Manipulated variable detection device

Abstract

To configure a simpler controllable variable detection device. [Solution] The operation amount detection device 10 comprises an input member 1 to which a swinging operation force is input, a reaction force generation mechanism 2 that generates a reaction force to the swinging operation force, a transmission shaft member 3 arranged on a reference axis X, a support mechanism 4 that swingably supports the transmission shaft member 3, a connecting mechanism 5 that connects the transmission shaft member 3 and the reaction force generation mechanism 2, and an operation amount sensor 6. The input member 1 is connected to the input part 34 of the transmission shaft member 3, the connecting mechanism 5 is connected to the output part 35 of the transmission shaft member 3 which is spaced apart in the axial direction L from the input part 34, and the operation amount sensor 6 is positioned between the input part 34 and the output part 35 in the axial direction L, and detects at least one of the amount of rotation and twist of the transmission shaft member 3.

Description

Technical Field

[0001] The present invention relates to an operation amount detection device.

Background Art

[0002] For example, in pedal devices such as accelerator pedals and brake pedals in automobiles where electronic control has been promoted in recent years, it is desirable to appropriately detect the operation amount applied to the pedal as a physical quantity. Japanese Patent Application Laid-Open No. 2023-95540 discloses an example of such an operation amount detection device. This operation detection device (1) includes a linear motion conversion mechanism (20) that converts the swinging operation force input to the lever member (14) via the pedal (2) into an axial thrust force along the swinging axis, an elastic body (17) that is axially pressed by a pressing member (19) to which the thrust force is transmitted, and a strain gauge (18) that detects the deformation amount (strain amount) of the elastic body (17) (in the background art, the reference numerals in parentheses refer to those in the cited document). In this operation amount detection device, the deformation amount detected by the strain gauge (18) is detected as the operation amount applied to the pedal (2). The strain gauge (18) and the elastic body (17) are arranged axially between a lever member (15) and a pressing member (19) that are connected to a reaction force member (22) that provides a reaction force against the swinging operation amount.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The above-described manipulator detection device converts rotation into linear motion and detects the load due to the linear motion, which tends to result in a long load transmission path. Furthermore, since the elastic body and strain gauge are positioned on the pivot axis between the pressing member and the lever member in the axial direction, the assembly of the elastic body and strain gauge is not easy. In other words, from the standpoint of power transmission and manufacturing, there is room for improvement in the configuration of the above-described manipulator detection device.

[0005] In light of the above background, it is desirable to configure the manipulated variable detection device in a simpler manner. [Means for solving the problem]

[0006] An operating amount detection device in view of the above comprises an input member to which a oscillating operating force about a reference axis is input, a reaction force generation mechanism that generates a reaction force to the oscillating operating force input to the input member, a transmission shaft member disposed on the reference axis, a support mechanism that supports the transmission shaft member so as to be able to swing about the reference axis, a connecting mechanism that connects the transmission shaft member and the reaction force generation mechanism, and an operating amount sensor, wherein the input member is connected to the input part of the transmission shaft member with the direction along the reference axis as the axial direction, the connecting mechanism is connected to the output part of the transmission shaft member which is spaced apart in the axial direction from the input part, and the operating amount sensor is disposed between the input part and the output part in the axial direction, and at least one of the amount of rotation and torsion of the transmission shaft member is detected.

[0007] With this configuration, the oscillating force applied to the input member can be appropriately detected by at least one of the rotation and twist of the transmission shaft member located in the power transmission path between the input member and the reaction force generation mechanism, without converting the oscillating force into a linear load. Furthermore, the manipulator detection device can be constructed with a simple configuration in which the manipulator sensor is placed coaxially with the oscillating axis between the input and output sections, which constitute the power transmission path between the input member and the reaction force generation mechanism. In other words, this configuration allows for a simpler construction of the manipulator detection device.

[0008] Further features and advantages of the manipulated variable detection device will become clear from the following description of exemplary and non-limiting embodiments, which will be explained with reference to the drawings. [Brief explanation of the drawing]

[0009] [Figure 1] Side view of the first example of a manipulated variable detection device. [Figure 2] Cross-sectional view of the first example of a manipulated variable detection device. [Figure 3] Side view of a second example of a manipulated variable detection device. [Figure 4] Cross-sectional view of a second example of a manipulated variable detection device. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the operation amount detection device will be described with reference to the drawings. In this embodiment, an operation amount detection device that detects the amount of operation applied by a user (driver) to the accelerator pedal or brake pedal in a vehicle will be described as an example. In this specification, two embodiments will be illustrated. Figures 1 and 2 show a first example of the operation amount detection device 10, and Figures 3 and 4 show a second example of the operation amount detection device 10. As shown in Figures 1 and 3, the operation amount detection device 10 is fixed to the vehicle body 100. The operation amount detection device 10 also includes an input member 1 to which a oscillating operation force around a reference axis X is input. The input member 1 is a lever member with the reference axis X as its pivot axis and is connected to a pedal 11 (see Figure 3) operated by the driver, such as an accelerator pedal or brake pedal. In this embodiment, a lever member that moves integrally with the pedal 11 is exemplified as the input member 1, but the input member 1 and the pedal 11 may be connected via a gear mechanism or a link mechanism, and the input member 1 may be linked to the pedal 11.

[0011] As shown in Figures 2 to 4, the maneuver amount detection device 10 includes a reaction force generation mechanism 2 that generates a reaction force to the oscillating operating force input to the input member 1. The reaction force generated by the reaction force generation mechanism 2 provides a reaction force to the user operating the pedal 11, allowing them to perceive the amount of operation. As shown in Figures 2 and 4, the maneuver amount detection device 10 includes a transmission shaft member 3 positioned on a reference axis X, and a support mechanism 4 that supports the transmission shaft member 3 so that it can swing freely around the reference axis X. The maneuver amount detection device 10 also includes a connecting mechanism 5 that connects the transmission shaft member 3 and the reaction force generation mechanism 2, and a maneuver amount sensor 6 that detects at least one of the amount of rotation and torsion of the transmission shaft member 3.

[0012] The input member 1 is connected to the input section 34 of the transmission shaft member 3. The coupling mechanism 5 is connected to the output section 35, which is spaced apart from the input section 34 of the transmission shaft member 3 in the axial direction L (direction along the reference axis X). Specifically, the input section 34 of the transmission shaft member 3 is located on the axial first side L1, which is one side in the axial direction L, and the output section 35 is located on the axial second side L2, which is the other side in the axial direction L. In this embodiment, common to both the first and second examples, the side on which the input section 34 is located relative to the output section 35 is defined as the axial first side L1. The axial first side L1 is also the side on which the input member 1 is located relative to the coupling mechanism 5. The manipulated amount sensor 6 is positioned between the input section 34 and the output section 35 in the axial direction L and detects at least one of the amount of rotation and twist of the transmission shaft member 3.

[0013] As shown in Figures 2 and 4, in both the first and second examples, the support mechanism 4 includes a pair of bearings 40 that rotatably support the transmission shaft member 3. Similar to the relationship between the input section 34 and the output section 35, the pair of bearings 40 are also spaced apart in the axial direction L. When distinguishing between the two bearings 40, the bearing located on the first axial side L1 is referred to as the first bearing 41, and the bearing located on the second axial side L2 is referred to as the second bearing 42. The manipulated amount sensor 6 is located between the axial directions L of the pair of bearings 40, that is, between the axial direction L of the first bearing 41 and the second bearing 42. Although sliding bearings are used as an example for the pair of bearings 40 here, the pair of bearings 40 may also be rolling bearings.

[0014] The first and second examples will be described below. First, the manipulated amount detection device 10 of the first example will be described. As shown in the cross-sectional view of Figure 2, the manipulated amount detection device 10 of the first example has a uniaxial structure (coaxial structure) in which a reaction force generation mechanism 2, a transmission shaft member 3, a support mechanism 4, a connecting mechanism 5, and a manipulated amount sensor 6 are arranged on the reference axis X. The support mechanism 4 includes a case 9 that houses the reaction force generation mechanism 2, the transmission shaft member 3, the connecting mechanism 5, and the manipulated amount sensor 6. The support mechanism 4 also includes a pair of bearings 40 as described above, and the pair of bearings 40 are also housed in the case 9.

[0015] The transmission shaft member 3 comprises a first member 31, a second member 32, and a third member 33. The first member 31 and the third member 33 are solid shaft-shaped members (cylindrical members), while the second member 32 is a hollow cylindrical member. The end of the first member 31 on the second axial side L2 is connected to the end of the second member 32 on the first axial side L1, and the end of the second member 32 on the second axial side L2 is connected to the end of the third member 33 on the first axial side L1, thereby forming a single transmission shaft member 3. A first bearing 41 is positioned radially outward of the connection between the first member 31 and the second member 32, and a second bearing 42 is positioned radially outward of the connection between the second member 32 and the third member 33. It can also be said that the first bearing 41 supports the first member 31 and the second member 32, and the second bearing 42 supports the second member 32 and the third member 33.

[0016] The input member 1 is connected to the first member 31 on the first axial side L1 of the first member 31. In this embodiment, the input member 1 and the first member 31 are fixedly connected by spline engagement, and the input member 1 and the first member 31 swing together integrally around the reference axis X. The spline engagement portion between the input member 1 and the first member 31 corresponds to the input portion 34.

[0017] The coupling mechanism 5 is connected to the third member 33 on the second axial side L2 of the third member 33. The coupling mechanism 5 includes a linear motion conversion mechanism 50 that converts rotational motion into linear motion, and the third member 33 is connected to the slider 51 of the linear motion conversion mechanism 50. The third member 33 and the slider 51 are connected, for example, by a helical spline with a twist angle of about 30 to 40 degrees, and the slider 51 moves along the axial direction L as the third member 33 swings. The third member 33 and the reaction force generation mechanism 2 are connected via the linear motion conversion mechanism 50 of the coupling mechanism 5, and the third member 33 or the linear motion conversion mechanism 50 (slider 51) can also be considered as an "output member" to the reaction force generation mechanism 2. The engagement portion between the third member 33 and the slider 51 by the helical spline corresponds to the output portion 35.

[0018] The linear motion conversion mechanism 50 includes, in addition to the slider 51 described above, an anti-rotation member 52 and a friction material 57. The anti-rotation member 52 is fixed to the case 9 and engages with a slide groove formed on the outer circumferential surface of the slider 51. The anti-rotation member 52 prevents the slider 51 from rotating in conjunction with the rotation (oscillation) of the third member 33. On the other hand, the anti-rotation member 52 is relatively movable in the axial direction L between itself and the slide groove of the slider 51. That is, the anti-rotation member 52 allows the slider 51 to move along the axial direction L while preventing it from rotating around the reference axis X. The friction material 57 is positioned between the inner wall (radially inner wall surface) of the case 9 and the outer surface (radially outer surface) of the slider 51, supporting the slider 51 relative to the case 9 and guiding the movement of the slider 51 in the axial direction L.

[0019] On the second axial side L2 of the slider 51 connected to the third member 33 on the first axial side L1, a reaction force generating mechanism 2 is arranged. The reaction force generating mechanism 2 includes a pressure receiving portion 21 arranged on the reference axis X. As described above, the connecting mechanism 5 is arranged on the reference axis X, and the linear motion conversion mechanism 50 converts the rotation of the transmission shaft member 3 into a driving force in the axial direction L and transmits it to the pressure receiving portion 21. Specifically, the pressure receiving portion 21 of the reaction force generating mechanism 2 is connected to the end portion of the second axial side L2 of the slider 51 so as to abut. The pressure receiving portion 21 is biased toward the first axial side L1 by a biasing member 29 such as a spring with respect to the case 9. When the pressure receiving portion 21 receives a load in the second axial side L2 via the transmission shaft member 3 and the linear motion conversion mechanism 50, a reaction force is transmitted to the user via the pressure receiving portion 21, the linear motion conversion mechanism 50, the transmission shaft member 3, the input member 1, and the pedal 11.

[0020] As described above, the transmission shaft member 3 includes a first member 31, a second member 32, and a third member 33. The input member 1 is connected to the first member 31, and the third member 33 is connected to the linear motion conversion mechanism 50. A difference between the force acting on the first member 31 and the force acting on the third member 33 is applied to the hollow cylindrical second member 32. This force appears as the torsion of the second member 32. "Torsion" can also be said to be the distortion in the rotational direction.

[0021] As described above, a first bearing 41 is arranged on the radially outer side of the connecting portion between the first member 31 and the second member 32, and a second bearing 42 is arranged on the radially outer side of the connecting portion between the second member 32 and the third member 33. And the operation amount sensor 6 is arranged between the first bearing 41 and the second bearing 42 in the axial direction L. The operation amount sensor 6 is arranged to face the transmission shaft member 3 along the outer peripheral surface on the radially outer side of the transmission shaft member 3. That is, the operation amount sensor 6 is arranged so as to be able to detect the torsion of the second member 32 which is a hollow member. The operation amount sensor 6 is, for example, a torque sensor. The operation amount sensor 6 is not limited to the form of being arranged to face the transmission shaft member 3, and may be arranged in contact with the transmission shaft member 3 according to the type of the sensor. Also, the operation amount sensor 6 is not limited to the torque sensor, and may be a rotation sensor (rotation angle sensor) using a Hall element or the like.

[0022] The operation amount detection device 10 of the first example includes a linear motion conversion mechanism 50, which is for connecting an input member 1 to which a rocking operation force is input to a reaction force generation mechanism 2 via a transmission shaft member 3. The rocking operation force is not detected after being converted into a linear load by the linear motion conversion mechanism 50, but is detected by the displacement amount of the transmission shaft member 3 arranged in the power transmission path between the input member 1 and the reaction force generation mechanism 2 (more specifically, in the first example, the power transmission path between the input member 1 and the linear motion conversion mechanism 50). Therefore, it is easy to configure the operation amount detection device 10 with a simple structure. Also, since the operation amount sensor 6 is arranged between the input part 34 and the output part 35, which are the power transmission paths between the input member 1 and the reaction force generation mechanism 2 (linear motion conversion mechanism 50), it is easy to reduce the man-hours in the process of assembling the operation amount sensor 6 to configure the operation amount detection device 10.

[0023] By the way, when the operation amount detection device 10 is used to detect the operation amount of a user on a brake pedal in a vehicle, it is preferable to provide a fail-safe mechanism. For example, even when some problem occurs in the operation amount detection device 10, such as duplicating the sensor for detecting the operation amount, it is preferable that the operation amount on the pedal can be detected. For example, as shown in FIG. 2, in addition to the operation amount sensor 6, it is preferable to provide a second operation amount sensor 62 so that the operation amount transmitted to the input member 1 can be detected by a plurality of sensors. When the operation amount detection device 10 includes a plurality of sensors in this way, the above-described operation amount sensor 6 may be used as the first operation amount sensor 61, and a second operation amount sensor 62 may be provided separately from the first operation amount sensor 61.

[0024] For example, as shown in Figure 2, the manipulated variable detection device 10 may include a first manipulated variable sensor 61 positioned between the input unit 34 and the output unit 35 in the axial direction L, as well as a second manipulated variable sensor 62 positioned on the opposite side of the output unit 35 from the input unit 34 in the axial direction L. Here, an example is shown in which the second manipulated variable sensor 62 is positioned on the reference axis X so as to face the end face 3t of the first axial side L1 of the transmission shaft member 3 (first member 31). The second manipulated variable sensor 62 is preferably a sensor (rotation sensor, rotation angle sensor) that is positioned on the reference axis X so as to face the input member 1 and detects the amount of rotation of the input member 1. The second manipulated variable sensor 62 can be a rotation sensor using a Hall element or an inductive position sensor. Unlike the first manipulated variable sensor 61, which is positioned in the power transmission path between the input member 1 and the reaction force generation mechanism 2, the second manipulated variable sensor 62 does not need to be entirely housed in the case 9. Therefore, it is easier to use a sensor that is larger in size than the first manipulated variable sensor 61. Furthermore, the second manipulated variable sensor 62, illustrated in Figure 2, can easily directly measure the amount of movement of the end face 3t of the transmission shaft member 3, which swings integrally with the input member 1, and can easily ensure reliability as a backup for the first manipulated variable sensor 61.

[0025] When multiple sensors are provided in this manner, it is preferable to provide redundancy, and it is preferable to place sensors with different detection principles in different locations. For example, if the first manipulated variable sensor 61 is a torque sensor, it is preferable that the second manipulated variable sensor 62 is a rotation sensor. Of course, the first manipulated variable sensor 61 may be a rotation sensor and the second manipulated variable sensor 62 may be a torque sensor. Also, both the first manipulated variable sensor 61 and the second manipulated variable sensor 62 may be rotation sensors. However, if the first manipulated variable sensor 61 is a Hall element type rotation sensor, it is preferable that the detection principles are different, such as the second manipulated variable sensor 62 being an inductive position sensor. Generally, Hall element type rotation sensors are easier to make smaller than inductive position sensors. For this reason, if the first manipulated variable sensor 61 is a rotation sensor, it is preferable that it be a Hall element type rotation sensor.

[0026] Next, the second example of the maneuvering amount detection device 10 will be described. The maneuvering amount detection device 10 of the first example has a uniaxial structure (coaxial structure) in which the reaction force generation mechanism 2, the transmission shaft member 3, the support mechanism 4, the connecting mechanism 5, and the maneuvering amount sensor 6 are arranged on the reference axis X. However, in the maneuvering amount detection device 10 of the second example, the transmission shaft member 3, the support mechanism 4, the connecting mechanism 5, and the maneuvering amount sensor 6 are arranged on the reference axis X, and the reaction force generation mechanism 2 is not arranged on the reference axis X. Also, the case 9 included in the support mechanism 4 houses the transmission shaft member 3, the connecting mechanism 5, and the maneuvering amount sensor 6, but the reaction force generation mechanism 2 is not housed in the case 9. The pair of bearings 40 included in the support mechanism 4 are housed in the case 9, as in the first example.

[0027] In the second example, as shown in Figure 4, the transmission shaft member 3 is exemplified as being composed of a single solid shaft-shaped member (cylindrical member). However, similar to the first example, the transmission shaft member 3 may be composed of a first member 31, a second member 32, and a third member 33.

[0028] The input member 1 is connected to the transmission shaft member 3 on the first axial side L1 of the transmission shaft member 3. Similar to the first example, the input member 1 and the transmission shaft member 3 are fixedly connected by spline engagement in this embodiment, and the input member 1 and the transmission shaft member 3 swing integrally around the reference axis X. The spline engagement portion between the input member 1 and the transmission shaft member 3 corresponds to the input portion 34. The coupling mechanism 5 is connected to the transmission shaft member 3 on the second axial side L2 of the transmission shaft member 3. In the second example, the coupling mechanism 5 does not include a linear motion conversion mechanism 50, and the first coupling member 58 of the coupling mechanism 5 is connected to the transmission shaft member 3. The first coupling member 58 and the transmission shaft member 3 are fixedly connected by spline engagement. The spline engagement portion between the first coupling member 58 and the transmission shaft member 3 corresponds to the output portion 35. The first connecting member 58 is a lever member, similar to the input member 1, and the first connecting member 58 and the transmission shaft member 3 swing together as a single unit around the reference axis X. The first connecting member 58 swings in the same direction as the input member 1, in conjunction with the swing of the input member 1.

[0029] The first connecting member 58 is connected to the second connecting member 59 so as to be able to swing relative to it at the link axis Y. The second connecting member 59 is a rod-shaped member positioned horizontally when the operating amount detection device 10 is mounted on the vehicle body 100. When the pedal 11 is operated in the operating direction Z, and the first connecting member 58 swings in conjunction with the swing of the input member 1, the second connecting member 59 moves along the operating direction Z. The end of the second connecting member 59 opposite to the first connecting member 58 is connected to a reaction force generation mechanism 2 similar to that in the first example.

[0030] The structure of the reaction force generation mechanism 2 is the same as in the first example, so the reference numerals are omitted. However, the second connecting member 59 is biased in the opposite direction to the operating direction Z by a biasing member 29, such as a spring, provided in the reaction force generation mechanism 2. When the second connecting member 59 receives a load in the operating direction Z via the input member 1, the transmission shaft member 3, and the first connecting member 58, a reaction force is transmitted from the reaction force generation mechanism 2 to the user via the second connecting member 59, the first connecting member 58, the transmission shaft member 3, the input member 1, and the pedal 11. The first connecting member 58 and the second connecting member 59, which constitute the connecting mechanism 5, can also be considered as "output members" to the reaction force generation mechanism 2.

[0031] In the second example as well, the manipulated amount sensor 6 is positioned between the input unit 34 and the output unit 35 in terms of axial length L. Alternatively, the manipulated amount sensor 6 can be positioned between the axial length L of the pair of bearings 40, that is, between the axial length L of the first bearing 41 and the second bearing 42. In the second example as well, the manipulated amount sensor 6 is positioned opposite the transmission shaft member 3 along the radially outer outer circumferential surface of the transmission shaft member 3. The manipulated amount sensor 6 is, for example, a torque sensor. Similar to the first example, in the second example as well, the manipulated amount sensor 6 detects at least one of the amount of rotation and twist of the transmission shaft member 3. In the second example, for which a cross-sectional view is illustrated in Figure 4, the transmission shaft member 3 is shown as being composed of a single shaft-shaped member, but in the second example as well, it may also include a first member 31, a second member 32, and a third member 33, similar to the first example.

[0032] Furthermore, in the second example as well, the manipulated amount sensor 6 is not limited to being positioned facing the transmission shaft member 3 from the radially outer side, but may be positioned in contact with the transmission shaft member 3 depending on the type of sensor. Also, the manipulated amount sensor 6 is not limited to a torque sensor, but may be a rotation sensor (rotation angle sensor).

[0033] In the second example, the manipulated amount detection device 10 does not include a linear motion conversion mechanism 50. The oscillating operating force is not detected after being converted into a linear load via the linear motion conversion mechanism 50, but is detected by the displacement of the transmission shaft member 3, which is located in the power transmission path between the input member 1 and the reaction force generation mechanism 2. Therefore, the manipulated amount detection device 10 can be easily constructed with a simple structure. Furthermore, since the manipulated amount sensor 6 is located between the input section 34 and the output section 35, which are the power transmission path between the input member 1 and the reaction force generation mechanism 2, the number of steps required to assemble the manipulated amount sensor 6 and construct the manipulated amount detection device 10 can be easily reduced.

[0034] Furthermore, in the second example of the manipulated variable detection device 10, the sensors for detecting the manipulated variable can also be duplicated. For example, as shown in Figure 4, the manipulated variable detection device 10 may be equipped with a first manipulated variable sensor 61 located in the axial direction L between the input unit 34 and the output unit 35, as well as a second manipulated variable sensor 62 located on the opposite side of the output unit 35 from the input unit 34 in the axial direction L. The types of the first manipulated variable sensor 61 and the second manipulated variable sensor 62 are as described above in the first example, so a detailed explanation will be omitted.

[0035] The manipulated variable detection device (10) described above will be briefly summarized below.

[0036] In one embodiment, the manipulated amount detection device (10) includes an input member (1) to which a oscillating operating force around a reference axis (X) is input, a reaction force generation mechanism (2) that generates a reaction force to the oscillating operating force input to the input member (1), a transmission shaft member (3) arranged on the reference axis (X), a support mechanism (4) that supports the transmission shaft member (3) so as to be able to swing around the reference axis (X), a connecting mechanism (5) that connects the transmission shaft member (3) and the reaction force generation mechanism (2), and a manipulated amount sensor (6). The system comprises the input member (1) connected to the input portion (34) of the transmission shaft member (3), the connection mechanism (5) connected to the output portion (35) of the transmission shaft member (3) which is spaced apart from the input portion (34) in the axial direction (L) of the transmission shaft member (3), and the manipulated amount sensor (6) positioned between the input portion (34) and the output portion (35) in the axial direction (L), and detecting at least one of the amount of rotation and twist of the transmission shaft member (3).

[0037] With this configuration, the oscillating force applied to the input member (1) can be appropriately detected by at least one of the amount of rotation and torsion of the transmission shaft member (3) located in the power transmission path between the input member (1) and the reaction force generation mechanism (2), without converting the oscillating force into a linear load. Furthermore, the manipulator detection device (10) can be constructed with a simple configuration in which the manipulator sensor (6) is arranged coaxially with the oscillating axis (X) between the input section (34) and the output section (35), which are the power transmission path between the input member (1) and the reaction force generation mechanism (2). Therefore, the manipulator detection device (10) can be constructed more simply.

[0038] Furthermore, the manipulated amount detection device (10) preferably has a support mechanism (4) that includes a pair of bearings (40) that rotatably support the transmission shaft member (3), the pair of bearings (40) are spaced apart in the axial direction (L), and the manipulated amount sensor (6) is positioned between the pair of bearings (40) in the axial direction (L).

[0039] With this configuration, the manipulator sensor (6) can be positioned using the space created between the pair of bearings (40) in the axial direction (L), making it easier to miniaturize the manipulator detection device (10).

[0040] Furthermore, the manipulated amount detection device (10) preferably includes a reaction force generation mechanism (2) which comprises a pressure receiving section (21) positioned on the reference axis (X), and a coupling mechanism (5) which comprises a linear motion conversion mechanism (50) positioned on the reference axis (X) that converts the rotation of the transmission shaft member (3) into a driving force in the axial direction (L) and transmits it to the pressure receiving section (21).

[0041] With this configuration, the pressure-receiving part (21) of the reaction force generation mechanism (2) and the linear motion conversion mechanism (50) can be arranged on the reference axis (X), making it easier to reduce the radial dimensions of the operating amount detection device (10), except for the input member (1) to which the oscillating operating force is input.

[0042] Furthermore, it is preferable that the manipulated amount detection device (10) includes a second manipulated amount sensor (62) that detects the amount of rotation of the input member (1), which is positioned on the reference axis (X) opposite to the input unit (34) and the output unit (35) in the axial direction (L).

[0043] With this configuration, by providing multiple sensors to detect the manipulated amount, the manipulated amount can be detected even if one of the sensors fails. [Explanation of Symbols]

[0044] 1: Input member, 2: Reaction force generation mechanism, 3: Transmission shaft member, 4: Support mechanism, 5: Connecting mechanism, 6: Manipulated amount sensor, 10: Manipulated amount detection device, 21: Pressure receiving part, 34: Input part, 35: Output part, 40: Pair of bearings, 50: Linear motion conversion mechanism, 62: Second manipulated amount sensor, L: Axial direction, X: Reference axis

Claims

1. An input member to which a oscillating force around a reference axis is applied, A reaction force generating mechanism that generates a reaction force to the oscillating operating force input to the input member, A transmission shaft member positioned on the aforementioned reference axis, A support mechanism that supports the transmission shaft member so as to be able to swing around the reference axis, A connecting mechanism that connects the transmission shaft member and the reaction force generating mechanism, Equipped with a control amount sensor, The direction along the aforementioned reference axis is defined as the axial direction, The input member is connected to the input portion of the transmission shaft member, The coupling mechanism is connected to an output section of the transmission shaft member that is spaced apart in the axial direction from the input section. The manipulated amount sensor is positioned between the input unit and the output unit in the axial direction and detects at least one of the amount of rotation and torsion of the transmission shaft member.

2. The support mechanism comprises a pair of bearings that rotatably support the transmission shaft member. The pair of bearings are arranged spaced apart in the axial direction, The manipulated amount detection device according to claim 1, wherein the manipulated amount sensor is positioned between the axial directions of the pair of bearings.

3. The reaction force generating mechanism includes a pressure receiving section positioned on the reference axis, The manipulator detection device according to claim 1 or 2, wherein the coupling mechanism is arranged on the reference axis and includes a linear motion conversion mechanism that converts the rotation of the transmission shaft member into an axial driving force and transmits it to the pressure receiving section.

4. The manipulated amount detection device according to claim 1 or 2, further comprising a second manipulated amount sensor that detects the amount of rotation of the input member, positioned on the reference axis so as to be opposite to the input member in the axial direction and opposite to the output member.

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