Shift device and driving simulator

Abstract

To provide a shift device and a driving simulator with which an operational feeling close to the actual vehicle is obtained.SOLUTION: Provided is a shift device 1 for driving simulators which is capable of multi-stage transmissions, the shift device 1 comprising a slider 40 that slides to a position corresponding to each speed stage following operation of a shift lever 30, load means 70 that applies a load to the shift lever 30 by contacting when the slider 40 moves to the position, and control means that controls the load means 60 so as to apply a load that corresponds to the driving state. The load means 70 is provided independently for each speed stage, and the control means controls the load means for each speed stage.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a shift device that simulates a manual shift operation of an automobile and a driving simulator that simulates the driving of a vehicle.

Background Art

[0002] Simulators that simulate the state of being on board a vehicle are widely used for purposes such as flight training and amusement. As an example of a simulator, there is a simulator that simulates the state of being in a vehicle and simulates the vibration transmitted to the seat and the posture of the seat during boarding (see, for example, Patent Document 1), and a driving simulator that can simulate the behavior of pedals such as a brake pedal is known (see, for example, Patent Document 2).

[0003] There is also an actuator with high operability that can reproduce smooth operability by simulating the shift change operation used in a manual transmission, and an operation feeling simulator that can provide a desired operation feeling to a user by mounting the actuator (see, for example, Patent Document 3). Regarding shift devices that simulate shift change operations, and further drive simulators equipped with them, many applications have been filed other than Patent Document 3.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] Today, there is a growing demand for driving simulators to more closely simulate real-world driving conditions, and the same applies to gear shifting operations and the shift devices that perform them. While shift devices that more closely simulate real-world driving conditions have been proposed, including the actuators described in Patent Document 3, they are far from sufficient and there is room for improvement.

[0006] The objective of the present invention is to provide a shift device and a driving simulator that provide an operating feel close to that of an actual vehicle. [Means for solving the problem]

[0007] The present invention relates to a multi-speed shift device for a driving simulator, comprising: a slider that moves to a position corresponding to each gear in response to the operation of the shift lever; a load means independently provided for each gear that applies a load to the shift lever by contacting the slider when it moves to the position; and a control means for controlling the load means for each gear, wherein the load means is The load applied to the shift lever can be changed. The control means is a shift device characterized by controlling the load means to apply a load corresponding to the operating state.

[0008] In the shift device according to the present invention, the load means includes, for each gear, a lever whose one end is rotatably supported by a support shaft and which has a claw near the support shaft, and a means connected to the other end of the lever, which operates based on a command from the control means. in the opposite direction to the upward pushing direction of the lever The device comprises a load-applying means for applying a load, wherein the slider has a locking portion on its upper surface which has a locking groove into which a claw provided on the lever fits, and the slider is characterized in that, as the gear shift is changed, the locking portion pushes up the lever, the claw fits into the locking groove, and the gear shift is completed.

[0009] In the shift device according to the present invention, the load-applying means comprises an elastic body attached to the other end of the lever and a means connected to the elastic body and the elastic body In the direction opposite to the upward pushing direction of the aforementioned lever It consists of a pulling servo motor, or the load-applying means is attached to the other end of the lever. - in the direction opposite to the upward pushing direction of the lever. It is characterized by being a cylinder or ball screw that applies a load.

[0010] Shift device according to the present invention In this context, the driving simulator comprises at least a driving unit that simulates an automobile, and a computer that calculates and outputs the behavior and images of a virtual automobile based on input from the driving unit. Furthermore, the system is equipped with a sensor for detecting the position of the slider, and the operating state is defined as the position of the slider and one or more of the following (A) group, and the control means is characterized by receiving data from the driving simulator from the following (A) group. (A) Vehicle speed, clutch position, engine speed, acceleration / deceleration, accelerator / brake opening

[0011] The present invention is a driving simulator that simulates driving a vehicle, comprising at least a vehicle body, steering wheel, accelerator, brakes, clutch, seat, computer for controlling operation, and the aforementioned shift device.

[0012] In the driving simulator according to the present invention, the computer determines that a gear change is impossible from the driving state and controls the control means to apply a load that makes a gear change impossible.

[0013] The driving simulator according to the present invention further includes a vibrator and a sound generating means for vibrating the vehicle body, and when the computer determines that a gear change is impossible from the driving state, it applies a load that makes a gear change impossible. control The method is characterized by controlling the means and further operating the vibrator and sound generating means. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a shift device and a driving simulator that provide an operating feel close to that of an actual vehicle. [Brief explanation of the drawing]

[0015] [Figure 1] This is a perspective view of the shift device 1 according to the first embodiment of the present invention. [Figure 2] It is a schematic diagram for explaining the configuration of the shift device 1 according to the first embodiment of the present invention. [Figure 3] It is a diagram for explaining the configuration of the shift device 1 according to the first embodiment of the present invention, and is a plan view seen with the upper support base 20 removed. [Figure 4] It is a diagram for explaining the configuration around the slider 40 of the shift device 1 according to the first embodiment of the present invention. [Figure 5] It is a perspective view for explaining the configuration around the load means 70 of the shift device 1 according to the first embodiment of the present invention. [Figure 6] It is a diagram for explaining the configuration around the load means 70 of the shift device 1 according to the first embodiment of the present invention. [Figure 7] It is a diagram for explaining the configuration around the load means 70 of the shift device 1 according to the first embodiment of the present invention. [Figure 8] It is an overall configuration diagram of the driving simulator 2 according to the second embodiment of the present invention. [Figure 9] It is a perspective view of the driving unit 201 of the driving simulator 2 according to the second embodiment of the present invention. [Figure 10] It is a diagram for explaining the configuration of another load means 100 of the shift device 1 according to the first embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0016] FIG. 1 and FIG. 2 are a perspective view and a schematic diagram for explaining the configuration of the shift device 1 according to the first embodiment of the present invention. The shift direction and the select direction shown in FIG. 2 indicate the moving direction of the slider 40. FIG. 3 is a diagram for explaining the configuration of the shift device 1 according to the first embodiment of the present invention, and is a plan view seen with the upper support base 20 removed. FIG. 4 is a diagram for explaining the configuration around the slider 40 of the shift device 1 according to the first embodiment of the present invention. FIGS. 5, FIG. 6 and FIG. 7 are diagrams for explaining the configuration around the load means 70 of the shift device 1 according to the first embodiment of the present invention.

[0017] In the figures and specification, the X, Y, and Z axes correspond to the X, Y, and Z axes of the three-dimensional Cartesian coordinate system, and the X (X-axis) direction, Y (axis) direction, and Z (axis) direction correspond to the X-axis direction, Y-axis direction, and Z-axis direction of the three-dimensional Cartesian coordinate system. In the specification, the +X direction refers to the direction of the X-axis arrow shown in the figures, and the -X direction refers to the direction opposite to the X-axis arrow shown in the figures. The same applies to the +Y direction, -Y direction, +Z direction, and -Z direction.

[0018] The first embodiment of the present invention is a shift device 1 that is mounted and used in a driving simulator 2 as shown in the second embodiment, and has an H-shaped shift pattern capable of multi-speed shifting, wherein the shift device 1 of this embodiment has a maximum of 6 gears.

[0019] The shift device 1 comprises a base 10, a shift lever 30, a slider 40 connected to the shift lever 30, and a load mechanism 70 that applies a load when the slider 40 moves to a position corresponding to each gear. In the shift device 1, the select direction is parallel to the Z axis and the shift direction is parallel to the X axis. In Figure 1, the left is the -X direction and the right is the +X direction. The front is the -Z direction and the rear is the +Z direction.

[0020] The base 10 is a rectangular block-shaped member, with a housing section 12 in the center for housing the slider 40, and housing sections 14 on the left and right sides that are connected to the housing section 12 and house the levers 71 that constitute the loading means 70. The base 10 is symmetrical with respect to the center line C, and the housing section 12 and housing sections 14 are also provided symmetrically with respect to the center line C (see Figure 2). The housing section 12 is formed by providing a rectangular recess in the center of the base 10.

[0021] The storage compartments 14 are arranged in parallel, four on each side of the base 10. Each storage compartment 14 is an elongated recess extending in the X-axis direction, and each storage compartment 14 has the same shape. The storage compartments 14 face the upper surface 11 and the storage compartment 12 of the base 10, and partition walls 15 are provided between adjacent storage compartments 14. The tip 16 of each partition wall 15 is an inclined surface 17, with the left partition wall 15 being longer in the -Z direction in a plan view, and the right partition wall 15 being longer in the +Z direction in a plan view. By providing an inclined surface 17 at the tip of the partition wall 15 and arranging the inclined surface 17 as in this embodiment, the movement of the slider 40 during gear changes becomes smoother.

[0022] The shift device 1 of this embodiment has a maximum of 6 gears, and correspondingly, three levers 71 are arranged on each side, with the storage compartments 14 on the left and right front being spares. The spare storage compartments 14 may have the lever 71 arranged in the same way as for gears 1 to 6 as a position corresponding to 7th gear, or they may be used as a reverse position.

[0023] An upper support base 20 is attached to the top of the base 10 to support the shift lever 30. The upper support base 20 is a plate material with a U-shape when viewed from the side, and is fixed to the front and rear surfaces of the base 10. The upper surface 21 of the upper support base 20 has a through hole 22 in the center through which the shift lever 30 is inserted, and a spherical plain bearing 35 is attached above the through hole 22 to support the shift lever 30 so as to close the through hole 22 and allow it to rotate freely.

[0024] A lower support base 25 is attached to the lower part of the base 10 to support the servo motor 85 that constitutes the load means 70. The lower support base 25 is a U-shaped plate when viewed from the front, with the upper parts of both side walls bent outward parallel to the bottom surface and fixed to the bottom surface of the base 10.

[0025] The shift lever 30 is a cylindrical member, with its middle section attached to the upper support base 20 via a spherical plain bearing 35. The shift lever 30, attached to the upper support base 20 via the spherical plain bearing 35, can rotate around the spherical plain bearing 35. A knob 33 is attached to the upper part of the shift lever 30 (see Figure 9), and a rod end bearing 37, which connects to the slider 40, is attached to the lower end 32 of the shift lever 30.

[0026] The slider 40 has a rectangular base 41 and a pair of locking parts 44 extending from the base 41 to the left and right, respectively. As the gear shifts, it is guided by a guide means to move to a position corresponding to each gear. A pin insertion hole 42 is provided in the center of the base 41 through which the pin 38 of the rod end bearing 37 is inserted. The slider 40 and the shift lever 30 are connected via the rod end bearing 37. On the upper surfaces of the left and right locking parts 44, locking grooves 46 are provided from the center to the vicinity of the base 41 into which the claws 75 of the lever 71 fit.

[0027] Since the distance between the tips 45 of the left and right locking parts 44 of the slider 40 is set to be narrower than the distance between the tips 16 of the left and right partition walls 15 provided on the base 10, the slider 40 can move freely in the select direction when in the neutral position.

[0028] The guiding mechanism includes a first guiding mechanism 51 that guides the slider 40 in the select direction and a second guiding mechanism 60 that guides the slider 40 in the shift direction.

[0029] The first guide means 51 comprises a rectangular first slide base 52 and a pair of first guide rails 55 that slidably support the first slide base 52. The first guide rails 55 are fixed at intervals to the bottom surface of the housing portion 12 of the base 10 parallel to the selection direction. The first slide base 52 has a recess 53 at its bottom that fits into the first guide rails 55, and the recess 53 fits into the first guide rails 55, allowing it to move back and forth in the selection direction.

[0030] A pair of guide pipes 57 extending in the selection direction are inserted through the first slide base 52, and a compression coil spring 58 is inserted through one of the guide pipes 57, sandwiching the first slide base 52. The first slide base 52 is movable forward and backward relative to the guide pipes 57. The compression coil spring 58, which is provided to sandwich the first slide base 52, is a means for automatically returning the first slide base 52 to the neutral position.

[0031] The second guide means 60 comprises a rectangular second slide base 62 and a second guide rail 65 that slidably supports the second slide base 62. The second guide rail 65 is mounted on the upper surface of the first slide base 52 parallel to the shift direction. The second slide base 62 has a recess at its bottom that fits into the second guide rail 65, and the recess fits into the second guide rail 65, allowing it to move back and forth in the shift direction.

[0032] The second slide base 62 is provided with an automatic return mechanism (not shown) for returning the second slide base 62 to the neutral position.

[0033] The slider 40 has its base 41 mounted and fixed to the second slide base 62, and moves integrally with the second slide base 62. Also, since the second guide rail 65 is fixed to the first slide base 52, the slider 40 moves integrally with the first slide base 52.

[0034] The slider 40 is equipped with a first position sensor 91 that detects the position in the select direction and a second position sensor (slide volume) 92 that detects the position in the shift direction, and the position of the slider 40 is detected by these two sensors. The first position sensor 91 and the second position sensor 92 are connected to the controller 90, and the position information of the slider 40 is sent to the controller 90. The position information of the slider 40 is also the position information of the shift lever 30.

[0035] The load means 70 is a means of applying a load to the shift lever 30 in conjunction with a gear change, and comprises a lever 71 located in the storage compartment 14 and a load applying means 80 that applies a downward load to the end of the lever 71. The load means 70 is provided independently for each gear, and applies a load to the shift lever 30 corresponding to the driving state in response to a command from the controller 90. In this embodiment, the load applying means 80 mainly consists of a tension coil spring 81 attached downward to the other end 73 of the lever 71 and a servo motor 85 that pulls the tension coil spring 81 downward.

[0036] The lever 71 is a thick, elongated plate-shaped member, with an insertion hole at one end 72. The insertion hole is slidably inserted onto a support shaft 77 fixed to the base 10, and its longitudinal direction is parallel to the shift direction. The support shaft 77 is installed on the upper part of the outer periphery of the housing section 12 of the base 10, parallel to the select direction. The other end 73 of the lever 71 protrudes from the storage section 14, to which a tension coil spring 81 is connected. A claw 75 that fits into a locking groove 46 of the slider 40 is provided on the bottom surface near the one end 72 of the lever 71.

[0037] The servo motor 85 is fixed to the lower support base 25 via a mounting seat 88. The servo motor 85 has a rod member 87 perpendicular to the rotation axis at the tip of the rotation axis, and a tension coil spring 81 has one end connected to the other end 73 of the lever 71 and the other end connected to the rod member 87. As the servo motor 85 operates and the distance between the rod member 87 and the lever 71 increases, the load applied to the lever 71 increases. Conversely, when the distance between the rod member 87 and the lever 71 becomes smaller than a certain limit, no downward load acts on the lever 71.

[0038] The controller 90 receives commands from the driving simulator's computer, controls the servo motor 85 to adjust the load applied to the shift lever 30, and transmits the position of the slider 40 (shift lever 30) to the driving simulator's computer.

[0039] The basic operation of the shift device 1 will be explained. When the shift lever 30 is in the neutral position, the slider 40 is in the neutral position due to the automatic return means of the first slide base 52 and the second slide base 62, and is not engaged with the lever 71.

[0040] When the shift lever 30 is operated to shift gears, for example from neutral to first gear, the slider 40 moves in the select direction, guided by the first guide rail 55, and then moves in the shift direction, guided by the second guide rail 65, so that it enters the storage compartment 14 corresponding to first gear, in conjunction with the operation of the shift lever 30.

[0041] When the slider 40 enters the storage compartment 14, the locking part 44 contacts the lever 71 and moves to push the lever 71 upward. At this time, the servo motor 85 is pulling the tension coil spring 81 to pull down the other end 73 of the lever 71 based on a command from the controller 90, so there is resistance when the locking part 44 enters the storage compartment 14.

[0042] The resistance when the locking part 44 enters the storage part 14 increases as the tension coil spring 81 is pulled more strongly. Since the slider 40 is connected to the shift lever 30 via the rod end bearing 37, as the resistance to movement of the locking part 44 increases, the resistance to operating the shift lever 30 also increases accordingly.

[0043] The commands that the controller 90 issues to the servo motor 85 are essentially from the driving simulator's computer. The driving simulator's computer calculates the load to be applied to the lever 71 based on the driving state of the vehicle equipped with the shift device 1 and the position of the slider 40, and issues a load command to the controller 90. This load command will be described in detail in the section on the driving emulator 2 of the second embodiment.

[0044] When the locking part 44 enters the storage part 14 and the claw 75 of the lever 70 engages with the locking groove 46 of the locking part 44, the shift change is completed. When the claw 75 of the lever 70 engages with the locking groove 46 of the locking part 44, the slider 40 is prevented from moving in the shift direction by the engagement between the locking groove 46 and the claw 75, and is prevented from moving in the select direction by the front and rear partitions 15, so the slider 40 is locked in that position.

[0045] When shifting from first gear to neutral, the shift lever 30 is moved in the shift direction to release the locking groove 46 from the pawl 75. When releasing the locking groove 46 from the pawl 75, there is resistance until the pawl 75 moves over the locking groove 46. Once the pawl 75 moves over the locking groove 46, the slider 40 and shift lever 30 move smoothly, and the automatic return mechanisms of the first slide base 52 and the second slide base 62 automatically return the gear to the neutral position.

[0046] The movement of the shift device 1 when shifting the shift lever 30 from 1st gear to 2nd gear, from 5th gear to 6th gear, or from 6th gear to 5th gear is basically the same as when shifting from neutral to 1st gear, or from 1st gear to neutral.

[0047] As described above, in the first embodiment of the shift device 1, a load means 70 is provided independently for each gear, which applies a load to the slider 40 that moves to the position corresponding to each gear when a gear change occurs, and the controller 90 controls the load means 70 for each gear. With this configuration, the shift device 1 can adjust the load of the load means 70 for the unselected gear according to the driving state, so that an appropriate load (resistance) can be applied even to rapid gear changes.

[0048] Furthermore, in the first embodiment, the shift device 1 applies a load (resistance) to the shift lever 30 by mechanically contacting the lever 71 with the slider 40 connected to the shift lever 30, thus providing an operating feel similar to that of an actual vehicle. Also, because the lever 71 mechanically contacts the slider 40, the shift lever 30 vibrates in response to the shift operation. These factors result in an operating feel close to that of an actual vehicle.

[0049] Furthermore, the shift device 1 of the first embodiment has a simple mechanism for applying load to the shift lever 30 during gear changes, which allows the shift device 1 to be made compact. An example of the dimensions of the shift device 1 is a width (X direction) of 120 mm, a length (Z direction) of 150 mm, and a height (Y direction) of 150 to 200 mm to the upper support base 20.

[0050] Figure 8 is an overall configuration diagram of the driving simulator 2 according to the second embodiment of the present invention. Figure 9 is a perspective view of the driving unit 201 of the driving simulator 2 according to the second embodiment of the present invention. The driving simulator 2 according to the second embodiment is equipped with the shift device 1 of the first embodiment as the shift device. Components identical to those of the shift device 1 of the first embodiment shown in Figures 1 to 7 are denoted by the same reference numerals and their descriptions are omitted.

[0051] Driving Simulator 2 is a simulator that simulates the behavior and visuals of a car while it is in motion. It comprises a driving unit 201 that simulates a car, a computer 212 that calculates and outputs the behavior and visuals of a virtual car based on input from the driving unit 201, and a monitor 213 positioned in front of the driving unit 201 to display the visuals. The computer 212 performs calculations based on input from the driving unit 201 by the driver's operation, and based on the calculation results of the computer 212, the behavior of the car is reproduced on the driving unit 201, while the scenery during driving is reproduced on the monitor 213.

[0052] The driving unit 201 is a seven-axis cylinder-controlled driving unit comprising a main body unit 221 that forms the overall frame, a rotating unit 222 that has a seat 241 in which the driver sits and performs rotational motion, three linear actuators 225, 226, and 227 for the seat that are the driving source for the rotational motion of the rotating unit 222, and four linear actuators 228, 229, 230, and 231 for the main body that support the main body unit 221 in a state where it is floating above the mounting surface.

[0053] The driving simulator 2 further includes a controller 232 that controls the seat linear actuators 225, 226, 227 and the main unit linear actuators 228, 229, 230, 231, as well as a steering unit 233 operated by the driver, a pedal unit 224, a shift device 1 that performs gear changes, and a vibrator 110 for notifying the driver of improper gear changes. The vibrator 110 is attached to the shift device 1.

[0054] The steering unit 233 includes a steering wheel 271, which is a handle, and a steering controller 272 that can send and receive data with the computer 212 and performs processing associated with the operation of the steering wheel 271.

[0055] The pedal unit 224 includes a brake pedal unit 111, an accelerator pedal unit 141, and a clutch pedal unit 171, as well as a pedal controller 273 that performs processing associated with pedal operation and can send and receive data with a computer 212.

[0056] The computer 212 is equipped with simulation means and calculates the behavior and image of a virtual automobile based on inputs from the steering controller 272, pedal controller 273, and the controller 90 of the shift device 1 (hereinafter referred to as the shift controller 90). It outputs the calculation results, such as operation data including speed and image data to be displayed on the monitor 213. It also controls the controller 232, steering controller 272, pedal controller 273, shift controller 90, and vibrator 110.

[0057] The control of the shift controller 90 by the computer 212 is performed in the following manner. The simulation means of the computer 212 has a shift device operation feel program for the shift device 1 to reproduce the feel of operating the shift device in an actual vehicle. This shift device operation feel program is based on the relationship between the driving state and the feel of operating the shift lever 30 during gear changes, which was obtained in an actual vehicle.

[0058] The driving conditions include vehicle speed, clutch position, engine speed, acceleration / deceleration, accelerator / brake opening, and the position of slider 40. The position of slider 40 can be rephrased as the position of shift lever 30. The feel of operating the shift lever 30 during a gear change is mainly due to the force required to move the shift lever 30. In addition, the feel of operating the shift lever 30 during a gear change is due to vibrations applied to the shift lever 30. The force required to move the shift lever 30 can be rephrased as the resistance force when moving the shift lever 30.

[0059] Data regarding the actual driving conditions of the vehicle and the feel of operating the shift lever 30 during gear changes will be acquired by installing sensors on the actual vehicle or by utilizing existing data related to these conditions. Generally, the following relationship exists between the actual driving conditions of the vehicle and the feel of operating the shift lever 30 during gear changes.

[0060] Generally, when shifting gears in a way that significantly changes the driving conditions, for example, when shifting from 1st gear to 3rd gear, the load (resistance) when moving the shift lever 30 is large. Conversely, when shifting from 3rd gear to 4th gear while the vehicle speed and engine speed are matched, the load (resistance) when moving the shift lever 30 is small. Also, in a real vehicle, when shifting from 6th gear to 1st gear, a very large load is placed on the shift lever 30, or the load is so large that the shift cannot be performed.

[0061] The driving simulator 2 of this embodiment is identical to the driving simulator of the second embodiment described in Japanese Patent Application Publication No. 2020-134891, except for the shift device 1 including the shift controller 90, the vibrator 110, and the shift device operation feel program. The structure of the main unit 221, the rotary unit 222, the actuator, and the structure and control of the pedal unit 224 are the same as those described in paragraphs 0014 to 0076 and Figures 1 to 6 of Japanese Patent Application Publication No. 2020-134891, so we will refer to them and omit a detailed explanation.

[0062] The simulation means may include a program for brake pedal force corresponding to the vehicle type and / or a program for the feel of the shift device 1 corresponding to the vehicle type, so that the brake pedal force and / or the feel of the shift device 1 corresponding to the vehicle type are selected by the user selecting a vehicle type, such as a race car (formula), a race car (box type), or a regular passenger car.

[0063] Next, the operation and function of the driving simulator 2 of this embodiment will be described. Here, we assume that the driving simulator 2 allows for vehicle selection. The simulation means of the computer 212 is started, and a vehicle is selected. When the simulation means is started, the rotating unit 222 and the main unit 212 return to their initial positions. The driver sits on the seat 241 of the rotating unit 222 and operates the steering wheel 271, brake pedal 112, accelerator pedal 142, clutch pedal 172, and shift lever 30 while watching the image displayed on the monitor 213.

[0064] When the steering wheel 271, brake pedal 112, accelerator pedal 142, clutch pedal 172, and shift lever 30 are operated, operation information is input to the computer 212 from the steering controller 272, pedal controller 273, and shift controller 90, and based on this, the simulation means calculates the operation data and video data. Accordingly, the controller 232 controls each actuator 225, 226, 227, 228, 229, 230, and 231, and operates the rotary unit 222 and the main unit 221 to reproduce the behavior of the automobile, and the video on the monitor 213 is updated in real time.

[0065] Furthermore, the computer 212 controls the shift device 1 so that the same operating feel as in a real vehicle can be obtained when shifting gears. Specifically, the computer 212 acquires the driving state of the vehicle from the steering controller 272, pedal controller 273, and shift controller 90, as well as from the operation data calculated by the simulation means, and issues a command to the shift controller 90 to apply a load to the load means 70 corresponding to the driving state based on the shift device operating feel program.

[0066] For example, the computer 212 detects the position of the slider 40 from the first position sensor 91 and the second position sensor 92, and when it determines that the shift change is from 1st gear to 3rd gear, it issues a command to the shift controller 90 to apply resistance to the shift lever 30. Upon receiving this command, the shift controller 90 controls the servo motor 85 to increase the downward load on the lever 71 at the position corresponding to 3rd gear.

[0067] Meanwhile, when the computer 212 determines that the vehicle speed and engine speed are appropriate for the gear change, it issues a command to the shift controller 90 to prevent resistance from being applied to the shift lever 30. Upon receiving this command, the shift controller 90 controls the servo motor 85 to prevent a downward load from being applied to the lever 71 to which the gear change is to be performed by the tension coil spring 81. This enables a smooth gear change.

[0068] Furthermore, when the computer 212 determines from the position of the slider 40 that the shift change is from 6th gear to 1st gear, it issues a command to the shift controller 90 to apply resistance to the shift lever 30 so that the shift change to 1st gear cannot be made. Upon receiving this command, the shift controller 90 applies the maximum downward load to the lever 71 at the position corresponding to 1st gear, so that the locking part 44 cannot be mechanically locked to the lever 71.

[0069] At this time, the computer 212 determines from the position of the slider 40 that the shift operation is an improper shift and activates the vibrator 110 to vibrate the main unit 221. Simultaneously, the computer 212 also activates an abnormal sound generating device (not shown in the diagram). This allows the rider to realize that the shift operation is improper.

[0070] In the Driving Simulator 2, which consists of the above components, the drive system of the rotating unit 222 and the drive system of the main unit 221 are separated, making it possible to comprehensively reproduce the gravitational acceleration acting on the driver during driving and the behavior of the vehicle body, allowing the driver to experience a feeling closer to that of a real car. In addition, if a spin is detected, the rotating unit 222 yawing will occur, allowing the driver to experience the grip (slipping) of the vehicle (wheels) on the ground.

[0071] Furthermore, when each wheel is locked or spinning, the corresponding linear actuators 228, 229, 230, and 231 for the main body vibrate independently, allowing the rider to intuitively recognize the state of each wheel. In addition, when each wheel is locked or spinning, the corresponding linear actuators 228, 229, 230, and 231 for the main body vibrate independently, and the rotation unit 222 returns to its initial position. Therefore, when each wheel is locked or spinning, the gravitational acceleration acting on the rider is canceled, allowing for a more realistic riding experience.

[0072] Furthermore, Driving Simulator 2 is equipped with a brake pedal force program that corresponds to the vehicle type, and based on this, a reaction force is applied in response to the operation of the brake pedal 112, so that the same pedal operation and pedal feel as in a real car can be obtained. In addition, the brake pedal unit 111 used here has no play or rattle that can be a problem in the transmission mechanism, so in this respect as well, the same pedal operation and pedal feel as in a real car can be obtained.

[0073] Furthermore, the driving emulator 2 is equipped with a shift device 1 and has a shift device operation feel program to reproduce the feel of operating the shift device of a real vehicle. The computer 212 acquires the driving state of the vehicle and controls the shift controller 90 to apply a load to the load means 70 corresponding to the driving state based on the shift device operation feel program, so that the feel of operating the shift device of a real vehicle can be obtained.

[0074] The shift device and driving simulator according to the present invention have been described above using the shift device of the first embodiment and the driving simulator of the second embodiment. However, the shift device and driving simulator according to the present invention are not limited to the above embodiments and can be modified and used without changing the gist of the invention.

[0075] In the first embodiment, the shift device 1 had a maximum speed of 6 gears, but in the shift device according to the present invention, the maximum speed may be 4, 5, or 7 gears. Also, in the first embodiment, the shift device 1 does not have a reverse gear, but in the shift device according to the present invention, a reverse gear may be provided. Also, in the first embodiment, the shift device 1 has a spare storage compartment 14, but the spare storage compartment 14 may be omitted.

[0076] The most distinctive feature of the shift device according to the present invention is that it applies a load to the shift lever corresponding to the driving state during gear changes. The shift device according to the present invention can be applied not only to the H-type shift pattern shift device shown in the first embodiment, but also to sequential pattern shift devices and shift devices that can switch between the H-type shift pattern and the sequential pattern.

[0077] In the first embodiment, the shift device 1 has a spherical plain bearing 35 attached to the middle part of the shift lever 30, and a rod end bearing 37 attached to the lower end 32 and connected to the slider 40, so that the shift lever 30 can rotate with the spherical plain bearing 35 as the pivot point. However, the shift lever 30 and the slider 40 may be configured as follows.

[0078] A slider 40 is attached to the middle of the shift lever 30, and the lower end 32 of the shift lever 30 is rotatably fixed to the base 10 or a support base provided on the base 10 via a bearing or the like. With this configuration, the shift lever 30 rotates around the lower end 32, and the slider 40 also operates in the same way as the shift device 1 of the first embodiment.

[0079] In the first embodiment of the shift device 1, a rod member 87 perpendicular to the tip of the rotating shaft of the servo motor 85 is attached, and one end of a tension coil spring 81 is connected to the tip of the rod member 87, causing the tension coil spring 81 to expand and contract. However, the method of expanding and contracting the tension coil spring 81 is not limited to this. Instead of the rod member 87, one end of the tension coil spring 81 and the rotating shaft of the servo motor 85 may be connected with a rope, and the rope may be wound around the rotating shaft to apply a downward load.

[0080] Furthermore, in the first embodiment of the shift device 1, the load-applying means 80 that applies a downward load to the end of the lever 71 is composed of a tension coil spring 81 and a servo motor 85, but the load-applying means 80 is not limited to this. A cylinder or a ball screw may be used instead of the tension coil spring 81 and the servo motor 85.

[0081] Furthermore, in the shift device 1 of the first embodiment, when shifting to neutral, it is necessary to move the shift lever 30 in the shift direction to release the locking groove 46 from the pawl 75. If the resistance at this time is large, a tension coil spring may be added to pull the other end 73 of the lever 71 upward.

[0082] In the first embodiment of the shift device 1, the load means 70 that applies a load to the shift lever 30 in conjunction with a gear change consists of a lever 71 and a load-applying means 80 that applies a downward load to the end of the lever 71. However, the load means may consist of other configurations. Figure 10 shows other load means 100. Components identical to those in the first embodiment of the shift device 1 shown in Figures 1 to 7 are denoted by the same reference numerals and their descriptions are omitted.

[0083] The loading mechanism 100 consists of a ball plunger 101 attached to the bottom surface 27 of the storage compartment 14 and a servo motor 85 connected to the ball plunger 101. This loading mechanism 100 does not include a lever 71. The ball plunger 101 is a known ball plunger 101 having a male screw 102 on the outer circumference of its main body.

[0084] The base 10 is provided with a female thread 28 into which the male thread 102 of the ball plunger 101 is screwed. The female thread 28 penetrates the base 10, and the ball plunger 101 is mounted on the base 10 such that the ball 103 protrudes from the bottom surface 27 of the storage section 14. A servo motor 85 is connected to the lower end of the ball plunger 101, and by driving the servo motor 85, the ball plunger 101 rotates, changing the amount of protrusion from the bottom surface 27.

[0085] A locking groove 48 is provided on the bottom surface of the locking portion 44 of the slider 40, into which the ball 103 of the ball plunger 101 fits. The shift change is completed when the slider 40 slides and the ball 103 fits into the locking groove 48. The greater the amount of protrusion of the ball plunger 100 from the bottom surface 27, the greater the resistance required to move the slider 40. The fact that the load means 100 is provided independently for each gear and that the controller 90 controls the servo motor 85 to apply a load corresponding to the operating state is the same as the load means 70 of the first embodiment.

[0086] The driving simulator 2 equipped with the shift device 1 is not limited to this embodiment, nor is the driving unit used in the driving simulator particularly limited. The driving unit may include a horizontal movement device, and for example, the driving unit described in paragraphs 0015 to 0056 and Figures 1 to 6 of Japanese Patent Application Publication No. 2020-112607 can be used. The driving unit may also include a rocking device.

[0087] As described above with reference to the drawings, preferred embodiments have been explained, but those skilled in the art will readily anticipate various changes and modifications within the obvious scope upon reviewing this specification. Accordingly, such changes and modifications will be construed as falling within the scope of the invention as defined by the claims. [Explanation of Symbols]

[0088] 1. Shift device 2 Driving Simulator 10 bases 14 Storage Unit 15 Bulkhead 30 Shift lever 35 Spherical plain bearings 37 Rod end bearing 40 Slider 44 Locking part 46, 48 Locking grooves 51 First Guide Means 60 Second Guide Means 70, 100 load means 71 Lever 72 One end of the lever 73 The other end of the lever 75 claws 77 Support shaft 80 Load application means 81. Tension coil spring 85 Servo motor 90 Controllers 101 Ball Plunger 103 Ball 201 Driving Unit 212 Computers

Claims

1. A multi-speed shift device for a driving simulator, A slider that moves to the position corresponding to each gear as the shift lever is operated, A load means, independently provided for each gear, applies a load to the shift lever by contacting it when the slider moves to the position, A control means for controlling the load means for each gear stage, Equipped with, The load means is capable of changing the load applied to the shift lever. The control means controls the load means to apply a load corresponding to the operating state. A shift device characterized by the following features.

2. The load means comprises, for each gear stage, a lever whose one end is rotatably supported by a support shaft and which has a claw near the support shaft, and a load applying means connected to the other end of the lever, which applies a load to the lever in the opposite direction to the upward pushing direction of the lever based on a command from the control means. The slider has a locking portion on its upper surface which has a locking groove into which a claw provided on the lever fits, The shift device according to claim 1, characterized in that the slider, in conjunction with a gear change, has a locking portion that pushes up the lever, and the claw engages with the locking groove, thereby completing the gear change.

3. The load-applying means comprises an elastic body attached to the other end of the lever, and a servo motor connected to the elastic body and pulling the elastic body in the direction opposite to the upward pushing direction of the lever. Alternatively, the shift device according to claim 2, characterized in that the load-applying means is a cylinder or ball screw attached to the other end of the lever and applies a load to the lever in the opposite direction to the upward pushing direction of the lever.

4. A driving simulator comprising at least a driving unit that simulates an automobile, and a computer that calculates and outputs the behavior and images of a virtual automobile based on input from the driving unit, Furthermore, it is equipped with a sensor that detects the position of the slider, The aforementioned operating state is the position of the slider and one or more of the following (A) groups: The shift device according to any one of claims 1 to 3, characterized in that the control means receives data from the driving simulator in the following group (A). (A) Vehicle speed, clutch position, engine speed, acceleration / deceleration, accelerator / brake opening

5. A driving simulator that simulates driving a vehicle, comprising at least a vehicle body, steering wheel, accelerator, brakes, clutch, seat, computer for controlling operation, and a shift device according to any one of claims 1 to 4.

6. The driving simulator according to claim 5, characterized in that when the computer determines that a gear change is impossible from the driving state, it controls the control means to apply a load that makes a gear change impossible.

7. Furthermore, the vehicle body is equipped with a vibrator and a sound generating means, The driving simulator according to claim 5, characterized in that when the computer determines that a gear change is impossible from the driving state, it controls the control means to apply a load that makes a gear change impossible, and further operates the vibrator and the sound generating means.

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