is a position corresponding to the reference position of the operation transmission member 220.

  Next, when the operation lever 210 is operated, for example, in the left direction against the output torque of the motor 260 from the state shown in FIG. 12A, the operation force is transmitted to the operation transmission member 220, thereby The operation transmitting member 220 pushes the first restraining portion 238 against the output torque of the motor 260 (the torque in the clockwise direction indicated by the white arrow in the figure), that is, the black solid line in FIG. While rotating the first restraining member 230 in the counterclockwise direction indicated by the arrow, it also rotates in the same direction. In other words, the first restraining member 230 gives the operation transmission while giving the operation transmission member 220 and the operation lever 210 a resistance opposite to the operation direction of the operation lever 10 (that is, resistance due to the output torque of the motor 260). It rotates in the direction subject to the operation of the operation lever 210 together with the member 220.

  On the other hand, the second restraining member 240 connected to the first restraining member 230 via the interlocking mechanism 250 rotates in the opposite direction (clockwise direction in FIG. 12B) to the first restraining member 230. The second restraining portion 248 of the second restraining member 240 is gradually separated from the restrained convex portion 224. Further, when the operation lever 210 is operated in the left direction, the two constraining members 230 and 240 are rotated in opposite directions, so that the two constraining portions 238 and 248 coincide with each other at the lowest position as shown in FIG. When the two restraining members 230 and 240 rotate to the position where the second restraining member 230 and 240 are rotated, the second restraining portion 248 hits the restrained convex portion 224 from the side opposite to the first restraining portion 238 (the right side in the drawing). The operation transmission member 220 and the operation lever 210 are prevented from further turning to the left. That is, this position corresponds to a position where the operation lever 210 is fully operated leftward.

  Conversely, when the operation lever 210 is operated in the right direction (second operation direction) from the state shown in FIG. 12A, the operation transmission member 220 and the two restraining members 230 and 240 are in the opposite directions. The second restraining portion 248 of the second restraining member 240 gives a resistance corresponding to the output torque of the motor 260 to the restrained convex portion 224 of the operation transmitting member 220 and further to the operation lever 210. That is, resistance is also given to the operation lever 210 with respect to the right direction operation without changing the direction of the torque of the motor 260 on the same principle as the left direction operation.

  As described above, also in the third embodiment, the torque output from the motor 260 always gives resistance to the operation regardless of the operation direction of the operation lever 210, that is, returns the operation lever 10 to the neutral position. Therefore, even if the controller 260 or the motor 260 malfunctions, the motor 260 runs away in the normal direction (that is, the direction in which the operation resistance is given as described above) or in the opposite direction. (In other words, even in an abnormal state in which the maximum torque is always output), the constrained convex portion 224 of the operation transmitting member 220 is constrained from both the left and right sides by both constraining portions 238 and 248 as shown in FIG. Therefore, the operation lever 210 is held in the neutral position. This ensures high safety of the operating device. That is, also in the third embodiment, the same effect as in the first embodiment can be obtained.

  The operation transmission members 20, 120 and 220 according to the first to third embodiments described above all rotate in conjunction with the operation of the operation lever. The movement of the first and second restraining members is not limited to rotational movement. The motion may be a linear motion, for example.

  An example thereof is shown in FIGS. 13 and 14 as a fourth embodiment. The operating device shown here includes an operating lever 310 corresponding to an operating member, an operation transmitting member 320, a first restraining member 330, a second restraining member 340, an interlocking mechanism 350, and a motor constituting a resistance applying device. 360 and an unillustrated casing that is a support member, which are respectively the operation lever 10, the operation transmission member 20, the first and second restraining members 30 and 40, and the interlocking mechanism 50 according to the first embodiment. The operation transmission member 320 and the first and second restraining members 330 and 340 according to the fourth embodiment can be linearly moved in the same direction, that is, corresponding to the motor 60 and the casing 70, that is, specified. Is supported by the casing so as to be slidable in the sliding direction (the arrow direction in FIGS. 13 and 14).

  Specifically, the difference between the fourth embodiment and the first embodiment is as follows.

  1) A rectilinear conversion mechanism 312 is interposed between the operation lever 310 and the operation transmission member 320. The linear conversion mechanism 312 converts the turning operation of the operation lever 310 into a linear motion of the operation transmission member 320. This linear conversion mechanism 312 can be omitted when the operation lever 310 is operated in a linear direction.

  2) As in the first embodiment, the operation transmission member 320 has a first constrained portion 321 and a second constrained portion 322 that are axially projecting in the front-rear direction. The first restraining member 330 and the second restraining member 340 are each a main plate having a shape surrounding the first restraining space 334 and the second restraining space 344 into which the first and second restrained portions 321 and 322 can be inserted from the inside. 331 and 341, respectively. The shapes of the first and second restraining spaces 334 and 344 are set in a straight line parallel to the sliding direction.

  3) The first and second restraining members 330 and 340 further have first and second racks 332 and 342, respectively, and the interlocking mechanism 350 has a pinion 354. The first and second racks 332 and 342 extend parallel to the sliding direction, and are fixed to the inner surfaces of the main body plates 331 and 341 of the first and second restraining members 330 and 340, respectively. The pinion 354 is disposed between the racks 332 and 342 so as to be engaged with both the first and second racks 332 and 342. Accordingly, as the pinion 354 rotates, both the restraining members 330 and 340 are interlocked so as to slide in opposite directions. The relative positional relationship between the first and second restraining members 330 and 340 interconnected via the interlocking mechanism 350 is such that the first and second restraining spaces 334 and 344 are as shown in FIGS. It is set so as to match each other at the center position (overlapping in the front-rear direction).

  4) The motor 360 has a motor main body and an output shaft like the motor 60 of the first embodiment, and the output shaft is connected to the rotation center shaft of the pinion 354 via the speed increaser 370. . The speed increaser 370 increases the rotation of the pinion 354 and transmits it to the output shaft of the motor 360.

  The driving direction of the motor 360 is set to a direction in which, for example, the first and second restraining members 330 and 340 are slid to the left and right sides in FIGS. 13 and 14, respectively. In this case, a portion of the main body plate 331 of the first restraining member 330 adjacent to the right end of the first restraining space 334 corresponds to the first restraining portion 336, and the second restraining member of the main body plate 341 of the second restraining member 340. A portion adjacent to the right end of the space 344 corresponds to the second restraining portion 346.

  Also in the fourth embodiment, it is possible to provide operation resistance to the operation lever 310 and ensure safety when the motor 360 runs away according to the same principle as in the first embodiment. That is, when the motor 360 is operated from the state shown in FIGS. 13 and 14, the torque is applied to the first and second restraining members 330 and 340 through the interlocking mechanism 350 in opposite directions, and these torques are applied. The sliding force functions as a force that holds both the restrained portions 321 and 322 in the center position shown in the drawing, that is, a force that holds the operation lever 310 in the neutral position. Therefore, even when the operation lever 310 is operated from the neutral position in either the left direction or the right direction, the operation lever 310 is provided with an operation resistance for returning the operation lever 310 to the neutral position, and the motor 360 runs out of control. Sometimes, the operation lever 310 is reliably held at the neutral position, and its high safety is ensured.

X Center axis of rotation 10 Operation lever (operation member)
DESCRIPTION OF SYMBOLS 20 Operation transmission member 23 1st spindle part 24 2nd spindle part 25 1st constrained part 26 2nd constrained part 30 1st constraining member 34 1st constraining space 36 1st constraining part 40 2nd constraining member 44 Second constraining space 46 Second constraining portion 50 Interlock mechanism 52, 54 Intermediate gear 60 Motor (resistance force applying device)
70 Casing (supporting member)
110 Operation lever (operation member)
DESCRIPTION OF SYMBOLS 120 Operation transmission member 121 Rotating shaft 125 1st restrained part 126 2nd restrained part 130 1st restraint member 134 1st restraint space 140 2nd restraint member 144 2nd restraint space 150 Interlock mechanism 152,154 Intermediate gear 160 Motor (resistance force applying device)
170 Casing (supporting member)
210 Operation lever (operation member)
220 Operation transmitting member 224 Constrained convex part (first constrained part and second constrained part)
230 First restraining member 236 Bevel gear (first gear)
238 First restraint portion 240 Second restraint member 246 Bevel gear (second gear)
248 Second restraint portion 250 Interlocking mechanism 260 Motor (resistance force applying device)
310 Operation lever (operation member)
320 Operation transmission member 321 First restrained portion 322 Second restrained portion 330 First restraining member 332 First rack (first gear)
334 First restraint space 336 First restraint portion 340 Second restraint member 342 Second rack (second gear)
344 Second restraint space 346 Second restraint portion 350 Interlocking mechanism 354 Pinion 360 Motor (resistance force applying device)

Claims (6)

An operating device capable of generating an operating resistance,
An operation member capable of receiving an operation from a neutral position in a first operation direction and a second operation direction opposite to the first operation direction;
An operation transmitting member that moves in a specific movement direction in conjunction with the operation of the operation member, and that has a first restricted portion and a second restricted portion,
A first restraining member capable of moving in a direction along a motion direction of the operation transmitting member, wherein the relative displacement of the operation transmitting member relative to the first restraining member in the motion direction is limited within a specific range. and binding on first restrained portion,
A second restraining member capable of moving in a direction along a motion direction of the operation transmitting member, wherein the relative displacement of the operation transmitting member relative to the second restraining member in the motion direction is limited within a specific range. as to restrain the second restrained portion,
The first restraining member and the second restraining member are coupled to the first restraining member and the second restraining member so that the first restraining member and the second restraining member are interlocked with each other in opposite directions, and a resistance transmission mechanism is provided together with the first restraining member and the second restraining member. The interlocking mechanism to be configured;
While the operation member is operated in the first operation direction, the first restraining member provides resistance to the first restrained portion with respect to the movement of the operation transmitting member corresponding to the first operation direction, When the operation member is operated in the second operation direction, the second restraining member gives resistance to the second restrained portion with respect to the movement of the operation transmitting member corresponding to the second operation direction. An operating device, comprising: a resistance applying device that applies a direction force to the resistance transmission mechanism.   2. The operating device according to claim 1, wherein the first restraining member includes a first gear, the second restraining member includes a second gear, and the interlocking mechanism includes the first gear and the second gear. And an at least one intermediate gear meshing with the first and second gears so as to be interlocked in opposite directions.   The operating device according to claim 1, wherein the resistance applying device is coupled to the interlocking mechanism so as to apply a force for operating resistance to the interlocking mechanism.   4. The operating device according to claim 1, wherein the operation transmitting member and the first and second restraining members are supported so as to be movable in the specific movement direction. An operating device further provided.   5. The operating device according to claim 4, wherein the support member supports the operation transmitting member and the first and second restraining members so as to be rotatable around a common support shaft.   6. The operating device according to claim 5, wherein the first restraining member has a shape surrounding the first restraining space for receiving the first restrained portion in an arc shape centered on the support shaft. The first constraining part is allowed to rotate relative to the first constraining member only in the first constraining space, and the second constraining member has an arc shape centered on the support shaft. An operating device having a shape surrounding a second constraining space for receiving the second constrained portion, and allowing relative rotation of the second constrained portion with respect to the second constraining member only within the second constraining space. .

Images