阅读说明：本技术 输入装置 (Input device ) 是由 小池飞鸟 久家祥宏 高桥一成 高桥未铃 于 2018-12-27 设计创作，主要内容包括：适于旋转体的旋转轴的方向上的小型化的输入装置设置有：制动赋予部,其对旋转体赋予制动力；以及转矩赋予部,其对旋转体赋予以旋转轴为中心的旋转的驱动转矩,制动赋予部具有：旋转板,其设置成能够与旋转体一起旋转；磁粘性流体,其夹设于固定部与旋转板之间的间隙；以及制动赋予线圈,其对磁粘性流体给予磁场,转矩赋予部具有：定子；以及转子,其被支承为能够相对于定子旋转,在转矩赋予部中,定子和转子中的任一方设置有磁铁,而另一方设置有至少两相的转矩赋予线圈,通过由转矩赋予线圈感应的磁场对旋转体赋予驱动转矩,输入装置设置有控制部,控制部控制对制动赋予线圈和转矩赋予线圈给予的电流,转矩赋予部以围着制动赋予部的外围的方式配置。(An input device suitable for miniaturization in the direction of the rotation axis of a rotating body is provided with: a brake applying unit that applies a braking force to the rotating body; and a torque applying section that applies a driving torque to the rotating body to rotate the rotating body around the rotating shaft, the brake applying section including: a rotating plate provided to be rotatable together with the rotating body; a magnetic viscous fluid interposed in a gap between the fixed portion and the rotating plate; and a brake applying coil that applies a magnetic field to the magnetic viscous fluid, the torque applying section including: a stator; and a rotor supported to be rotatable with respect to the stator, wherein one of the stator and the rotor is provided with a magnet, and the other is provided with at least two-phase torque application coils, and the driving torque is applied to the rotating body by a magnetic field induced by the torque application coils, the input device is provided with a control unit that controls currents applied to the brake application coils and the torque application coils, and the torque application unit is disposed so as to surround the periphery of the brake application unit.)

1. An input device is provided with:

a fixed part;

a rotating body supported to be rotatable about a rotating shaft; and

a rotation detecting unit that detects rotation of the rotating body,

the input device is characterized in that it is provided with,

the input device is provided with:

a braking force applying unit that applies a braking force to the rotating body; and

a torque applying section that applies a driving torque to the rotating body to rotate the rotating body around the rotating shaft,

the brake applying section includes: a rotating plate provided to be rotatable together with the rotating body; a magnetic viscous fluid interposed in a gap between the fixed portion and the rotating plate; and a brake application coil that applies a magnetic field to the magnetic viscous fluid,

the torque applying section includes: a stator; and a rotor supported to be rotatable with respect to the stator,

in the torque applying part, one of the stator and the rotor is provided with a magnet, and the other is provided with at least two-phase torque applying coils, and the driving torque is applied to the rotating body by a magnetic field induced by the torque applying coils,

the input device is provided with a control unit that controls currents to be applied to the brake applying coil and the torque applying coil,

the torque applying portion is disposed so as to surround the outer periphery of the brake applying portion.

2. The input device of claim 1,

the control unit can control the current applied to the brake applying coil and the current applied to the torque applying coil independently, and can generate the braking force and the driving torque at the same time.

3. The input device of claim 1 or 2,

the rotor is supported to be rotatable together with the rotating body, and includes: an annular back yoke; and a plurality of permanent magnets arranged on the outer periphery of the back yoke and arranged so that polarities thereof are alternately different in the circumferential direction of the back yoke,

the stator is disposed so as to surround a radial outer periphery of the rotor, and includes: a coil as the torque applying coil, which is formed of a winding of a non-magnetic body; and a fixing member that fixes the coil, wherein the stator is disposed to face the permanent magnet.

4. The input device of claim 3,

eight torque applying coils are arranged, and current is applied to adjacent torque applying coils so as to generate magnetic fields in opposite directions,

applying, as an a phase, a current to two adjacent coils and two coils located at positions symmetrical with respect to the rotation axis at the same time for the torque-imparting coils; as a B phase, current is applied to the remaining four coils at the same time.

5. The input device of any one of claims 1 to 4,

the brake applying portion includes a shaft portion that rotates together with the rotating plate, and the shaft portion is coupled to the rotating body via a connecting member having elasticity.

6. The input device of any one of claims 1 to 5,

the torque applying coil and the braking applying coil are arranged such that center lines thereof are orthogonal to each other.

Technical Field

The present invention relates to an input device capable of changing rotational resistance using a magnetic viscous fluid.

Background

The operation feeling providing input device described in patent document 1 includes: a rotary operating part; an encoder that detects a rotation state of the operation unit; an armature rotor that rotates together with the operation portion; an electromagnetic brake that applies rotational resistance to the operating portion via the armature rotor; an electric motor for applying independent rotation force to the operation part through a rotation shaft; and a control unit that drives the electromagnetic brake and the electric motor. The control unit can drive the electromagnetic brake to suppress consumption of electric power when the rotation resistance is given, and drive the electric motor to rotate the operation unit independently. Further, the windings of the electromagnetic brake are disposed outside the electric motor, and the entire device is shortened in a direction along the rotation axis.

Disclosure of Invention

Problems to be solved by the invention

However, in the operation feeling providing type input device described in patent document 1, since the armature rotor is disposed between the electric motor and the operation portion, shortening of the structure in the direction along the rotation axis is restricted by the size of these components.

Accordingly, an object of the present invention is to provide an input device suitable for miniaturization in the direction of the rotation axis of the rotating body.

Means for solving the problems

In order to solve the above problem, an input device of the present invention includes: a fixed part; a rotating body supported to be rotatable about a rotating shaft; and a rotation detecting unit that detects rotation of the rotating body, wherein the input device includes: a brake applying unit that applies a braking force to the rotating body; and a torque applying section that applies a driving torque to the rotating body to rotate the rotating body around the rotating shaft, the brake applying section including: a rotating plate provided to be rotatable together with the rotating body; a magnetic viscous fluid interposed in a gap between the fixed portion and the rotating plate; and a brake applying coil that applies a magnetic field to the magnetic viscous fluid, the torque applying section including: a stator; and a rotor supported to be rotatable with respect to the stator, wherein one of the stator and the rotor is provided with a magnet, and the other is provided with at least two-phase torque application coils, and the rotor is provided with a driving torque by a magnetic field induced by the torque application coils.

This makes it possible to reduce the size of the rotary body in the direction of the rotation axis. Further, since the torque applying portion and the brake applying portion can be disposed close to each other, the dimension in the direction perpendicular to the rotation axis can be also suppressed to be small.

Preferably, in the input device of the present invention, the control unit is capable of controlling the current applied to the brake applying coil and the current applied to the torque applying coil independently, so that the braking force and the driving torque can be generated simultaneously.

This enables the operator to be given various operation feelings.

Preferably, in the input device of the present invention, the rotor is supported to be rotatable together with the rotating body, and includes: an annular back yoke; and a plurality of permanent magnets arranged on an outer periphery of the back yoke and arranged so that polarities thereof are alternately different in a circumferential direction of the back yoke, wherein the stator is arranged so as to surround a radial outer periphery of the rotor, and includes: a coil as a torque applying coil, which is formed of a winding of a non-magnetic body; and a fixing member for fixing the coil, wherein the stator is arranged to face the permanent magnet.

Thus, since no salient pole is provided in the core of the magnetic body and a coil without salient pole is used, cogging torque is not generated even in a rotating operation in a state where the coil is not energized. Thus, the operation feeling can be prevented from being deteriorated by the cogging torque. Further, if the fixing member of the stator is made of a non-magnetic material, not only the cogging due to the strength of the magnetic attraction force but also the rotation resistance due to the magnetic attraction force of the permanent magnet are not generated.

Preferably, in the input device of the present invention, eight torque applying coils are arranged, and adjacent torque applying coils are applied with currents in such a manner as to generate magnetic fields in directions opposite to each other, and the currents are applied to the adjacent two coils and the two coils located at positions symmetrical with respect to the rotation axis at the same time as a phase with respect to the torque applying coils; as a B phase, current is applied to the remaining four coils at the same time.

This makes it possible to reduce the bending ratio of the torque applying portion, and thus the manufacturing becomes easy. Further, the total length in the direction of the rotation axis can be suppressed, and the area of the magnetic flux generated by the magnet that passes through the torque application coil can be increased, thereby increasing the drive torque.

Preferably, in the input device of the present invention, the brake applying portion includes a shaft portion that rotates together with the rotating plate, and the shaft portion is coupled to the rotating body via a connecting member having elasticity.

This can cause a phase shift between the rotation of the shaft of the brake applying portion and the rotation of the rotating body. Therefore, even when the shaft portion of the brake applying portion is stopped in the end stop (Endstop) state, if a low torque is applied to the rotating body, the shaft portion is twisted along with the rotation of the rotating body, and therefore the rotation detecting portion can detect the rotation of the rotating body, and if the end stop state is released based on the detection result, an operation feeling with less jamming can be given to the operator at this time.

Preferably, in the input device of the present invention, the torque application coil and the brake application coil are arranged such that center lines thereof are orthogonal to each other.

Thus, even when the torque application coil and the brake application coil are brought close to each other, interference between the magnetic fields generated by the torque application coil and the brake application coil can be suppressed, and the influence of the magnetic field generated by the torque application coil on the magnetic viscous fluid of the brake application portion can be reduced.

Effects of the invention

According to the present invention, miniaturization can be achieved in the direction of the rotation axis of the rotating body.

Drawings

Fig. 1 (a) and (b) are perspective views showing the configuration of an input device according to an embodiment of the present invention.

Fig. 2 is an exploded perspective view of the input device shown in fig. 1 (a) and (b).

Fig. 3 is a sectional view of an input device including a rotation shaft of a rotating body according to an embodiment of the present invention.

Fig. 4 is a functional block diagram of an input device according to an embodiment of the present invention.

Fig. 5 (a) to (d) are plan views showing the relationship between the hollow coil of the coil unit and the magnet of the magnet unit in the embodiment of the present invention.

Fig. 6 (a) is a perspective view of the brake applying portion in the embodiment of the present invention as viewed from the upper side, and fig. 6 (b) is a perspective view of the brake applying portion as viewed from the lower side.

Fig. 7 is an exploded perspective view of the brake applying section in the embodiment of the present invention, as viewed from the upper side.

Fig. 8 is an exploded perspective view of the brake applying unit in the embodiment of the present invention as viewed from the upper side.

Fig. 9 is a sectional view taken along line IX-IX' of fig. 10 (a).

Fig. 10 is a partially enlarged view of fig. 9.

Fig. 11 (a) is a perspective view showing a state in which the rotating body, the connecting member, and the shaft portion are connected to each other in the embodiment of the present invention, and fig. 11 (b) is a perspective view showing a state in which the connecting member, the connecting shaft portion, and the shaft portion are separated from each other.

Fig. 12 is an exploded perspective view of a rotating body and a connecting member in the embodiment of the present invention.

Detailed Description

Hereinafter, an input device according to an embodiment of the present invention will be described in detail with reference to the drawings.

Fig. 1 (a) and (b) are perspective views showing the configuration of an input device 110 according to an embodiment of the present invention. Fig. 2 is an exploded perspective view of the input device 110 shown in fig. 1 (a) and (b). Fig. 3 is a sectional view of the input device 110 including the rotation axis AX of the rotating body 130. Fig. 4 is a functional block diagram of the input device 110. In the following description, a direction along the rotation axis AX which is the rotation center of the rotating body 130 is referred to as a vertical direction, and a direction perpendicular to the rotation axis AX is referred to as a radial direction. The vertical direction may be arbitrarily set according to the posture of the input device. A state viewed along the direction of the rotation axis AX is referred to as a plan view, and a direction along the circumference of a circle centered on the rotation axis AX is referred to as a circumferential direction in the plan view.

As shown in fig. 2, the input device 110 of the present embodiment includes a fixed portion 120, a rotating body 130, a connecting member 135, a rotation detecting portion 140, a torque applying portion 150, and a brake applying portion 210, and is assembled and used as shown in fig. 1 (a) and (b). The input device 110 further includes a control unit 160 shown in fig. 4.

< fixed part >

As shown in fig. 2, the fixing portion 120 is a plate material made of a non-magnetic material. The fixing portion 120 is provided with an opening 121 that penetrates vertically in a central portion in a plan view. The shaft portion 311 of the brake applying portion 210 extends outward through the opening 121 (see fig. 1 (b)).

< Torque-imparting section >

As shown in fig. 2, the torque applying unit 150 includes a base plate 151, a fixing member 152, a coil unit 153, a magnet unit 154, a back yoke 155, and a coil holder 156, and is configured to be substantially symmetrical about the rotation axis AX. The stator is composed of a fixing member 152 made of a nonmagnetic material and a coil portion 153 fixed to an inner peripheral surface of the fixing member 152. The magnet portion 154 disposed along the inner circumferential surface of the coil portion 153 so as to face each other and the back yoke 155 fixed to the inner circumferential surface of the magnet portion 154 constitute a rotor. The rotor is supported to be rotatable relative to the stator.

The base plate 151 has a substantially circular plate shape, and is fixed to the fixing portion 120 such that the central axis thereof is positioned on the rotation axis AX. As shown in fig. 2 and 3, a cylindrical pretensioner 151a is concentrically disposed in the center of the base plate 151. As shown in fig. 3, the pretensioner 151a supports the rotating shaft portion 310 from the radial direction, and the rotating shaft portion 310 penetrates and fixes the fixing portion 120 and the base plate 151 in the up and down direction and penetrates the inside of the pretensioner 151 a.

As shown in fig. 2 and 3, a positioning recess 151b as a coil holder for positioning and holding a lower portion of the hollow coils 153a to 153h (described later) is provided along the outer periphery of the base plate 151, and an outer edge recess 151c recessed below the positioning recess 151b is provided outside the positioning recess 151 b. Thus, the base plate 151 is configured to be substantially symmetrical about the rotation axis AX. As shown in fig. 3, the lower portion of the coil portion 153 is inserted into the positioning recess 151b, thereby positioning the coil portion 153.

As shown in fig. 1 (b) and 3, a plurality of conductive pins 122 are provided so as to vertically penetrate the base plate 151. The pin 122 is exposed outward from the lower portion of the input device 110 through the opening 121 of the fixing portion 120, and a predetermined current is supplied from the control portion 160 to the coil portion 153 and the first coil 250 and the second coil 450 in the brake applying portion 210.

As shown in fig. 3, the lower portion of the cylindrical fixing member 152 is fitted in the outer edge concave portion 151c of the base plate 151, whereby the fixing member 152 is positioned along the outer periphery of the base plate 151 and fixed to the base plate 151 and the fixing portion 120. Thus, the fixing member 152 is configured to be substantially symmetrical about the rotation axis AX. As shown in fig. 3 and 5, eight air coils 153a, 153b, 153c, 153d, 153e, 153f, 153g, and 153h as torque applying coils are provided on the inner peripheral surface of the fixing member 152. The eight air coils 153a to 153h constitute the coil section 153.

The eight air coils 153a, 153b, 153c, 153d, 153e, 153f, 153g, and 153h are arranged along the circumferential direction with respect to the inner circumferential surface 152a (see fig. 2) of the fixing member 152. The eight air coils 153a to 153h are arranged at equal angular intervals on a circle centered on the rotation axis AX, and are wound up with a line extending in the radial direction from the rotation axis AX toward the circumference as a center line. Thus, the coil portion 153 is configured to be substantially symmetrical with respect to the rotation axis AX. Currents controlled by the control unit 160 are applied to the air-core coils 153a to 153h, respectively (see fig. 4).

As shown in fig. 2 and (a) to (d) of fig. 5, the magnet portion 154 includes six magnets 154a, 154b, 154c, 154d, 154e, and 154 f. The magnets 154a to 154f are arranged inside the air coils 153a to 153h of the coil unit 153 so as to face each other with a predetermined gap in the radial direction with respect to the air coils 153a to 153 h. As shown in fig. 2 and 3, the magnets 154a to 154f are arranged along the circumferential direction of the outer circumferential surface 155a of the cylindrical back yoke 155. These magnets 154a to 154f are arranged at equal angular intervals on a circle centered on the rotation axis AX, and have magnetic poles arranged in the radial direction from the rotation axis AX toward the circumference. The magnetic poles are arranged such that adjacent magnetic poles are opposite to each other. Thus, the magnet portion 154 and the back yoke 155 are configured to be substantially symmetrical with respect to the rotation axis AX. In fig. 5 (a) to (d), only the outer magnetic poles are shown for simplicity, and for example, in the magnet 154a, the outer side is the S pole, and the inner side closer to the rotation axis AX is the N pole.

Fig. 5 (a) to (d) are plan views showing the relationship between the air coils 153a to 153h of the coil section 153 and the magnets 154a to 154f of the magnet section 154. Fig. 5 (a) to (d) show positions at which the magnets 154a to 154f are stabilized, that is, positions at which maximum torque is generated, when the energization to the hollow coils 153a to 153h is switched. Further, directions in the vertical direction (direction along the rotation axis AX) of the currents when the currents are applied to the hollow coils 153a to 153h are shown, "×" indicates a direction downward of the paper surface, and "●" (black circle) indicates a direction upward of the paper surface.

As shown in fig. 3, the vertical positions of the eight air coils 153a to 153h are defined and held by the coil holder 156 and the base plate 151, respectively. As shown in fig. 2, the coil holder 156 is annular and fixed along the upper end of the outer peripheral surface of the fixing member 152 such that the central axis thereof is positioned on the rotation axis AX. Thus, the coil holder 156 is configured to be substantially symmetrical about the rotation axis AX. As described above, since the base plate 151, the fixing member 152, the coil portion 153, the magnet portion 154, the back yoke 155, and the coil holder 156 are each configured to be substantially symmetrical with respect to the rotation axis AX, the torque applying portion 150 as a whole is configured to be substantially symmetrical with respect to the rotation axis AX.

As shown in (a) to (d) of fig. 5, the application of current to the hollow coils 153a to 153h is performed for four coils (one set of coils) in total, which are two adjacent hollow coils and two coils adjacent at positions symmetrical with respect to the two hollow coils about the rotation axis AX.

As shown in fig. 5 (a) and (B), a state in which a current is applied to one set of two adjacent air-core coils 153B and 153c and two air-core coils 153f and 153g symmetrical with respect to the rotation axis AX is referred to as an a phase, and as shown in fig. 5 (c) and (d), a state in which a current is applied to the other set of coils to which a current is not applied in the a phase, that is, two adjacent air-core coils 153h and 153a and two air-core coils 153d and 153e symmetrical with respect to the rotation axis AX is referred to as a B phase. Here, groups of four coils are connected in series. That is, the four air-core coils 153B, 153c, 153f, and 153g corresponding to a are connected in series, and the four air-core coils 153h, 153a, 153d, and 153e corresponding to B are also connected in series.

The energization of the hollow coils 153a to 153h is controlled so that the two phases a and B are switched every time the rotating body 130 rotates by 120 degrees, and the states shown in (a) to (d) of fig. 5 are switched three times by 120 degrees while the rotating body 130 rotates once.

In the state shown in fig. 5 (a), currents directed opposite to each other are applied to the two adjacent air-core coils 153b and 153 c. Further, with respect to the rotation axis AX, a current is applied to the air-core coil 153f located at a position symmetrical to the air-core coil 153b in an opposite direction to the air-core coil 153b, and a current is applied to the air-core coil 153g located at a position symmetrical to the air-core coil 153c in an opposite direction to the air-core coil 153 c. As a result, as indicated by arrows in fig. 5 (a), oppositely-oriented magnetic fields are generated in the adjacent coils, and identically-oriented magnetic fields are generated in the two coils in a mutually symmetric relationship about the rotation axis AX.

The relationship between the application of current to the hollow coil and the generation of the magnetic field is the same as in fig. 5 (b), (c), and (d).

By applying currents to the hollow coils 153a to 153h in four patterns shown in fig. 5 (a) to (d), the magnet portion 154 can be rotated or turned relative to the base plate 151, the fixing member 152, and the coil portion 153 fixed to the fixing portion 120 about the rotation axis AX, and the back yoke 155 to which the magnet portion 154 is fixed also rotates or turns. The rotating body 130 described below is concentrically fixed to the back yoke 155, and the rotational or rotational driving torque is transmitted to the rotating body 130 in accordance with the rotation or rotation of the magnet portion 154.

< brake applying section >

Fig. 6 (a) is a perspective view of the brake applying unit 210 viewed from the upper side, and fig. 6 (b) is a perspective view of the brake applying unit 210 viewed from the lower side. Fig. 7 and 8 are exploded perspective views of the brake applying section 210 viewed from above. Fig. 7 is a perspective view of an upper portion 210A up to the a portion, and fig. 8 is a perspective view of a lower portion 210B from the a portion. Fig. 9 is a sectional view taken along line IX-IX' of fig. 6 (a), conceptually illustrating the magnetic fields generated by the two coils 250, 450. Fig. 10 is a partially enlarged view of fig. 9. In the following description, a direction parallel to the central axis 211 is referred to as a first direction D1 (fig. 6 and 9), and a radial direction perpendicular to the central axis 211 is referred to as a second direction D2 (fig. 6 and 9). In addition, a state in which the lower side is viewed from above along the center axis 211 may be referred to as a plan view. In fig. 7 and 8, a part of the screw and the magnetic viscous fluid are not shown.

As shown in fig. 6 (a) and (b), the brake applying unit 210 includes a holding unit 220 and a rotating unit 300, and is configured to be substantially symmetrical about a central axis 211. The rotation operation unit 300 includes a rotation shaft 310 and two magnetic disks (disks) 320 and 520 (rotation plates), and they are integrally coupled to rotate in both directions around a central shaft 211 (rotation shaft).

As shown in fig. 3, the brake applying portion 210 is disposed in the back yoke 155 such that outer circumferential surfaces of an outer yoke 232, an annular member 270, and an outer yoke 432, which will be described later, face each other with a gap therebetween with respect to an inner circumferential surface of the back yoke 155. That is, the torque applying portion 150 is disposed so as to surround the outer periphery of the brake applying portion 210. Here, the center axis 211 of the brake applying portion 210 is disposed so as to be positioned on the rotation axis AX of the rotating body 130, and the bottom surface of the third yoke 490 of the brake applying portion 210 is fixed to the base plate 151. In the state of being arranged like this, the first direction D1 is along the direction of the rotation axis AX, and the second direction D2 is orthogonal to the direction of the rotation axis AX.

The rotating operation portion 300 is rotatably supported by the holding portion 220 via two radial bearings 351 and 551 and two pushers (pushers) 352 and 552 (see fig. 7 and 8). As shown in fig. 10, the two gaps 280 and 480 provided in the brake applying section 210 are filled with magnetic viscous fluids 360 and 560, respectively, while being interposed therebetween.

(1) Structure of holding part 220

In the upper portion 210A shown in fig. 7, the holding portion 220 includes a first yoke 230, a second yoke 240, a first coil 250 as a brake applying coil, a seal member 260, and a third yoke 290 as an upper housing. As shown in fig. 7, in the first direction D1, the first yoke 230 is positioned on one side of the magnetic disk 320 and the second yoke 240 is positioned on the other side of the magnetic disk 320. As described below, since each of the first yoke 230, the second yoke 240, the first coil 250, the seal member 260, and the third yoke 290 is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis), the upper portion 210A of the holding portion 220 as a whole is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

In the lower portion 210B shown in fig. 8, the holding portion 220 includes a first yoke 430, a second yoke 440, a second coil 450 as a brake application coil, a seal member 460, and a third yoke 490 as a lower case. As shown in fig. 8, in the first direction D1, the first yoke 430 is positioned on one side of the magnetic disk 520 and the second yoke 440 is positioned on the other side of the magnetic disk 520. As described below, since the first yoke 430, the second yoke 440, the second coil 450, the sealing member 460, and the third yoke 490 are each configured to be substantially symmetrical with respect to the center axis 211 (rotation axis), the lower portion 210B of the holding portion 220 as a whole is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

The holder 220 includes a ring-shaped member 270 spanning the upper portion 210A and the lower portion 210B. In the upper portion 210A, the first yoke 230, the second yoke 240, and the third yoke 290 are formed by separate machining; in the lower portion 210B, the first yoke 430, the second yoke 440, and the third yoke 490 are formed by separate processes. However, any one of these yokes may be integrally formed in combination.

As shown in fig. 7, the first coil 250 of the upper portion 210A has a circular ring shape. The first coil 250 includes a conductive wire wound in a manner surrounding the circumference of the central shaft 211. As shown in fig. 8, the second coil 450 of the lower portion 210B has a circular ring shape. The second coil 450 also includes a wire wound in a manner surrounding the circumference of the central axis 211. Thus, the first coil 250 and the second coil 450 are each configured to be substantially symmetrical about the central axis 211 (rotation axis). The connection members (not shown) are electrically connected to the two coils 250 and 450, respectively, and supply current from the control unit 160 through a path (not shown). By supplying current, magnetic fields are generated in the coils 250 and 450, respectively.

As shown in fig. 7, the first yoke 230 of the upper portion 210A includes an inner yoke 231 as an inner peripheral member and an outer yoke 232 as an outer peripheral member. The inner yoke 231 and the outer yoke 232 are concentrically arranged about the central axis 211. As shown in fig. 8, the first yoke 430 of the lower portion 210B includes an inner yoke 431 as an inner peripheral member and an outer yoke 432 as an outer peripheral member. The inner yoke 431 and the outer yoke 432 are concentrically arranged about the central axis 211. Thus, the two first yokes 230 and 430 are configured to be substantially symmetrical with respect to the central axis 211 (rotation axis).

As shown in fig. 7, the inner yoke 231 of the upper portion 210A includes: a cylindrical portion 231 a; and a flange-like portion 231b (fig. 10) having an annular shape in plan view, which is provided so as to extend in the radial direction so as to widen outward from the lower surface of the cylindrical portion 231 a. The outer diameter of the outer circumferential surface of the upper portion of the cylindrical portion 231a and the inner diameter of the inner circumferential surface of the cylindrical portion 231a are set to vary depending on the position in the vertical direction. On the other hand, as shown in fig. 8, the inner yoke 431 of the lower portion 210B includes: a cylindrical portion 431 a; and an annular flange-like portion 431b (fig. 10) extending in the radial direction so as to extend outward from the upper surface of the cylindrical portion 431a in plan view. The outer diameter of the outer circumferential surface of the lower portion of the cylindrical portion 431a and the inner diameter of the inner circumferential surface of the cylindrical portion 431a are set to vary depending on the position in the vertical direction.

As shown in fig. 7, the outer yoke 232 of the upper portion 210A includes a cylindrical portion 232 a; and an annular rim portion 232b extending in the radial direction from the lower surface of the cylindrical portion 232a to the inside in plan view. As shown in fig. 9 or 10, the inner circumferential surface of the cylindrical portion 232a of the outer yoke 232 and the outer circumferential surface of the cylindrical portion 231a of the inner yoke 231 face each other, and an annular first space 233 is formed therebetween. A first coil 250 as a brake application coil is accommodated in the first space 233. By placing the substantially disk-shaped third yoke 290 from above the inner yoke 231 and fixing the third yoke 290 to the inner yoke 231 and the outer yoke 232 with screws 291, the first space 233 is closed, and a magnetic path surrounding the first coil 250 is formed by the inner yoke 231, the outer yoke 232, and the third yoke 290. The third yoke 290 is disposed so that the center thereof is positioned on the center axis 211, and thus, is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

On the other hand, as shown in fig. 8, the outer yoke 432 of the lower portion 210B includes: a cylindrical portion 432 a; and an annular rim portion 432b extending in the radial direction so as to face inward from the upper surface of the cylindrical portion 432a in plan view. As shown in fig. 9 or 10, the inner circumferential surface of the cylindrical portion 432a of the outer yoke 432 and the outer circumferential surface of the cylindrical portion 431a of the inner yoke 431 face each other, and an annular first space 433 is formed therebetween. A second coil 450 as a brake application coil is accommodated in the first space 433. A substantially disk-shaped third yoke 490 is disposed below the inner yoke 431, and the third yoke 490 is fixed to the inner yoke 431 and the outer yoke 432 by screws 491, whereby the first space 433 is closed, and a magnetic path surrounding the second coil 450 is formed by the inner yoke 431, the outer yoke 432, and the third yoke 490. The third yoke 490 is disposed so that the center thereof is positioned on the center axis 211, and thus, is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

As shown in fig. 9, annular spaces 234 and 235 are also formed between the inner peripheral surface of the edge portion 232b of the outer yoke 232 and the outer peripheral surface of the flange portion 231b of the inner yoke 231 in the upper portion 210A. The second space 234 is connected to the first space 233, and the third space 235 is connected to the second space 234.

Here, as shown in fig. 10, the inner peripheral surface of the flange-like portion 231b includes: a first surface 231c inclined so as to be more outward in the radial direction (direction D2 in fig. 9) as it goes farther downward; and a second surface 231D extending from a lower end of the first surface 231c along the first direction (direction D1 of fig. 10). On the other hand, the inner circumferential surface of the rim 232b includes: a first surface 232c inclined so as to be radially inward toward the lower side; and a second face 232D extending from a lower end of the first face 232c along the first direction D1. In the first direction D1, the first surface 231c of the inner yoke 231 and the first surface 232c of the outer yoke 232 are provided at positions corresponding to each other, and a second space 234 is formed therebetween. The second space 234 is a portion where no object is disposed, and forms a magnetic gap having a smaller width in the radial direction toward the lower side. In other words, the magnetic gap has a tapered shape in which the width in the radial direction increases as the magnetic gap approaches the first coil 250, i.e., the magnetic gap is located on the upper side.

The second surface 231D and the second surface 232D are provided at positions corresponding to each other in the first direction D1, are provided so as to be parallel to each other in the radial direction and face each other, and form a third space 235 sandwiched therebetween. A sealing member 260 made of a non-magnetic material is disposed in the third space 235, thereby forming a magnetic gap between the second space 234 and the third space 235.

The sealing member 260 has an annular shape and is made of a nonmagnetic material such as a synthetic resin. The sealing member 260 is disposed by, for example, filling the third space 235 with a material in a fluid state and solidifying the material. Alternatively, the elastic material formed in an annular shape is pressed into the third space 235 in advance. Alternatively, the inelastic material may be processed into a ring shape and fixed by an adhesive. The seal member 260 disposed in the third space 235 is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

Here, the lower surface 231e of the inner yoke 231 and the lower surface 232e of the outer yoke 232 constitute opposed surfaces facing the magnetic disk 320 (fig. 9 and 10). The facing surface is divided into an inner side and an outer side by a magnetic gap formed by the second space 234 and the third space 235, the inner side corresponds to the lower surface 231e of the inner yoke 231, and the outer side corresponds to the lower surface 232e of the outer yoke 232. The magnetic gap is provided at a position where an inner area and an outer area of the magnetic gap are substantially equal to each other in the facing surface.

At the position where the first coil 250 is arranged, the cross-sectional areas orthogonal to the central axis 211 are substantially the same in the inner yoke 231 and the outer yoke 232. This enables the magnetic field to reach the saturation magnetic flux density to achieve the optimum configuration.

On the other hand, as shown in fig. 9, annular spaces 434 and 435 are also formed between the inner peripheral surface of the edge portion 432B of the outer yoke 432 of the lower portion 210B and the outer peripheral surface of the flange-like portion 431B of the inner yoke 431. The second space 434 is connected to the first space 433, and the third space 435 is connected to the second space 434.

As shown in fig. 10, the inner circumferential surface of the flange-like portion 431b includes: a first surface 431c inclined to be more outward in the radial direction as it goes to the upper side; and a second face 431D extending from an upper end of the first face 431c along the first direction D1. On the other hand, the inner circumferential surface of the rim 432b includes: a first surface 432c inclined to be more inward in the radial direction as it goes to the upper side; and a second face 432D extending from an upper end of the first face 432c along the first direction D1. In the first direction D1, the first surface 431c of the inner yoke 431 and the first surface 432c of the outer yoke 432 are provided at positions corresponding to each other, and a second space 434 is formed between the two. The second space 434 is a portion where no object is disposed, and forms a magnetic gap having a smaller width in the radial direction toward the upper side. In other words, the magnetic gap has a tapered shape in which the width in the radial direction increases as the magnetic gap approaches the second coil 450, i.e., the magnetic gap is closer to the lower side.

The second surface 431D and the second surface 432D are provided at positions corresponding to each other in the first direction D1, are provided so as to be parallel to each other in the radial direction and face each other, and form a third space 435 sandwiched therebetween. A sealing member 460 made of a non-magnetic material is disposed in the third space 435, thereby forming a magnetic gap between the second space 434 and the third space 435. The sealing member 460 is made of the same structure and material as those of the sealing member 260. Therefore, the seal member 460 disposed in the third space 435 is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

Here, the upper surface 431e of the inner yoke 431 and the upper surface 432e of the outer yoke 432 constitute surfaces facing the magnetic disc 520 (fig. 9 and 10). The facing surface is divided into an inner side and an outer side by a magnetic gap formed by the second space 434 and the third space 435, the inner side corresponds to the upper surface 431e of the inner yoke 431, and the outer side corresponds to the upper surface 432e of the outer yoke 432. The magnetic gap is provided at a position where an inner area and an outer area of the magnetic gap are substantially equal to each other in the facing surface.

At the position where the second coil 450 is arranged, the cross-sectional areas orthogonal to the central axis 211 are substantially the same in the inner yoke 431 and the outer yoke 432. This enables the magnetic field to reach the saturation magnetic flux density, thereby achieving an optimum configuration.

As shown in fig. 9, the width of the first space 233 of the upper portion 210A is set larger than the width of the second space 234 in the radial direction (second direction D2). The radial center position 235x of the third space 235 is set to be located outside the radial center position 233x of the first space 233. Similarly, the width of the first space 433 of the lower portion 210B is set larger than the width of the second space 434. The center position in the radial direction of the third space 435 is located outside the center position 233x that coincides with the center position 235x in the radial direction of the first space 433.

Therefore, in the upper portion 210A, the inclination angle of the first surface 231c of the inner yoke 231 and the inclination angle of the first surface 232c of the outer yoke 232 with respect to the first direction D1 are different, and the inclination angle of the first surface 231c of the inner yoke 231 is larger. In other words, the first surface 231c of the inner yoke 231 is inclined at a more gradual angle with respect to the radial direction. Similarly, in the lower portion 210B, the inclination angle of the first face 431c of the inner yoke 431 and the inclination angle of the first face 432c of the outer yoke 432 with respect to the first direction D1 are different, and the inclination angle of the first face 431c of the inner yoke 431 is larger. That is, the first face 431c of the inner yoke 431 is inclined at a more gradual angle with respect to the radial direction.

As shown in fig. 9, the inner yoke 231 and the outer yoke 232 of the upper portion 210A are shaped such that the center position 235x in the radial direction of the third space 235 is located outward of the center in the radial direction of the entire first yoke 230. Thus, in a plan view, the area of the lower surface 231e, which is the facing surface of the inner yoke 231 and the magnetic disc 320, and the area of the lower surface 232e, which is the facing surface of the outer yoke 232 and the magnetic disc 320, are substantially the same as each other. Therefore, the magnetic flux densities are substantially the same at the inner side of the magnetic gap and the outer side of the magnetic gap.

In the lower portion 210B, the inner yoke 431 and the outer yoke 432 are also shaped so that the center position 235x, which coincides with the center position in the radial direction of the third space 435, is located outward of the center in the radial direction of the entire first yoke 430. Thus, in a plan view, the area of the upper surface 431e, which is the facing surface of the inner yoke 431 and the magnetic disc 520, and the area of the upper surface 432e, which is the facing surface of the outer yoke 432 and the magnetic disc 520, are substantially the same as each other. Therefore, the magnetic flux densities are substantially the same at the inner side of the magnetic gap and the outer side of the magnetic gap.

As shown in fig. 7, the second yoke 240 of the upper portion 210A has a disk shape, and is disposed below the first yoke 230 so that the center of the disk is positioned on the central axis 211. The second yoke 240 has an upper surface 241 orthogonal to the vertical direction along the center axis 211. The second yoke 240 is provided with an annular hole 242 penetrating vertically around the center shaft 211. As shown in fig. 8, the second yoke 440 of the lower portion 210B has a disk shape, and is disposed above the first yoke 430 so that the center of the disk is positioned on the central axis 211. The second yoke 440 has a bottom surface 441 perpendicular to the vertical direction along the center axis 211. The second yoke 440 is provided with an annular hole 442 that penetrates vertically around the center shaft 211. The two second yokes 240 and 440 are configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

As shown in fig. 9, the second yoke 240 and the second yoke 440 are arranged to overlap each other along the first direction D1 with the second yoke 240 facing upward, and the shaft portion 311 of the rotating shaft portion 310 passes through the hole portion 242 of the second yoke 240 and the hole portion 442 of the second yoke 440. The shaft portion 311 is disposed so as to extend in the first direction D1, and has a flange portion 312 at substantially the center in the extending direction thereof. The flange portion 312 has a flange-like shape that widens outward from the outer peripheral surface of the shaft portion 311, and the thickness in the first direction D1 is greater than the thicknesses of the second yoke 240 and the second yoke 440 by a predetermined amount. The prescribed amount corresponds to the interval of the second yoke 240 and the magnetic disk 320, and the interval of the second yoke 440 and the magnetic disk 520.

The planar shape of the yokes 230, 240, 290, 430, 440, 490 may not necessarily be circular.

As shown in fig. 10, in the upper portion 210A, the bottom surface 236 of the first yoke 230, the lower surface 261 of the sealing member 260, and the upper surface 241 of the second yoke 240 are substantially parallel to each other, and the magnetic disk 320 is disposed between the bottom surface 236 and the upper surface 241. A gap 280 is formed between the magnetic disk 320, the bottom surface 236, and the upper surface 241. In the lower portion 210B, the upper surface 436 of the first yoke 430, the upper surface 461 of the sealing member 460, and the bottom surface 441 of the second yoke 440 are substantially parallel to each other, and the magnetic disk 520 is disposed between the upper surface 436 and the bottom surface 441. A gap 480 is formed between the magnetic disk 520, the upper surface 436 and the bottom surface 441.

The ring members 270 are disposed radially outward of the first and second yokes 230 and 240 of the upper portion 210A and the first and second yokes 430 and 440 of the lower portion 210B. The annular member 270 is annular with the central axis 211 as an axis, and is made of a nonmagnetic material such as a synthetic resin. The inner circumferential surface of the annular member 270 is shaped to follow the first yoke 230 and the second yoke 240 of the upper portion 210A and the first yoke 430 and the second yoke 440 of the lower portion 210B, and is fixed to the outer circumferential surface of each yoke. Thus, the first yoke 230 and the second yoke 240 of the upper portion 210A, the second yoke 440 and the first yoke 430 of the lower portion 210B are sequentially arranged and connected to each other in the first direction D1 by the annular member 270 extending in the first direction D1. The gap 280 of the upper portion 210A and the gap 480 of the lower portion 210B are radially closed by the annular member 270.

In this way, the first yoke 230 and the second yoke 240 of the upper portion 210A and the second yoke 440 and the first yoke 430 of the lower portion 210B are sequentially connected to each other by the ring-shaped member 270, and the holding portion 220 is integrally fixed. The ring member 270 may not be entirely formed of a nonmagnetic material, and may be a composite material having a nonmagnetic portion that does not magnetically short-circuit the first yoke 230 and the second yoke 240 of the upper portion 210A and the first yoke 430 and the second yoke 440 of the lower portion 210B. In this case, too, the gap 480 is preferably closed by the nonmagnetic section in the radial direction.

As shown in fig. 9 and 10, in the upper portion 210A, the magnetic disk 320 is disposed so as to extend in the gap 280 between the first yoke 230 and the second yoke 240 in a direction orthogonal to the central axis 211. Thus, the magnetic disk 320 is located at a position overlapping the first coil 250 in a direction along the center axis 211. In the lower portion 210B, the magnetic disk 520 is disposed so as to extend in a direction orthogonal to the center axis 211 in the gap 480 between the first yoke 430 and the second yoke 440. Thus, the magnetic disk 520 is located at a position overlapping the second coil 450 in a direction along the central axis 211. The ring member 270 is disposed over the entire circumference so as to surround the outer circumferential surface of the magnetic disk 320 with a gap 281 and the outer circumferential surface of the magnetic disk 520 with a gap 481.

As described above, the inner yoke 231 and the outer yoke 232 of the first yoke 230 are connected to the third yoke 290 and the second yoke 240 via the magnetic disk 320, respectively, thereby forming a magnetic circuit (magnetic circuit) in which the magnetic field generated by the first coil 250 is closed in the upper portion 210A. Similarly, as described above, the inner yoke 431 and the outer yoke 432 of the first yoke 430 are connected to the third yoke 490 and the second yoke 440 via the magnetic disk 520, respectively, thereby forming a magnetic circuit (magnetic circuit) in which the magnetic field generated by the second coil 450 is closed in the lower portion 210B.

In the above configuration, when a current is applied to each of the two coils 250 and 450, a magnetic field having a flow in a direction schematically indicated by an arrow in fig. 10 is formed. When a current is applied to the coils 250 and 450 in the opposite direction, a magnetic field flowing in the opposite direction to that in fig. 10 is formed.

In the example shown in fig. 10, in the upper portion 210A, magnetic flux passes through the magnetic disk 320 in the gap 280 from the inner yoke 231 of the first yoke 230 toward the second yoke 240 in the direction of the center axis 211, and the magnetic flux proceeds in the direction away from the center axis 211 in the second yoke 240, and further proceeds from below to above in the direction of the center axis 211, that is, from the second yoke 240 toward the outer yoke 232 side, radially outward of the second yoke 240. In the third yoke 290 on the upper side of the first coil 250, the magnetic flux advances from the outer yoke 232 side toward the inner yoke 231 side in a direction approaching the central axis 211, and further, in a region corresponding to the inner side of the first coil 250, advances from the top downward in the inner yoke 231 of the first yoke 230, and passes through the magnetic disk 320 again to reach the second yoke 240.

On the other hand, as shown in fig. 10, in the lower portion 210B, magnetic flux passes through the magnetic disk 520 in the gap 480 from the inner yoke 431 of the first yoke 430 toward the second yoke 440 in the direction of the center axis 211, advances in the direction away from the center axis 211 in the second yoke 440, and further advances from the top to the bottom in the direction of the center axis 211, that is, from the second yoke 440 toward the outer yoke 432 in the radial direction outside the second yoke 440. The magnetic flux advances from the outer yoke 432 side toward the inner yoke 431 side toward the center axis 211 in the third yoke 490 on the lower side of the second coil 450, and further advances from the bottom up in the inner yoke 431 of the first yoke 430 in a region corresponding to the inner side of the second coil 450, and passes through the magnetic disk 520 again to reach the second yoke 440.

In the magnetic field of such a magnetic circuit, second space 234 and third space 235 are provided as magnetic gaps in first yoke 230 of upper portion 210A. The magnetic gap is disposed below the first coil 250 and between the first coil 250 and the gap 280 and magnetic disk 320. The first coil 250 is disposed on the first yoke 230 side separately from the magnetic disk 320, and a magnetic gap is formed in a part between the first coil 250 and the magnetic disk 320, so that the magnetic flux of the magnetic field generated by the first coil 250 is restricted from traveling in the first yoke 230 in the radial direction orthogonal to the central axis 211 in the vicinity of the magnetic gap. That is, between the first coil 250 and the magnetic disk 320, the magnetic flux of the magnetic field generated by the first coil 250 can be directed toward the magnetic disk 320 along the two inclined surfaces of the first surface 231c of the inner yoke 231 and the first surface 232c of the outer yoke 232. Thereby, the magnetic flux passing through the inside yoke 231 reliably travels downward toward the second yoke 240 side, and in addition, the magnetic flux passing through the outside yoke 232 reliably travels upward from the second yoke 240 side toward the third yoke 290 side.

On the other hand, a second space 434 and a third space 435 are also provided as magnetic gaps in the first yoke 430 of the lower portion 210B. The magnetic gap is disposed above the second coil 450 and between the second coil 450 and the gap 480 and magnetic disk 520. The second coil 450 is disposed on the first yoke 430 side separately from the magnetic disk 520, and a magnetic gap is formed in a part between the second coil 450 and the magnetic disk 520, so that the magnetic flux of the magnetic field generated by the second coil 450 is restricted from traveling in the radial direction orthogonal to the central axis 211 in the first yoke 430 in the vicinity of the magnetic gap. That is, between the second coil 450 and the magnetic disk 520, the magnetic flux of the magnetic field generated by the second coil 450 can be directed to the magnetic disk 520 along the two inclined surfaces of the first surface 431c of the inner yoke 431 and the first surface 432c of the outer yoke 432. Thereby, the magnetic flux passing through the inside yoke 431 reliably travels upward toward the second yoke 440 side, and the magnetic flux passing through the outside yoke 432 reliably travels downward from the second yoke 440 side toward the third yoke 490 side.

The magnetic fields generated in the upper portion 210A and the lower portion 210B of the brake applying unit 210 are generated by coils 250 and 450 wound around the central axis 211 located on the rotation axis AX. On the other hand, the magnetic field generated in the torque applying portion 150 is generated by the air coils 153a to 153h wound around a radial line perpendicular to the rotation axis AX. Therefore, the center lines of the two coils 250 and 450 in the brake applying section 210 and the hollow coils 153a to 153h in the torque applying section 150 are orthogonal to each other, and therefore interference of magnetic fields generated by the coils can be suppressed to be small.

(2) Structure of rotary operation part 300

As shown in fig. 7 and 9, the rotary shaft portion 310 is a rod-like member extending vertically along the central shaft 211, and has a flange portion 312 substantially at the center in the first direction D1 and a shaft portion 311 extending vertically from the flange portion 312. Thus, the rotating operation unit 300 is substantially symmetrical with respect to the central axis 211 (rotation axis). As described above, since the upper portion 210A and the lower portion 210B of the holding portion 220 are both configured to be substantially symmetrical with respect to the center axis 211 (rotation axis), the brake applying portion as a whole is configured to be substantially symmetrical with respect to the center axis 211 (rotation axis).

As shown in fig. 7 and 8, the magnetic disk 320 of the upper portion 210A and the magnetic disk 520 of the lower portion 210B have a disc shape having a circular plane disposed so as to be orthogonal to the first direction D1, and are made of a magnetic material. The magnetic disks 320, 520 are identical to each other in shape.

A center hole 321 that penetrates in the first direction D1 is provided at the center of the circular plane of the magnetic disk 320 in the upper portion 210A, and a plurality of through holes 322 that penetrate the magnetic disk 320 vertically are provided at positions surrounding the center hole 321. The magnetic disk 320 is fixed to the rotating shaft portion 310 by fitting the shaft portion of a screw (only a part of which is shown) inserted through the through hole portion 322 in the first direction D1 into the flange portion 312 of the rotating shaft portion 310.

A central hole 521 penetrating in the first direction D1 is provided at the center of the circular plane of the magnetic disk 520 of the lower portion 210B, and a plurality of through holes 522 penetrating the magnetic disk 520 vertically are provided at positions surrounding the central hole 521. The magnetic disc 520 is fixed to the rotating shaft 310 by fitting the shaft portion of a screw (only a part of which is shown) inserted through the through hole 522 in the first direction D1 into the flange portion 312 of the rotating shaft 310.

As shown in fig. 10, the inner diameter of the central hole 321 of the magnetic disk 320 of the upper portion 210A and the inner diameter of the central hole 521 of the magnetic disk 520 of the lower portion 210B are substantially the same as the outer diameter of the shaft portion 311 of the rotating shaft portion 310 and smaller than the outer diameter of the flange portion 312. As described above, the thickness of the flange portion 312 in the first direction D1 is thicker than the thicknesses of the second yoke 240 and the second yoke 440 by a predetermined amount.

Thus, when flange 312 is inserted through hole 242 and hole 442 in a state where second yoke 240 and second yoke 440 are overlapped in first direction D1, flange 312 protrudes upward from upper surface 241 of second yoke 240 and abuts against the lower surface of magnetic disc 320, and protrudes downward from bottom surface 441 of second yoke 440 and abuts against the upper surface of magnetic disc 520. At this time, the height of the gap 280 between the magnetic disc 320 and the second yoke 240 is determined according to the amount of protrusion of the flange portion 312 from the second yoke 240, and the height of the gap 480 between the magnetic disc 520 and the second yoke 440 is determined according to the amount of protrusion of the flange portion 312 from the second yoke 440.

As shown in fig. 9, in the upper portion 210A, the shaft portion 311 of the rotating shaft portion 310 is rotatably supported by the radial bearing 351, and the radial bearing 351 is supported by the pusher 352 so as to be biased upward in the first direction D1 (upward in fig. 9). The pusher 352 is supported by an O-ring 353, and the O-ring 353 is disposed so that the vertical position is maintained between the outer peripheral surface of the shaft portion 311 and the inner peripheral surface of the inner yoke 231. Thereby, the radial bearing 351 supports the first yoke 230 at a predetermined position in the first direction D1 while maintaining its close contact. An upper portion of the shaft portion 311 is exposed above the third yoke 290, and an engagement recess 313 into which the engagement projection 134a of the coupling shaft portion 134 is fitted is provided in the exposed portion of the shaft portion 311.

As shown in fig. 9, in the lower portion 210B, the shaft portion 311 is rotatably supported by the radial bearing 551 with respect to the rotating shaft portion 310, and the radial bearing 551 is supported by the pusher 552 so as to be biased downward in the first direction D1. Pusher 552 is supported by O-ring 553, and O-ring 553 is disposed so that the vertical position is maintained between the outer circumferential surface of shaft 311 and the inner circumferential surface of inner yoke 431. Thereby, the radial bearing 551 supports the first yoke 430 at a predetermined position in the first direction D1 while maintaining its close contact. The lower portion of the shaft portion 311 is exposed below the third yoke 490 by a predetermined amount. The predetermined amount is such that the shaft portion 311 is reliably supported by the radial bearing 551.

As shown in fig. 7, the magnetic disk 320 of the upper portion 210A is provided with four slits 323a, 323b, 323c, 323D penetrating in the first direction D1 (thickness direction). These slits are arranged at equal angular intervals along the circumferential direction at the same distance from the center of the circular plane. Further, the third space 235 is provided at a position corresponding to the radial direction. When the magnetic field shown in fig. 10 is generated in the first coil 250, the four slits 323a, 323b, 323c, 323d function as magnetic gaps, and therefore, the magnetic flux of the magnetic field is restricted from passing through the four slits 323a, 323b, 323c, 323d in the radial direction.

On the other hand, at the position closer to the central axis 211 side (inner side) than the four slits 323a, 323b, 323c, 323d, the magnetic flux passes downward from the inner yoke 231 of the first yoke 230 toward the second yoke 240; at a position outside the four slits 323a, 323b, 323c, 323d, the magnetic flux passes upward from the second yoke 240 toward the outer yoke 232 of the first yoke 230. Also, it is possible to restrict the magnetic flux from passing through the four slits in the radial direction in the magnetic disk 320. Further, since the four slits are provided at positions corresponding to the third space 235, the second space 234, the third space 235, and the four slits 323a, 323b, 323c, and 323D are aligned in the first direction D1, the magnetic field generated in the first coil 250 can be reliably restricted from traveling in the radial direction within the first yoke 230 and the magnetic disk 320, and a stable magnetic circuit is ensured.

As shown in fig. 8, the magnetic disk 520 of the lower portion 210B is also provided with four slits 523a, 523B, 523c, 523D penetrating in the first direction D1 (thickness direction). These slits are arranged at equal angular intervals along the circumferential direction at the same distance from the center of the circular plane. Further, the third space 435 is provided at a position corresponding to the third space in the radial direction. Also, it is possible to restrict the magnetic flux from passing through the four slits in the radial direction in the magnetic disk 520. When the magnetic field shown in fig. 10 is generated in the second coil 450, the four slits 523a, 523b, 523c, and 523d function as magnetic gaps, and thus the magnetic flux of the magnetic field is restricted from passing through the four slits 523a, 523b, 523c, and 523d in the radial direction.

On the other hand, at the position closer to the central axis 211 side (inner side) than the four slits 523a, 523b, 523c, 523d, the magnetic flux mainly passes upward from the inner yoke 431 of the first yoke 430 toward the second yoke 440; the magnetic flux mainly passes downward from the second yoke 440 toward the outer yoke 232 of the first yoke 430 at positions outside the four slits 523a, 523b, 523c, and 523 d. Further, since the four slits are provided at the position corresponding to the third space 435, the second space 434, the third space 435, and the four slits 523a, 523b, 523c, and 523D are aligned in the first direction D1, the magnetic field generated in the second coil 450 can be reliably restricted from traveling in the radial direction inside the first yoke 430 and the magnetic disk 520, and a stable magnetic circuit is ensured.

When the rotation shaft portion 310 is rotated, the magnetic disk 320 is relatively rotated with respect to the first and second yokes 230 and 240, and the magnetic disk 520 is relatively rotated with respect to the first and second yokes 430 and 440. At this time, in the upper portion 210A, the distance in the first direction D1 between the upper surface of the magnetic disk 320 and the bottom surface 236 of the first yoke 230 is kept substantially constant, the distance in the first direction D1 between the lower surface of the magnetic disk 320 and the upper surface 241 of the second yoke 240 is kept substantially constant, and the distance in the second direction D2 between the outer circumferential surface of the magnetic disk 320 and the inner circumferential surface of the annular member 270 is also kept substantially constant. In the lower portion 210B, the distance in the first direction D1 between the lower surface of the magnetic disk 520 and the upper surface 436 of the first yoke 430 is also kept substantially constant, the distance in the first direction D1 between the lower surface of the magnetic disk 520 and the upper surface 241 of the second yoke 440 is also kept substantially constant, and the distance in the second direction D2 between the outer circumferential surface of the magnetic disk 520 and the inner circumferential surface of the annular member 270 is also kept substantially constant.

As shown in fig. 9 and 10, the magnetic viscous fluid 360 is sandwiched and filled in the gap 280 around the magnetic disk 320, and the magnetic viscous fluid 560 is sandwiched and filled in the gap 480 around the magnetic disk 520. Therefore, in the upper portion 210A, a magnetic viscous fluid 360 is present in the gap 280 sandwiched between the upper surface of the magnetic disk 320 and the bottom surface 236 of the first yoke 230 in the first direction D1, and a magnetic viscous fluid 360 is also present in the gap sandwiched between the lower surface of the magnetic disk 320 and the upper surface 241 of the second yoke 240 in the first direction D1. The magnetic viscous fluid 360 also exists in the gap 281 radially sandwiched between the outer peripheral surface of the magnetic disk 320 and the annular member 270. The gap 280 around the magnetic disk 320 is sealed by the seal member 260, the annular member 270, the shaft portion 310, the flange portion 312, the first yoke 230, the second yoke 240, and the like. Therefore, the magneto-viscous fluid 360 is reliably held within the gap 280.

In the lower portion 210B, the magneto-viscous fluid 560 is present in the gap 480 sandwiched between the bottom surface of the magnetic disk 520 and the upper surface 436 of the first yoke 430 in the first direction D1, and the magneto-viscous fluid 560 is also present in the gap between the lower surface of the magnetic disk 520 and the bottom surface 441 of the second yoke 440 in the first direction D1. The magnetic viscous fluid 560 is also present in the gap 481 sandwiched between the outer peripheral surface of the magnetic disk 520 and the annular member 270 in the radial direction. The gap 480 around the magnetic disk 520 is sealed by the seal member 460, the annular member 270, the rotating shaft portion 310, the flange portion 312, the first yoke 430, the second yoke 440, and the like. Therefore, the magneto-viscous fluid 560 is reliably held within the gap 480.

The magnetic viscous fluid 360, 560 is a substance whose viscosity changes when a magnetic field is applied, and is, for example, a fluid in which particles (magnetic particles) made of a magnetic material are dispersed in a non-magnetic liquid (solvent). The magnetic particles contained in the magnetic viscous fluids 360 and 560 are preferably, for example, iron-based particles containing carbon or ferrite (ferrite) particles. The carbon-containing iron-based particles preferably have a carbon content of 0.15% or more, for example. The diameter of the magnetic particles is preferably 0.5 μm or more, and more preferably 1 μm or more, for example. The magneto-viscous fluid 360, 560 preferably selects the solvent and magnetic particles in such a way that the magnetic particles are difficult to settle due to gravity. It is further preferred that the magneto-viscous fluid 360, 560 contains a coupling material that prevents precipitation of the magnetic particles.

When a current is applied to the first coil 250, as described above, a magnetic field as shown in fig. 10 is generated, and in the magnetic disk 320, only the magnetic flux in the first direction D1 passes through, and a magnetic flux in the radial direction is not generated in the inside of the magnetic disk 320, or even if it is generated, its magnetic flux density is small. Due to this magnetic field, magnetic induction lines in the radial direction are generated in the second yoke 240, and magnetic induction lines in the first direction D1 are generated outside the first coil 250. A direction opposite to that of the magnetic induction lines in the second yoke 240 is generated in the third yoke 290 and is a magnetic induction line in a radial direction.

On the other hand, in the lower portion 210B, when a current is applied to the second coil 450, a magnetic field as shown in fig. 10 is generated, and in the magnetic disk 520, mainly only a magnetic flux in the direction along the first direction D1 passes, and a magnetic flux in the radial direction is not generated inside the magnetic disk 520, or even if it is generated, its magnetic flux density is small. Due to this magnetic field, magnetic induction lines in the radial direction are generated in the second yoke 440, and magnetic induction lines in the first direction D1 are generated outside the second coil 450. A direction opposite to the magnetic induction lines in the second yoke 440 and which are magnetic induction lines in the radial direction are generated in the third yoke 490.

In either of the magnetic viscous fluids 360, 560, the magnetic particles are dispersed in the solvent when the magnetic field based on the coils 250, 450 is not generated. Therefore, when the operator performs a rotational operation on the rotating body 130 and the operation force is transmitted from the coupling shaft portion 134 to the shaft portion 311, the rotational operation portion 300 rotates relative to the holding portion 220 without receiving a large resistance. Alternatively, when the residual magnetic flux exists in the yoke in a state where the coils 250 and 450 are not energized, the drag torque remains in the rotating shaft portion 310 according to the density of the residual magnetic flux.

On the other hand, when a current is applied to the coils 250 and 450 to generate a magnetic field, a magnetic field in the first direction D1 is applied to the magnetic viscous fluids 360 and 560. Due to this magnetic field, the magnetic particles dispersed in the magnetic viscous fluids 360 and 560 are concentrated along the magnetic induction lines, and the magnetic particles aligned in the first direction D1 are magnetically connected to each other. In this state, when a force to rotate the rotating shaft portion 310 in a direction about the center axis 211 is applied by the rotating operation of the rotating body 130, the resistance (braking torque) generated by the coupled magnetic particles acts as a braking force, and therefore, the operator can feel the resistance as compared with a state in which no magnetic field is generated.

Since the magnetic disk members 320 and 520 are used, which are expanded in a disk shape radially outward from the rotating shaft portion 310, the magnetic viscous fluids 360 and 560 can be arranged in a wider range than in the case of only the rotating shaft portion 310. The magnitudes of the resistances of the magnetic viscous fluids 360 and 560 are related to the magnitudes of the arrangement ranges of the magnetic viscous fluid 360 sandwiched in the vertical direction by the bottom surface 236 of the first yoke 230 or the upper surface 241 of the second yoke 240 to which the magnetic field is applied in the vertical direction, or the magnitudes of the arrangement ranges of the magnetic viscous fluid 560 sandwiched in the vertical direction by the upper surface 436 of the first yoke 430 or the bottom surface 441 of the second yoke 440 to which the magnetic field is applied in the vertical direction. In particular, the magnitude of the resistance generated by the magnetic viscous fluid 360, 560 when the magnetic disk 320, 520 is rotated by the operation of the rotating shaft portion 310 is related to the area of the magnetic viscous fluid 360, 560 of the surface orthogonal to the rotating direction thereof. Therefore, the larger the range of arrangement of the magnetic viscous fluids 360 and 560 capable of applying the magnetic field, the larger the control width of the resistance (braking torque) can be.

In the upper portion 210A, the first yoke 230 is configured by the inner yoke 231 and the outer yoke 232 so that a magnetic gap is formed at a portion between the first coil 250 and the magnetic disk 320, thereby increasing the area of the lower surface 231e of the inner yoke 231 and the area of the lower surface 232e of the outer yoke 232 through which magnetic flux passes without increasing the outer diameter. In addition, in the lower portion 210B, the first yoke 430 is configured by the inner yoke 431 and the outer yoke 432 such that a magnetic gap is formed at a portion between the second coil 450 and the magnetic disk 520, so that the area of the upper surface 431e of the inner yoke 431 and the area of the upper surface 432e of the outer yoke 432 through which magnetic flux passes are increased without increasing the outer diameter. In addition, since the magnetic flux having the magnetic field component along the first direction D1 as the main direction can be passed through a wide range of the magnetic disks 320 and 520, and the resistance (braking torque) can be generated in the direction based on the direction of the magnetic flux, a large shear stress can be obtained without increasing the size of the apparatus.

< rotating body, connecting Member >

Fig. 11 (a) is a perspective view showing a state in which the rotating body 130, the connecting member 135, and the shaft portion 311 are coupled to each other, and fig. 11 (b) is a perspective view showing a state in which the connecting member 135 is separated from the coupling shaft portion 134 and the shaft portion 311. Fig. 12 is an exploded perspective view of the rotating body 130 and the connecting member 135.

As shown in fig. 2, 11 (a) and (b), and 12, the rotating body 130 includes a hollow cylindrical base portion 131 and a flange portion 132 extending outward from a lower end of the base portion 131. The rotating body 130 is rotatable about a rotation axis AX which is a central axis thereof. An inner space 133 is provided in the rotating body 130, and the flange 132 is open to the outside toward the inner space 133 (see fig. 3). A coupling shaft portion 134 extending along the rotation axis AX is provided in the internal space 133.

As shown in fig. 3 and 12, an engagement convex portion 134a protruding downward is provided at the lower end of the coupling shaft portion 134. As shown in fig. 3, the engagement projection 134a is inserted into an engagement recess 313 provided at the upper end of the shaft portion 311 of the brake applying portion 210. Thereby, the coupling shaft portion 134 and the shaft portion 311 are coupled to each other and extend along the rotation axis AX. Due to this connection, the resistance (braking torque) generated by the braking application portion 210 is transmitted from the shaft portion 311 to the rotating body 130 through the connection shaft portion 134.

The connecting member 135 (fig. 3) is fixed to the connecting shaft portion 134 and the shaft portion 311 connected to each other so as to cover from the outside. The connecting member 135 includes a hollow rod-shaped central spring portion 135a extending along the rotation axis AX, a first fixing portion 135b provided at an upper portion thereof, and a second fixing portion 135c provided at a lower portion thereof. The center spring portion 135a is made of a material having elasticity in the central axis direction thereof. The first fixing portion 135b is fixed to the coupling shaft portion 134, the second fixing portion 135c is fixed to the shaft portion 311, and the central spring portion 135a is disposed so as to cover the coupling shaft portion 134 and the shaft portion 311.

< rotation detecting section >

As shown in fig. 3, an annular encoder disk 141 is provided on the bottom surface of the brim portion 132 of the rotating body 130 along the circumferential direction thereof. Further, an outer edge portion 132a along the circumferential direction of the brim portion 132 is provided on the outer side of the code plate 141 on the bottom surface of the brim portion 132. The rotor 130 is integrally assembled with the rotor of the torque applying portion 150 by fixing the outer edge portion 132a of the flange portion 132 to the upper surface of the back yoke 155.

The encoder disk 141 constitutes the rotation detecting unit 140 together with the detection substrate 142 and the detection element 143. In the encode disk 141, the reflective portions and the non-reflective portions are alternately formed along the circumferential direction of the encode disk 141. When the rotary body 130 rotates about the rotation axis AX, the code wheel 141 rotates about the rotation axis AX together with the rotary body 130.

As shown in fig. 3, the detection substrate 142 is fixed to the upper surface of the third yoke 290 of the brake applying section 210. The detection element 143 is provided on the detection substrate 142 at a position corresponding to the code wheel 141 in a direction orthogonal to the rotation axis AX.

The detection element 143 includes a light emitting element and a light receiving element, and the light emitting element emits detection light for a predetermined range on the code wheel 141. The light receiving element receives the reflected light reflected from the reflection portion of the encoder disk 141, and detects the rotation angle of the encoder disk 141 and the rotating body 130 on which the encoder disk 141 is provided based on the light receiving result. The detection result is output to the control unit 160 (fig. 4).

< control section >

The control unit 160 supplies currents controlled based on the detection result of the detection element 143 to the air coils 153a to 153h (torque application coils) of the coil unit 153 and the two coils 250 and 450 (brake application coils) of the brake application unit 210, respectively. The application of current by the control unit 160 can be controlled by the torque application coil and the brake application coil individually. Further, it is also possible to individually control the currents supplied to the respective air coils 153a to 153h and to the respective two coils 250 and 450 of the brake applying unit 210. The control unit 160 can generate the driving torque in the torque applying unit 150 simultaneously with the braking force in the brake applying unit 210, or can generate the driving torque and the braking force at separate timings. Since the driving torque generated by the torque application coil and the braking force generated by the brake application unit can be generated at arbitrary timings by such current control, it is possible to provide various operation feelings to the operator.

< operation of input device 110 >

In the above configuration, when the torque applying portion 150 is driven, the magnet portion 154 and the back yoke 155 integrated with each other are rotated or rotated about the rotation axis AX by the magnetic field induced by the air coils 153a to 153h as the torque applying coils, and the driving torque about the rotation axis AX is applied to the rotating body 130 fixed to the back yoke 155.

More specifically, when currents are applied to the hollow coils 153a to 153h in the four modes shown in fig. 5 (a) to (d), the magnet portion 154 can be rotated or pivoted about the rotation axis AX relative to the base plate 151, the fixing member 152, and the coil portion 153 fixed to the fixing portion 120. Thereby, the back yoke 155 to which the magnet portion 154 is fixed also rotates or revolves, and the driving torque of the rotation or revolution is transmitted to the rotating body 130 fixed to the back yoke 155.

The direction of the driving torque is controlled by the directions of currents applied through the four modes shown in fig. 5 (a) to 5 (d). If the directions of the currents applied through the four modes are all made opposite, driving torques in opposite directions are generated, and the rotating body 130 is rotated or turned in opposite directions. By controlling the magnitude of the current supplied to the hollow coils 153a to 153h by the control unit 160, it is possible to apply a driving torque of any magnitude to the rotating body 130. Further, the relative positions of the air coils 153a to 153h and the magnets can suppress the variation in the drive torque. This allows the operator who operates the rotating body 130 to be given a predetermined operation feeling.

Here, when a core of a magnetic body and salient poles of the magnetic body facing the magnet are arranged as in a normal motor, magnetic attraction acts between the magnet and the magnetic body, and cogging torque, which is torque variation in the magnetic circuit, is generated even in a rotating operation in which the coil is not energized.

In contrast, in the input device 110 of the present embodiment, since no salient pole is provided in the core of the magnetic body and an air-core coil without a salient pole is used, cogging torque is not generated even in a rotating operation in a state where the coil is not energized.

In the present embodiment, since the fixing member 152, which is a non-magnetic body, holds the configuration of the air coils 153a to 153h, the magnetic attractive force generated between the magnet and the magnetic body can be set to 0. Therefore, the desired ideal state, i.e., so-called no torque, can be approached during the rotation operation in which the hollow coils 153a to 153h are not energized.

The combination of the number of the plurality of air coils of the coil section 153 and the number of the magnets of the magnet section 154 is not limited to the combination described in the present embodiment. The plurality of air-core coils may be configured such that, for example, a non-magnetic core is provided and the windings are wound around the non-magnetic core, as long as the plurality of air-core coils are in the same state on the magnetic circuit.

On the other hand, the braking force is applied from the brake applying portion 210 to the rotating body 130 by the coupling shaft portion 134. The brake applying unit 210 will be described below.

As shown in fig. 4, the first coil 250 and the second coil 450 are connected to the control unit 160, and the control unit 160 controls and applies currents respectively applied to the two coils 250 and 450. In the examples shown in fig. 9 and 10, the current is applied simultaneously to the two coils 250, 450, respectively, so that the magnetic flux passes in both magnetic discs 320, 520 in a direction away from the central axis 211, but may also be controlled in the following manner: current is applied to only one coil so that magnetic fluxes pass in different directions from each other. The currents applied to the two coils 250 and 450 may be the same or different.

When current is applied from the control unit 160 to the two coils 250 and 450 as the brake applying coils, the magnetic field is generated as described above, and magnetic flux in the vertical direction passes through the magnetic disks 320 and 520. Inside the magnetic discs 320, 520, the magnetic flux density in the radial direction is small.

In the magnetic viscous fluid 360, 560, when the magnetic field based on the coil 250, 450 is not generated, the magnetic particles are dispersed in the solvent. Therefore, the coupling shaft portion 134 coupled to the shaft portion 311 is hardly given a braking force. Therefore, the operator can rotate the rotating body 130 without receiving a large braking force from the brake applying unit 210.

On the other hand, when a current is applied to the coils 250 and 450 as the brake applying coils to generate a magnetic field, the magnetic viscous fluids 360 and 560 are applied with a magnetic field in the vertical direction. Due to this magnetic field, the magnetic particles dispersed in the magnetic viscous fluids 360 and 560 are concentrated along the magnetic induction lines, and the magnetic particles aligned in the vertical direction are magnetically connected to each other. In this state, when the rotating body 130 is rotated, the resistance (braking torque) generated by the coupled magnetic particles acts, and thus a braking force is applied from the shaft portion 311 to the rotating body 130 via the coupled shaft portion 134 coupled thereto. Therefore, the operator can feel resistance as compared with a state in which no magnetic field is generated. When the current applied to the first coils 250 and 450 is controlled so as to change the strength of the magnetic field, the resistance felt by the operator can be increased or decreased, and the operation feeling can be changed. Thus, in addition to the variable control of the driving torque applied by the torque applying unit 150, the braking force of a desired magnitude can be freely variably controlled, and thus various operation feelings can be given to the operator who operates the rotating body 130.

When the rotation angle detected by the detector 143 reaches a predetermined angle set in advance, the controller 160 applies a predetermined current to the two coils 250 and 450, which are brake applying coils. As a result, a strong braking force is applied to the rotating body 130 from the shaft portion 311 via the connecting shaft portion 134, and an operation feeling (end stop state) in which the operator of the rotating body 130 touches a virtual wall and stops is given to the operator.

When the shaft portion 311 of the brake applying portion 210 stops rotating in the end stop state, if the rotating body 130 is operated in the direction to return the rotation, the central spring portion 135a is twisted in the connecting shaft portion 134 and the connecting member 135 fixed to the shaft portion 311. When the shaft portion 311 is twisted by the elastic force of the central spring portion 135a, the rotation detecting portion 140 can detect the rotation of the rotating body 130 and can release the end stop state based on the detection result, so that an operation feeling with less jamming feeling can be given to the operator.

According to the input device 110 described above, the following effects can be obtained.

(1) Since the torque applying portion 150 is disposed so as to surround the outer periphery of the brake applying portion 210, the rotation body 130 can be downsized in the direction of the rotation axis AX. Further, since the torque applying portion 150 and the brake applying portion 210 can be disposed close to each other, the dimension in the direction perpendicular to the rotation axis AX can be suppressed to be small.

(2) The control unit 160 can generate braking force and driving torque at the same time by individually controlling the currents applied to the two coils 250 and 450 as braking force applying coils and the currents applied to the air coils 153a to 153h as torque applying coils, and thus can provide various tactile sensations to the operator.

(3) The torque applying unit 150 includes: a rotor supported to be rotatable together with the rotating body 130; and a stator disposed so as to surround a radial outer periphery of the rotor. The rotor has: an annular back yoke 155; and magnets 154a to 154f arranged on the outer periphery of the back yoke 155 and arranged so that polarities thereof are alternately different in the circumferential direction of the back yoke. The stator has: air coils 153a to 153h as torque applying coils, each of which is formed of a non-magnetic winding; and a fixing member 152 for fixing the air coils 153a to 153h, and the stator is disposed to face the magnets 154a to 154 f. Therefore, since no salient pole is provided in the core of the magnetic body and the air coils 153a to 153h without salient poles are used, cogging torque is not generated even in the rotating operation in the state where the air coils 153a to 153h are not energized. Thus, the operation feeling can be prevented from being deteriorated by the cogging torque. Further, since the fixing member 152 of the stator is formed of a non-magnetic material, not only the cogging due to the strength of the magnetic attractive force but also the rotation resistance due to the magnetic attractive force of the permanent magnet are not generated.

(4) The air coils 153a to 153h are arranged as torque applying coils, and currents are applied to adjacent air coils so as to generate magnetic fields in directions opposite to each other. For the air-core coils 153a to 153h, as the a phase, the current is applied to two adjacent coils and two coils located at positions symmetrical with respect to the rotation axis AX at the same time; as a B phase, current is applied to the remaining four coils at the same time. This can suppress the bending ratio of the torque applying portion 150 to be small, and thus the manufacturing becomes easy. Further, while the total length in the direction of the rotation axis AX is suppressed, the area of the air-core coils 153a to 153h across which the magnetic flux generated by the magnets 154a to 154f passes can be increased, and the drive torque can be increased.

(5) The coupling shaft 134 extending from the rotating body 130 and the shaft 311 extending from the brake applying portion 210 are coupled to each other via a connection member 135 having elasticity. Accordingly, since a phase deviation can be generated between the rotation operation of the shaft portion 311 of the brake applying portion 210 and the rotation operation of the rotating body 130, even when the shaft portion 311 of the brake applying portion 210 is stopped in the end stop state, if a low torque is applied to the rotating body 130, the shaft portion 311 twists with the rotation of the rotating body 130, and therefore the rotation detecting portion 140 can detect the rotation of the rotating body 130, and if the end stop state is released based on the detection result, an operation feeling with less jamming can be given to the operator at this time.

(6) The coil portion 153 as the torque application coil and the two coils 250 and 450 as the brake application coils are arranged so that the center lines thereof are orthogonal to each other. Therefore, even if the torque application coil and the brake application coil are brought close to each other, interference between the magnetic fields generated by the torque application coil and the brake application coil can be suppressed, and the influence of the magnetic field generated by the torque application coil on the magnetic viscous fluids 360 and 560 of the brake application unit 210 can be reduced.

Although the present invention has been described with reference to the above embodiments, the present invention is not limited to the above embodiments, and may be modified or changed for the purpose of improvement or within the scope of the idea of the present invention.

Industrial applicability

As described above, the input device of the present invention is useful in that the height can be reduced in the direction of the rotation axis.

Description of the reference numerals

110 an input device; 120 a fixing part; 121 is opened; 130 a rotating body; 131 a base portion; 132a flange portion; 133 an interior space; 134 connecting the shaft portion; 135a connecting member; 135a central spring portion; 135b a first fixing portion; 135c a second fixed part; 140 a rotation detecting unit; 141 a code wheel; 142 detecting the substrate; 143 a detection element; 150 torque imparting unit; 151a base plate; 152a fixing member; 153 coil parts (torque applying coils); 153a, 153b, 153c, 153d, 153e, 153f, 153g, 153h air-core coils (torque-applying coils); 154a magnet part; 154a, 154b, 154c, 154d, 154e, 154f magnets; 155a back yoke; 156 a coil holder; 160 a control unit; 210a brake applying section; 210A upper part; 210B lower part; 211 a central axis; 220 a holding part; 230. 430 a first yoke; 231. 431 inner yoke; 232. 432 an outer yoke; 233. 433 a first space; 233x center position; 234. 434 a second space; 235x center position; 235. 435 a third space; 240. 440 a second yoke; 242. 442 hole section; 250 a first coil (brake application coil); 260. 460 a sealing member; 270 an annular member; 280. 480 gaps; 281. 481 a void; 290. 490 a third yoke; 300 a rotation operation part; 310 a shaft portion; 311 a shaft portion; 312 flange part; 313 engaging the recess; 320. 520 a magnetic disc; 360. 560 a magnetically viscous fluid; 436; 441 bottom surface; 450 second coil (brake application coil); an AX rotary shaft; a first direction D1; d2 second direction.