JP2016148443A - damper - Google Patents

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JP2016148443A
JP2016148443A JP2015027007A JP2015027007A JP2016148443A JP 2016148443 A JP2016148443 A JP 2016148443A JP 2015027007 A JP2015027007 A JP 2015027007A JP 2015027007 A JP2015027007 A JP 2015027007A JP 2016148443 A JP2016148443 A JP 2016148443A
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screw member
friction
sliding
case
damper
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JP6526982B2 (en
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尚弘 堀田
Hisahiro Hotta
尚弘 堀田
陽太 小堀
Yota Kobori
陽太 小堀
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Oiles Industry Co Ltd
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  • Mechanical Control Devices (AREA)
  • Braking Elements And Transmission Devices (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

PROBLEM TO BE SOLVED: To put a brake on a moving member, which reciprocates along a shaft center, over a whole stroke area with a brake force having hysteresis characteristics.SOLUTION: A damper 1 has a housing 2 and a brake mechanism 8 housed in the housing 2. The housing 2 has a hollow cylindrical case 3 including a screw part 31 formed on an inner wall 32 enclosing a moving member 9 in a periphery of a shaft center O1. The brake mechanism 8 includes: a rotary screw member 6 which rotates through engagement with the screw part 31 of the case inner wall 32 while moving along the shaft center O1 of the case 3 in conjunction with the moving member 9; friction members 5A, 5B which move with the rotary screw member 6 while causing end surfaces 60 of the rotary screw member 6 and slide surfaces 53 to slide; and an elastic body 4 which is disposed between the friction member 5B and a bottom part 34 of the case 3 and integrally biases the two friction members 5A, 5B and the rotary screw member 6 disposed between the friction members 5A, 5B to a cover 7 side so that the slide surfaces 53 of the two friction members 5A, 5B are pressed to the end surfaces 60 of the rotary screw member 6.SELECTED DRAWING: Figure 7

Description

本発明は、ヒステリシス特性を有する直動型の摩擦機構に関し、例えばドライバのペダル踏み込みをアシストするブレーキアクチュエータのプッシュロッド等、直動する移動部材の制動に好適なダンパに関する。   The present invention relates to a direct acting friction mechanism having hysteresis characteristics, and more particularly to a damper suitable for braking a moving member that moves linearly, such as a push rod of a brake actuator that assists a driver to step on a pedal.

特許文献１には、一対のカムを含むダンパのヒステリシス特性を利用して、アクセルペダルの踏み込みに適度な負荷を与えるとともに、アクセルペダルをほぼ一定の位置に保持しているときのドライバの足にかかる負担を低減するアクセルペダルユニットが記載されている。   In Patent Document 1, using a hysteresis characteristic of a damper including a pair of cams, an appropriate load is applied to the depression of the accelerator pedal, and the driver's foot when the accelerator pedal is held at a substantially constant position. An accelerator pedal unit that reduces this burden is described.

このアクセルペダルユニットにおいては、アクセルペダルアームの回転が、リンク部材等からなる伝達機構を介してダンパの回転軸に伝達され、これにより、アクセルペダルアームの双方向の回転が制動される。具体的には、リンク部材の回転によりダンパの回転軸が回転するように、リンク部材の一端がダンパの回転軸に固定される。一方、アクセルペダルアームには、アクセルペダルアームの回転軸を挟んでアクセルペダルの反対側の端部に係合部材が固定され、この係合部材がリンク部材にスライド可能に保持される。これにより、アクセルペダルアームが回転すると、リンク部材を介して、アクセルペダルアームの回転方向に応じた方向にダンパの回転軸が回転し、ダンパのヒステリシス特性により、アクセルペダルの踏み込み時には適度な負荷が与えられ、アクセルペダルの復帰時には負荷が軽減する（段落００７１〜００８４、図１３〜図１９等）。   In this accelerator pedal unit, the rotation of the accelerator pedal arm is transmitted to the rotation shaft of the damper via a transmission mechanism composed of a link member or the like, whereby the bidirectional rotation of the accelerator pedal arm is braked. Specifically, one end of the link member is fixed to the rotation shaft of the damper so that the rotation shaft of the damper is rotated by the rotation of the link member. On the other hand, an engaging member is fixed to the accelerator pedal arm at the opposite end of the accelerator pedal across the rotation axis of the accelerator pedal arm, and the engaging member is slidably held by the link member. As a result, when the accelerator pedal arm rotates, the rotation shaft of the damper rotates in the direction corresponding to the rotation direction of the accelerator pedal arm via the link member, and due to the hysteresis characteristic of the damper, an appropriate load is applied when the accelerator pedal is depressed. The load is reduced when the accelerator pedal is returned (paragraphs 0071 to 0084, FIGS. 13 to 19 and the like).

特開２００２−１２０５２号公報JP 2002-12052 A

ところで、自動車のブレーキ等において、ペダル踏み込み時にはドライバの足に適度な負荷が与えられる一方でペダル保持中にはドライバの足にかかる負荷が低減するというペダル操作感を実現しようとすれば、上記従来のアクセルペダルユニットのダンパと同様なダンパを組み込んだ特別なブレーキペダルユニットを自動車に搭載する必要がある。例えば、ドライバのペダル踏み込みをアシストするブレーキアクチュエータのプッシュロッド側から、要求されるペダル操作感に応じたヒステリシス特性を有する制動力をブレーキペダルアームに与えることができれば、任意に選択した汎用のブレーキペダルアームをプッシュロッドに連結するだけで、要求されるペダル操作感を安定に実現することができる。   By the way, in an automobile brake or the like, if an attempt is made to realize a pedal operation feeling that a moderate load is applied to the driver's foot when the pedal is depressed while the load on the driver's foot is reduced while the pedal is held, It is necessary to mount a special brake pedal unit that incorporates a damper similar to that of the accelerator pedal unit of the car. For example, a general-purpose brake pedal that is arbitrarily selected as long as it can provide the brake pedal arm with a braking force having hysteresis characteristics according to the required pedal operation feeling from the push rod side of the brake actuator that assists the driver's pedal depression By simply connecting the arm to the push rod, the required pedal operation feeling can be stably realized.

ところが、上記従来のアクセルペダルユニットに組み込まれたダンパは、アクセルペダルアームの双方向の回転を制動するものであるため、ブレーキアクチュエータのプッシュロッドのような、軸心に沿ってある程度のストロークを往復移動する移動部材の制動にそのまま適用することは困難である。   However, the damper incorporated in the conventional accelerator pedal unit brakes the bi-directional rotation of the accelerator pedal arm, so that a certain stroke is reciprocated along the shaft center like a push rod of a brake actuator. It is difficult to apply as it is to the braking of the moving moving member.

本発明は上記事情に鑑みてなされたものであり、その目的は、軸心に沿って往復移動する移動部材を、ストローク全域に渡って、ヒステリシス特性を有する制動力で制動可能なダンパを提供することにある。   The present invention has been made in view of the above circumstances, and an object thereof is to provide a damper capable of braking a moving member that reciprocates along an axis with a braking force having hysteresis characteristics over the entire stroke. There is.

上記課題を解決するために、本発明では、移動部材の変位量に応じた弾性力で摩擦部材をネジ部材の摺動領域に押し当てながら、軸心に沿った移動部材の往復運動をネジ部材の回転運動に変換する。   In order to solve the above problems, in the present invention, the screw member is configured to reciprocate the moving member along the axis while pressing the friction member against the sliding region of the screw member with an elastic force corresponding to the displacement amount of the moving member. Convert to rotational motion.

例えば、本発明に係るダンパは、
軸心に沿って移動する移動部材を制動するダンパであって、
前記移動部材が前記軸心の方向に挿入される、当該移動部材を前記軸心周りに囲む内壁面に第一のネジ部が形成された筒状のハウジングと、
前記第一のネジ部にかみ合う第二のネジ部が形成された外周面と、第一の摺動領域が形成された第一の端面とを有し、前記移動部材の移動に応じて、前記ハウジングの内部を、前記移動部材とともに当該移動部材の軸心に沿って往復移動するネジ部材と、
前記ネジ部材の第一の摺動領域に対向する摺動面を有し、前記移動部材の移動に応じて、前記ハウジングの内部を、前記ネジ部材とともに前記移動部材の軸心に沿って往復移動する第一の摩擦部材と、
前記第一のネジ部のピッチの方向への前記移動部材の変位量に応じた弾性力で前記第一の摩擦部材の摺動面を前記ネジ部材の第一の摺動領域に押し当てる弾性体と、を備え、
前記ネジ部材は、前記移動部材の移動に応じて、前記ハウジングの第一のネジ部と前記第二のネジ部とのかみ合いにより回転して前記第一の摺動領域を前記第一の摩擦部材の摺動面と摺動させながら、前記ハウジングの内部を往復移動する。 For example, the damper according to the present invention is
A damper that brakes a moving member that moves along an axis,
A cylindrical housing in which a first screw portion is formed on an inner wall surface surrounding the moving member, the moving member being inserted in the direction of the axis;
An outer peripheral surface on which a second screw portion meshing with the first screw portion is formed; and a first end surface on which a first sliding region is formed; according to the movement of the moving member, A screw member that reciprocates along the axis of the moving member together with the moving member inside the housing;
The screw member has a sliding surface facing the first sliding region, and reciprocates along the axis of the moving member together with the screw member in accordance with the movement of the moving member. A first friction member,
An elastic body that presses the sliding surface of the first friction member against the first sliding region of the screw member with an elastic force corresponding to the amount of displacement of the moving member in the direction of the pitch of the first screw portion. And comprising
The screw member is rotated by meshing between the first screw portion of the housing and the second screw portion in accordance with the movement of the moving member, and the first friction member is moved through the first sliding region. While sliding with the sliding surface, the inside of the housing is reciprocated.

本発明によれば、移動部材の往復運動がネジ部材の回転運動に変換されるとともに、移動部材の変位量に応じた弾性力で摩擦部材の摺動面が、回転するネジ部材の摺動領域に押し当てられるため、移動部材のストローク全域において、移動部材に、ヒステリシス特性を有する制動力（往路と復路とにおいて大きさの異なる反力）を与えることができる。   According to the present invention, the reciprocating motion of the moving member is converted to the rotational motion of the screw member, and the sliding surface of the friction member is rotated by the elastic force according to the displacement amount of the moving member. Therefore, a braking force having hysteresis characteristics (reaction forces having different magnitudes in the forward path and the return path) can be applied to the moving member over the entire stroke of the moving member.

図１は、本発明の一実施の形態に係るダンパ１が組み込まれた電動ブレーキアクチュエータのプッシュロッド９にブレーキペダルアーム１０１が取り付けられている状態の概略図である。FIG. 1 is a schematic view showing a state in which a brake pedal arm 101 is attached to a push rod 9 of an electric brake actuator incorporating a damper 1 according to an embodiment of the present invention. 図２は、プッシュロッド９を含めたダンパ１の部品展開図である。FIG. 2 is a part development view of the damper 1 including the push rod 9. 図３（Ａ）は、プッシュロッド９の正面図であり、図３（Ｂ）および図３（Ｃ）は、図３（Ａ）のＡ−Ａ断面図およびＢ−Ｂ断面図であり、図３（Ｄ）は、プッシュロッド９の右側側面図である。3 (A) is a front view of the push rod 9, and FIGS. 3 (B) and 3 (C) are AA and BB sectional views of FIG. 3 (A). 3 (D) is a right side view of the push rod 9. 図４（Ａ）は、ハウジング２の側面図であり、図４（Ｂ）は、図４（Ａ）のＣ−Ｃ断面図であり、図４（Ｃ）は、図４（Ａ）のＤ−Ｄ断面図である。4A is a side view of the housing 2, FIG. 4B is a cross-sectional view taken along the line C-C in FIG. 4A, and FIG. 4C is a view taken along the line D in FIG. It is -D sectional drawing. 図５（Ａ）は、摩擦部材５Ａ、５Ｂの正面図であり、図５（Ｂ）は、図５（Ａ）のＥ−Ｅ断面図である。5A is a front view of the friction members 5A and 5B, and FIG. 5B is a cross-sectional view taken along line EE of FIG. 5A. 図６（Ａ）は、回転ネジ部材６の正面図であり、図６（Ｂ）は、図６（Ａ）のＦ−Ｆ断面図である。6A is a front view of the rotating screw member 6, and FIG. 6B is a cross-sectional view taken along the line FF in FIG. 6A. 図７（Ａ）は、ブレーキペダルが踏み込まれていない状態（初期状態）の制動機構収容室２０内における摩擦部材５Ａ、５Ｂおよび回転ネジ部材６の位置を説明するための概略図であり、図７（Ｂ）は、ブレーキペダル踏み込み時の制動機構収容室２０内における摩擦部材５Ａ、５Ｂおよび回転ネジ部材６の位置を説明するための概略図である。FIG. 7A is a schematic diagram for explaining the positions of the friction members 5A and 5B and the rotating screw member 6 in the braking mechanism housing chamber 20 in a state where the brake pedal is not depressed (initial state). 7 (B) is a schematic diagram for explaining the positions of the friction members 5A and 5B and the rotating screw member 6 in the braking mechanism accommodation chamber 20 when the brake pedal is depressed.

以下、添付図面を参照しながら、本発明の実施の一形態について説明する。なお、本実施の形態では、ブレーキペダルの踏み込みをアシストする電動ブレーキアクチュエータに組み込まれるダンパ１を一例に挙げる。   Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In the present embodiment, the damper 1 incorporated in the electric brake actuator that assists the depression of the brake pedal is taken as an example.

図１は、本実施の形態に係るダンパ１が組み込まれた電動ブレーキアクチュエータのプッシュロッド９にブレーキペダルアーム１０１が取り付けられている状態の概略図であり、図２は、ダンパ１が制動する移動部材の一例であるプッシュロッド９を含めたダンパ１の部品展開図である。   FIG. 1 is a schematic view of a state in which a brake pedal arm 101 is attached to a push rod 9 of an electric brake actuator in which a damper 1 according to the present embodiment is incorporated, and FIG. FIG. 3 is a part development view of the damper 1 including a push rod 9 which is an example of a member.

図示するように、本実施の形態に係るダンパ１は、ブレーキペダルが受けた踏力をブレーキシリンダ内のピストンに伝達するプッシュロッド９をこのプッシュロッド９の軸心Ｏに沿って往復可能に支持する直動型のダンパであり、例えば、一方のロッド挿入口２１から他方のロッド挿入口２２に向けてプッシュロッド９がその軸心Ｏ方向に挿入されるハウジング（ケース３とカバー７との組立て体）２と、ハウジング２に収容され、ヒステリシス特性を有する制動力でプッシュロッド９に制動する制動機構８と、を有している。   As shown in the figure, the damper 1 according to the present embodiment supports a push rod 9 that transmits a pedaling force received by a brake pedal to a piston in the brake cylinder so as to reciprocate along an axis O of the push rod 9. For example, a housing (an assembly of the case 3 and the cover 7) in which the push rod 9 is inserted in the direction of the axis O from one rod insertion port 21 toward the other rod insertion port 22. ) 2 and a braking mechanism 8 that is accommodated in the housing 2 and brakes the push rod 9 with a braking force having hysteresis characteristics.

ここで、ハウジング２は、ネジ部３１が形成された内壁３２でプッシュロッド９の一部（後述のシャフト部９４）の外周面９７を軸心Ｏ周りに囲む中空筒状の底付きケース３と、このケース３の開口部３０をふさぐカバー７と、を有しており、その内部には、制動機構８の収容空間として、ケース３の内壁３２および底部３４とカバー７の裏面（ケース３側に向けられる面）７０とに囲まれた円柱状の室（以下、制動機構収容室）２０が形成されている。   Here, the housing 2 includes a hollow cylindrical bottomed case 3 that surrounds an outer peripheral surface 97 of a part of the push rod 9 (a shaft portion 94 described later) around the axis O with an inner wall 32 in which a screw portion 31 is formed. A cover 7 that closes the opening 30 of the case 3, and an inner space 32 and a bottom 34 of the case 3 and the back surface of the cover 7 (case 3 side) as a storage space for the braking mechanism 8. A columnar chamber (hereinafter referred to as a braking mechanism accommodation chamber) 20 surrounded by the surface 70 is formed.

一方、制動機構８は、プッシュロッド９とともに制動機構収容室２０の軸心Ｏ１に沿って往復移動しながら、ケース３の内壁３２のネジ部３１とのかみ合いにより制動機構収容室２０の軸心Ｏ１周りに回転する回転ネジ部材６と、回転ネジ部材６のいずれかの端面（カバー７側およびケース３の底部３４側に向けられる平坦な面６０）内の摺動領域６０Ａ、６０Ｂに対向するように配置され、回転する回転ネジ部材６の摺動領域６０Ａ、６０Ｂおよび一方の面（後述の摩擦部材本体５０の摺動面５３）を摺動させながら回転ネジ部材６とともに往復移動する２枚の摩擦部材（回転ネジ部材６に対してカバー７側に配置された摩擦部材５Ａ、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂ）と、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂとケース３の底部３４との間に配置され、２枚の摩擦部材５Ａ、５Ｂの摺動面５３が回転ネジ部材６の摺動領域６０Ａ、６０Ｂに押し当てられるように、２枚の摩擦部材５Ａ、５Ｂおよびその間に挟み込まれた回転ネジ部材６を一体としてカバー７側に付勢する弾性体４と、を備えている。なお、弾性体４は、適当な弾性係数を有し、プッシュロッド９のストローク全域において２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６をカバー７に向けて一体として付勢できるものであればよいが、本実施の形態では、弾性体４として１本のコイルスプリング４０を備える場合を例示している。   On the other hand, the braking mechanism 8 reciprocates along the axis O1 of the braking mechanism accommodation chamber 20 together with the push rod 9, and engages with the screw portion 31 of the inner wall 32 of the case 3 to engage with the axis O1 of the braking mechanism accommodation chamber 20. The rotating screw member 6 that rotates around, and the sliding regions 60A and 60B in either end face of the rotating screw member 6 (a flat surface 60 facing the cover 7 side and the bottom 34 side of the case 3) are opposed to each other. The two sliding regions 60A and 60B of the rotating screw member 6 that rotates and one surface (the sliding surface 53 of the friction member main body 50 described later) are reciprocally moved together with the rotating screw member 6 while sliding. A friction member (a friction member 5A disposed on the cover 7 side with respect to the rotating screw member 6; a friction member 5B disposed on the bottom 34 side of the case 3 with respect to the rotating screw member 6); The sliding surface 53 of the two friction members 5A and 5B is disposed between the friction member 5B disposed on the bottom 34 side of the case 3 and the bottom 34 of the case 3, and the sliding region 60A of the rotary screw member 6 is provided. Two friction members 5A and 5B and an elastic body 4 that urges the rotating screw member 6 sandwiched therebetween to the cover 7 side so as to be pressed against 60B. Note that the elastic body 4 has an appropriate elastic coefficient and can urge the two friction members 5A and 5B and the rotating screw member 6 integrally toward the cover 7 over the entire stroke of the push rod 9. Although this embodiment is good, the case where one coil spring 40 is provided as elastic body 4 is illustrated.

このような構成を有するダンパ１を、プッシュロッド９に連動して制動機構８が作動するように電動ブレーキアクチュエータに組み込むことにより、ブレーキペダルの踏み込みに応じて制動機構収容室２０の軸心Ｏ１方向に往復移動するプッシュロッド９を、そのストローク全域に渡って、要求されるペダル操作感に応じたヒステリシス特性を有する制動力で制動することができる。以下、制動対象のプッシュロッド９と、このダンパ１の構成する各部（ハウジング２および制動機構８）とについてそれぞれ詳細に説明する。   By incorporating the damper 1 having such a configuration into the electric brake actuator so that the brake mechanism 8 operates in conjunction with the push rod 9, the direction of the axis O1 of the brake mechanism housing chamber 20 in response to the depression of the brake pedal. The push rod 9 reciprocally moving can be braked with a braking force having a hysteresis characteristic corresponding to the required pedal operation feeling over the entire stroke. Hereinafter, the push rod 9 to be braked and each part (housing 2 and braking mechanism 8) constituting the damper 1 will be described in detail.

（１）プッシュロッド９
図３（Ａ）は、プッシュロッド９の正面図であり、図３（Ｂ）および図３（Ｃ）は、図３（Ａ）のＡ−Ａ断面図およびＢ−Ｂ断面図であり、図３（Ｄ）は、プッシュロッド９の右側側面図である。 (1) Push rod 9
3 (A) is a front view of the push rod 9, and FIGS. 3 (B) and 3 (C) are AA and BB sectional views of FIG. 3 (A). 3 (D) is a right side view of the push rod 9.

図示するように、プッシュロッド９には、一方の端面９１側から順に、電動ブレーキアクチュエータのブレーキシリンダ内のピストンを駆動するピストン駆動部９３、ダンパ１の制動機構８を作動させる円柱状のシャフト部９４、および、ブレーキペダルアーム１０１が連結されるペダルアーム連結部９５、が一体的に形成されている。このプッシュロッド９は、例えばピストン駆動部９３側からハウジング２の一方のロッド挿入口２１に挿入され、ハウジング２の他方のロッド挿入口２２からピストン駆動部９３が突き出す位置（図１参照）まで制動機構収容室２０の内部に挿入される。   As shown in the figure, the push rod 9 has, in order from one end surface 91 side, a piston driving portion 93 that drives a piston in a brake cylinder of an electric brake actuator, and a cylindrical shaft portion that operates a braking mechanism 8 of the damper 1. 94 and a pedal arm connecting portion 95 to which the brake pedal arm 101 is connected are integrally formed. The push rod 9 is inserted, for example, into one rod insertion port 21 of the housing 2 from the piston driving unit 93 side, and brakes to a position where the piston driving unit 93 protrudes from the other rod insertion port 22 of the housing 2 (see FIG. 1). It is inserted into the mechanism accommodating chamber 20.

ピストン駆動部９３は、ブレーキシリンダ内のピストン後端面に向けてハウジング２の他方のロッド挿入口２２からハウジング２の外部（制動機構収容室２０の外部）に突き出している。ブレーキペダルの踏み込みによってプッシュロッド９がブレーキシリンダに向かって移動（前進）すると、このピストン駆動部９３の先端面（プッシュロッド９の一方の端面）９１がピストン後端面に突き当てられてブレーキシリンダ内でピストンが前進する。なお、このピストン駆動部９３は、ブレーキシリンダ内のピストン後端面への突き当てに適した任意の形状（例えば円柱形状）を有していればよい。   The piston drive part 93 protrudes from the other rod insertion port 22 of the housing 2 to the outside of the housing 2 (outside of the braking mechanism accommodation chamber 20) toward the piston rear end face in the brake cylinder. When the push rod 9 moves (advances) toward the brake cylinder by depressing the brake pedal, the front end surface (one end surface of the push rod 9) 91 of the piston drive unit 93 is abutted against the piston rear end surface, and the inside of the brake cylinder Then the piston moves forward. In addition, this piston drive part 93 should just have arbitrary shapes (for example, cylindrical shape) suitable for abutting on the piston rear-end surface in a brake cylinder.

シャフト部９４は、少なくとも一部が制動機構収容室２０の内部に収容され、制動機構収容室２０において制動機構８の内部（回転ネジ部材６に対してカバー７側に配置されている一方の摩擦部材５Ａに形成された後述のロッド挿入穴５２、回転ネジ部材６に形成された後述のロッド挿入穴６３、回転ネジ部材６に対してケース３の底部３４側に配置されている他方の摩擦部材５Ｂに形成された後述のロッド挿入穴５２、コイルスプリング４０の内部）に挿入されている。   At least a part of the shaft portion 94 is accommodated in the braking mechanism accommodating chamber 20, and one friction that is disposed inside the braking mechanism 8 (on the cover 7 side with respect to the rotating screw member 6) in the braking mechanism accommodating chamber 20. A rod insertion hole 52 described later formed in the member 5A, a rod insertion hole 63 described later formed in the rotating screw member 6, and the other friction member disposed on the bottom 34 side of the case 3 with respect to the rotating screw member 6. It is inserted into a rod insertion hole 52 and coil spring 40 (described later) formed in 5B.

このシャフト部９４の外周面９７には、プッシュロッド９の両端面９１、９２からの距離Ｌ１、Ｌ２がいずれも、ブレーキペダルの踏み代に応じて定まるプッシュロッド９の最大ストロークよりも長い位置に、環状のフランジ９６が形成されている。このフランジ９６は、摩擦部材５Ａ、５Ｂのロッド挿入穴５２の内部を通過できないように、摩擦部材５Ａ、５Ｂのロッド挿入穴５２の内径Ｒ７よりも大きな外径Ｒ２を有している。したがって、ハウジング２の他方のロッド挿入口２２から所定の距離の位置にピストン駆動部９３が到達する位置までプッシュロッド９が制動機構収容室２０に挿入されると、回転ネジ部材６に対してカバー７側に配置された摩擦部材５Ａの他方の面（後述の摩擦部材本体５０の摺動面５３の反対側の面：以下、裏面）５４にフランジ９６の一方の面（押圧面）９６１が当接する。ブレーキペダルの踏み込みによって、プッシュロッド９がさらにブレーキシリンダに向かって移動（図７（Ａ）に示した方向α）すると、ブレーキシリンダに向かう方向の力がフランジ９６から一方の摩擦部材５Ａの裏面５４に与えられるため、２枚の摩擦部材５Ａ、５Ｂおよびその間に挟み込まれた回転ネジ部材６は、一体として、コイルスプリング４０を圧縮しながら、ケース３の底部３４に向かって制動機構収容室２０の軸心Ｏ１方向に移動する。このとき、回転ネジ部材６が、その両側に配置された摩擦部材５Ａ、５Ｂの摺動面５３から、コイルスプリング４０の弾性力に応じた垂直荷重を受けながら制動機構収容室２０の軸心Ｏ１周りに回転するため、回転ネジ部材６の摺動領域６０Ａ、６０Ｂと２枚の摩擦部材５Ａ、５Ｂの摺動面５３との間には、回転ネジ部材６の回転を妨げる摩擦抵抗が発生する。   On the outer peripheral surface 97 of the shaft portion 94, the distances L1 and L2 from the both end surfaces 91 and 92 of the push rod 9 are both longer than the maximum stroke of the push rod 9 determined according to the depression amount of the brake pedal. An annular flange 96 is formed. The flange 96 has an outer diameter R2 that is larger than the inner diameter R7 of the rod insertion hole 52 of the friction members 5A and 5B so that the flange 96 cannot pass through the rod insertion hole 52 of the friction members 5A and 5B. Therefore, when the push rod 9 is inserted into the braking mechanism housing chamber 20 until the piston driving portion 93 reaches a position at a predetermined distance from the other rod insertion port 22 of the housing 2, the cover is covered with respect to the rotating screw member 6. One surface (pressing surface) 961 of the flange 96 is in contact with the other surface (surface opposite to the sliding surface 53 of the friction member main body 50 described later: hereinafter referred to as back surface) 54 of the friction member 5A disposed on the 7 side. Touch. When the push rod 9 is further moved toward the brake cylinder by depressing the brake pedal (the direction α shown in FIG. 7A), the force in the direction toward the brake cylinder is changed from the flange 96 to the back surface 54 of one friction member 5A. Therefore, the two friction members 5A and 5B and the rotating screw member 6 sandwiched therebetween are integrated into the brake mechanism housing chamber 20 toward the bottom 34 of the case 3 while compressing the coil spring 40 as a unit. Move in the direction of the axis O1. At this time, the rotating screw member 6 receives the vertical load corresponding to the elastic force of the coil spring 40 from the sliding surfaces 53 of the friction members 5A and 5B disposed on both sides thereof, and the axis O1 of the braking mechanism accommodating chamber 20 is received. Since it rotates around, the friction resistance which prevents rotation of the rotating screw member 6 generate | occur | produces between the sliding area | region 60A, 60B of the rotating screw member 6, and the sliding surface 53 of the two friction members 5A, 5B. .

ペダルアーム連結部９５は、ブレーキペダルアーム１０１に向かってハウジング２の一方のロッド挿入口２１からハウジング２の外部（制動機構収容室２０の外部）に突き出している。このペダルアーム連結部９５は、例えば円柱形状を有しており、その端面（プッシュロッド９の他方の端面）９２には、ブレーキペダルアーム１０１を回転自在に保持するクレビスジョイント１００を固定するためのネジ穴９５１が形成されている。例えば、クレビスジョイント１００にナット１０４で固定されたボルト１０３をこのネジ穴９５１にねじ込み、さらにこのボルト１０３とナット１０５とを締結することにより、ブレーキペダルアーム１０１がプッシュロッド９に回転自在に連結される（図１参照）。これにより、ブレーキペダルアーム１０１が回転軸１０２周りに双方向に回転すると、ブレーキペダルアーム１０１に連動して、プッシュロッド９がその軸心Ｏに沿って往復移動する。   The pedal arm connecting portion 95 protrudes from the one rod insertion port 21 of the housing 2 toward the brake pedal arm 101 to the outside of the housing 2 (outside of the braking mechanism housing chamber 20). The pedal arm connecting portion 95 has, for example, a cylindrical shape, and a clevis joint 100 that holds the brake pedal arm 101 rotatably is fixed to an end surface (the other end surface of the push rod 9) 92. A screw hole 951 is formed. For example, the brake pedal arm 101 is rotatably connected to the push rod 9 by screwing the bolt 103 fixed to the clevis joint 100 with the nut 104 into the screw hole 951 and fastening the bolt 103 and the nut 105. (See FIG. 1). As a result, when the brake pedal arm 101 rotates in both directions around the rotation shaft 102, the push rod 9 reciprocates along the axis O in conjunction with the brake pedal arm 101.

（２）ハウジング２
上述したように、ハウジング２は、ケース３およびカバー７を有し、これらの組み立てにより制動機構収容室２０を形成する。 (2) Housing 2
As described above, the housing 2 includes the case 3 and the cover 7, and the braking mechanism accommodation chamber 20 is formed by assembling them.

図４（Ａ）は、ハウジング２の側面図であり、図４（Ｂ）は、図４（Ａ）のＣ−Ｃ断面図であり、図４（Ｃ）は、図４（Ａ）のＤ−Ｄ断面図である。   4A is a side view of the housing 2, FIG. 4B is a cross-sectional view taken along the line C-C in FIG. 4A, and FIG. 4C is a view taken along the line D in FIG. It is -D sectional drawing.

図示するように、ケース３は、プッシュロッド９の一方の端面９１からフランジ９６の押圧面９６１までの距離Ｌ１より短く、かつ、プッシュロッド９の最大ストロークよりも長い底付き中空筒形状を有しており、その開口部３０の内周にはネジ部３３が形成されている。一方、カバー７は円板形状を有しており、その外周には、ケース３の開口部３０の内周に形成されたネジ部３３に締結されるネジ部７３が形成されている（図２参照）。ケース３の開口部３０にカバー７を装着して、カバー７のネジ部７３とケース３の開口部３０のネジ部３３とを締結することにより、ハウジング２の内部には制動機構収容室２０が形成される。これにより形成される制動機構収容室２０の内部には、プッシュロッド９の最大ストロークに対応する距離の可動領域が制動機構収容室２０の軸心Ｏ方向に確保されており、また、少なくともフランジ９６の押圧面９６１がハウジング２の一方のロッド挿入口２１の位置に到達したときには、ピストン駆動部９３がハウジング２の他方のロッド挿入口２２から制動機構収容室２０の外部に突き出すようにプッシュロッド９を挿入することができる。   As illustrated, the case 3 has a hollow cylindrical shape with a bottom that is shorter than a distance L1 from one end surface 91 of the push rod 9 to the pressing surface 961 of the flange 96 and longer than the maximum stroke of the push rod 9. A screw portion 33 is formed on the inner periphery of the opening 30. On the other hand, the cover 7 has a disc shape, and a screw portion 73 fastened to a screw portion 33 formed on the inner periphery of the opening 30 of the case 3 is formed on the outer periphery thereof (FIG. 2). reference). By attaching the cover 7 to the opening 30 of the case 3 and fastening the screw portion 73 of the cover 7 and the screw portion 33 of the opening 30 of the case 3, the braking mechanism accommodating chamber 20 is formed inside the housing 2. It is formed. A movable region having a distance corresponding to the maximum stroke of the push rod 9 is secured in the direction of the axis O of the braking mechanism accommodating chamber 20 inside the braking mechanism accommodating chamber 20 formed thereby, and at least the flange 96 is provided. When the pressing surface 961 reaches the position of the one rod insertion port 21 of the housing 2, the push rod 9 is protruded from the other rod insertion port 22 of the housing 2 to the outside of the braking mechanism housing chamber 20. Can be inserted.

カバー７の中央領域には、ハウジング２の一方のロッド挿入口２１として、制動機構収容室２０の軸心Ｏ１が通過する位置に、プッシュロッド９のピストン駆動部９３が通過可能な大きさの貫通穴（ピストン駆動部９３が円柱状である場合には、ピストン駆動部９３の外径Ｒ１よりも大きな内径を有する貫通穴）７２が形成されている。同様に、ケース３の底部３４の中央領域にも、ハウジング２の他方のロッド挿入口２２として、制動機構収容室２０の軸心Ｏ１が通過する位置に、プッシュロッド９のピストン駆動部９３が通過可能な大きさの貫通穴（ピストン駆動部９３が円柱状である場合には、ピストン駆動部９３の外径Ｒ１よりも大きな内径Ｒ４を有する貫通穴）３５が形成されている。このため、プッシュロッド９の軸心Ｏを制動機構収容室２０の軸心Ｏ１に位置合わせしながら、このプッシュロッド９を、ピストン駆動部９３側からハウジング２の一方のロッド挿入口２１（カバー７の貫通穴７２）に制動機構収容室２０の軸心Ｏ１方向に挿入するだけで、このプッシュロッド９を、そのピストン駆動部９３がハウジング２の他方のロッド挿入口２２（ケース３の底部３４の貫通穴３５）から制動機構収容室２０の外部に突き出すように制動機構収容室２０に挿入することができる。   In the central region of the cover 7, a penetration through which the piston driving portion 93 of the push rod 9 can pass as a rod insertion port 21 of the housing 2 at a position where the axis O <b> 1 of the braking mechanism accommodation chamber 20 passes. A hole (a through hole having an inner diameter larger than the outer diameter R1 of the piston driving portion 93 when the piston driving portion 93 is cylindrical) 72 is formed. Similarly, the piston driving portion 93 of the push rod 9 also passes through the central region of the bottom portion 34 of the case 3 at a position where the shaft center O1 of the braking mechanism housing chamber 20 passes as the other rod insertion port 22 of the housing 2. A through hole 35 having a possible size (a through hole having an inner diameter R4 larger than the outer diameter R1 of the piston driving section 93 when the piston driving section 93 is cylindrical) is formed. For this reason, while aligning the axial center O of the push rod 9 with the axial center O1 of the braking mechanism housing chamber 20, the push rod 9 is connected to one rod insertion port 21 (the cover 7) of the housing 2 from the piston drive section 93 side. The push rod 9 is inserted into the through hole 72) in the direction of the axis O1 of the braking mechanism housing chamber 20, and the piston drive portion 93 is connected to the other rod insertion port 22 of the housing 2 (the bottom 34 of the case 3). It can be inserted into the brake mechanism accommodation chamber 20 so as to protrude from the through hole 35) to the outside of the brake mechanism accommodation chamber 20.

また、ケース３の内壁３２には、制動機構収容室２０のほぼ軸心Ｏ１方向全長に渡って、要求されるペダル操作感等に応じて定めた条数のネジ部３１が形成されている。後述するように、回転ネジ部材６は、その外周６２に形成されたネジ部６１がケース３の内壁３２のネジ部３１とかみ合うように制動機構収容室２０内に配置される。このため、回転ネジ部材６は、制動機構収容室２０の軸心Ｏ１方向の外力を受けると、制動機構収容室２０の軸心Ｏ１に沿って往復移動しながら、外周６２のネジ部６１とケース３の内壁３２のネジ部３１とのかみ合いによって制動機構収容室２０の軸心Ｏ１周りに回転する。   The inner wall 32 of the case 3 is formed with a number of thread portions 31 determined according to the required pedal operation feeling or the like over the entire length of the braking mechanism housing chamber 20 in the axial center O1 direction. As will be described later, the rotating screw member 6 is disposed in the braking mechanism accommodation chamber 20 so that the screw portion 61 formed on the outer periphery 62 thereof meshes with the screw portion 31 of the inner wall 32 of the case 3. For this reason, when the rotating screw member 6 receives an external force in the direction of the axis O1 of the braking mechanism accommodating chamber 20, the rotating screw member 6 reciprocates along the axis O1 of the braking mechanism accommodating chamber 20, and the screw portion 61 of the outer periphery 62 and the case 3 rotates around the axis O <b> 1 of the braking mechanism accommodation chamber 20 by meshing with the screw portion 31 of the inner wall 32.

さらに、ケース３の内壁３２には、制動機構収容室２０の軸心Ｏ１に沿って、ネジ部３１の谷よりも深い複数（例えば３本）のガイド溝３６が形成されている。これらのガイド溝３６は、例えば、制動機構収容室２０の軸心Ｏ１周りに所定の角度おきに配列されている。   Furthermore, a plurality of (for example, three) guide grooves 36 deeper than the valleys of the screw portions 31 are formed in the inner wall 32 of the case 3 along the axis O1 of the braking mechanism accommodation chamber 20. These guide grooves 36 are arranged, for example, at predetermined angles around the axis O1 of the braking mechanism accommodation chamber 20.

これらのガイド溝３６には、２枚の摩擦部材５Ａ、５Ｂに設けられている後述のガイド突起部５１が、それぞれ、制動機構収容室２０の軸心Ｏ１方向に摺動可能に収容される。これにより、２枚の摩擦部材５Ａ、５Ｂは、制動機構収容室２０の軸心Ｏ１周りの回転運動が拘束された状態、つまり、それらの間に挟み込まれた回転ネジ部材６の回転によるつれ回りを阻止された状態で制動機構収容室２０の軸心Ｏ１に沿って案内される。このため、回転ネジ部材６の回転により、回転ネジ部材６の摺動領域６０Ａ、６０Ｂが２枚の摩擦部材５Ａ、５Ｂの摺動面５３に摺動する。   In these guide grooves 36, guide projections 51 described later provided on the two friction members 5A and 5B are accommodated so as to be slidable in the direction of the axis O1 of the braking mechanism accommodation chamber 20, respectively. As a result, the two friction members 5A and 5B are in a state in which the rotational motion around the axis O1 of the braking mechanism accommodating chamber 20 is constrained, that is, the rotational friction caused by the rotation of the rotating screw member 6 sandwiched between them. In a state in which this is blocked, the guide is guided along the axis O1 of the braking mechanism accommodating chamber 20. For this reason, as the rotary screw member 6 rotates, the sliding regions 60A and 60B of the rotary screw member 6 slide on the sliding surfaces 53 of the two friction members 5A and 5B.

また、ケース３の底部３４には、貫通穴３５を囲む環状のスプリングガイド溝３７が形成されている。ケース３にコイルスプリング４０が挿入される際、コイルスプリング４０の一方の端部４１が、このスプリングガイド溝３７にはめ込まれて固定される。   An annular spring guide groove 37 surrounding the through hole 35 is formed on the bottom 34 of the case 3. When the coil spring 40 is inserted into the case 3, one end 41 of the coil spring 40 is fitted into the spring guide groove 37 and fixed.

なお、ケース３の外周には、必要に応じて、例えば、電動ブレーキアクチュエータのハウジング等にダンパ１を固定するためのフランジ３５等が形成される。   For example, a flange 35 for fixing the damper 1 to a housing of an electric brake actuator or the like is formed on the outer periphery of the case 3 as necessary.

（３）制動機構８
上述したように、制動機構８は、回転ネジ部材６、２枚の摩擦部材５Ａ、５Ｂ、およびコイルスプリング４０を備えており、これらの作動により、ヒステリシス特性を有する制動力をプッシュロッド９に与える。 (3) Brake mechanism 8
As described above, the braking mechanism 8 includes the rotating screw member 6, the two friction members 5 </ b> A and 5 </ b> B, and the coil spring 40, and gives a braking force having hysteresis characteristics to the push rod 9 by these operations. .

図６（Ａ）は、回転ネジ部材６の正面図であり、図６（Ｂ）は、図６（Ａ）のＦ−Ｆ断面図である。   6A is a front view of the rotating screw member 6, and FIG. 6B is a cross-sectional view taken along the line FF in FIG. 6A.

回転ネジ部材６は、制動機構収容室２０の軸心Ｏ１方向全長よりも少なくともプッシュロッド９の最大ストローク分短い円筒形状を有しており、その外周６２には、ケース３の内壁３２のネジ部３１に対応するネジ部６１が形成されている。また、この回転ネジ部材６の両端面６０内には平坦な摺動領域６０Ａ、６０Ｂが形成されている。   The rotating screw member 6 has a cylindrical shape that is shorter than the entire length of the braking mechanism housing chamber 20 in the direction of the axis O1 by at least the maximum stroke of the push rod 9, and on the outer periphery 62 thereof is a threaded portion of the inner wall 32 of the case 3. The screw part 61 corresponding to 31 is formed. Further, flat sliding regions 60A and 60B are formed in both end faces 60 of the rotating screw member 6.

この回転ネジ部材６は、一方の摺動領域６０Ａをカバー７側、他方の摺動領域６０Ｂをケース３の底部３４側に向けた状態で、外周６２のネジ部６１がケース３の内壁３２のネジ部３１とかみ合うように制動機構収容室２０内に配置される。このため、回転ネジ部材６は、制動機構収容室２０の軸心Ｏ１方向の外力を受けると、この外力の方向（ケース３の底部３４またはカバー７に向かう方向）に移動しながら、移動方向により定まる回転方向（ネジ部３１の巻き方向またはその逆方向）にスムーズに回転する。回転ネジ部材６の回転により、回転ネジ部材６の一方の摺動領域６０Ａが摩擦部材５Ａの摺動面５３と摺動するため、回転ネジ部材６の一方の摺動領域６０Ａと摩擦部材５Ａの摺動面５３との間には、両者間の摩擦係数と、圧縮されたコイルスプリング４０の弾性力に応じた摩擦抵抗が作用する。同様に、回転ネジ部材６の他方の摺動領域６０Ｂと摩擦部材５Ｂの摺動面５３との間にも、両者間の摩擦係数と、圧縮されたコイルスプリング４０の弾性力に応じた摩擦抵抗が作用する。   In the rotating screw member 6, the screw part 61 of the outer periphery 62 is formed on the inner wall 32 of the case 3 with one sliding area 60 </ b> A facing the cover 7 and the other sliding area 60 </ b> B facing the bottom 34 side of the case 3. It arrange | positions in the braking mechanism accommodating chamber 20 so that it may mesh with the screw part 31. For this reason, when the rotating screw member 6 receives an external force in the direction of the axis O1 of the braking mechanism housing chamber 20, the rotating screw member 6 moves in the direction of the external force (the direction toward the bottom 34 of the case 3 or the cover 7), depending on the moving direction. It rotates smoothly in a fixed rotation direction (winding direction of the screw part 31 or the opposite direction). The rotation of the rotating screw member 6 causes one sliding region 60A of the rotating screw member 6 to slide with the sliding surface 53 of the friction member 5A. Therefore, the one sliding region 60A of the rotating screw member 6 and the friction member 5A A frictional resistance according to the coefficient of friction between the two and the elastic force of the compressed coil spring 40 acts between the sliding surface 53. Similarly, between the other sliding region 60B of the rotary screw member 6 and the sliding surface 53 of the friction member 5B, a friction coefficient according to the friction coefficient between them and the elastic force of the compressed coil spring 40 is obtained. Act.

また、この回転ネジ部材６には、プッシュロッド９のシャフト部９４が相対回転可能に挿入されるロッド挿入穴６３として、制動機構収容室２０の軸心Ｏ１が両摺動領域６０Ａ、６０Ｂを通過する位置に、プッシュロッド９のピストン駆動部９３が通過可能な大きさの貫通穴（ピストン駆動部９３が円柱状である場合には、ピストン駆動部９３の外径Ｒ１よりも大きな内径Ｒ５を有する貫通穴）６３Ａが形成されている。   Further, in the rotating screw member 6, the shaft center O1 of the braking mechanism housing chamber 20 passes through both sliding regions 60A and 60B as a rod insertion hole 63 into which the shaft portion 94 of the push rod 9 is inserted so as to be relatively rotatable. A through hole having a size that allows the piston drive portion 93 of the push rod 9 to pass therethrough (when the piston drive portion 93 is cylindrical, it has an inner diameter R5 that is larger than the outer diameter R1 of the piston drive portion 93). 63A of through-holes are formed.

図５（Ａ）は、摩擦部材５Ａ、５Ｂの正面図であり、図５（Ｂ）は、図５（Ａ）のＥ−Ｅ断面図である。   5A is a front view of the friction members 5A and 5B, and FIG. 5B is a cross-sectional view taken along line EE of FIG. 5A.

図示するように、２枚の摩擦部材５Ａ、５Ｂは、ケース３の内径（ネジ部３１の山径）よりも小さな外径Ｒ６を有する円板状の摩擦部材本体５０と、ケース３のガイド溝３６の溝深さに応じた長さだけ摩擦部材本体５０の外周からその径方向に突き出した、ケース３のガイド溝３６と同数（例えば、３つ）のガイド突起部５１と、が形成された例えば板状の部材である。   As shown in the drawing, the two friction members 5A and 5B are composed of a disc-shaped friction member main body 50 having an outer diameter R6 smaller than the inner diameter of the case 3 (the crest diameter of the screw portion 31), and the guide groove of the case 3. The same number (for example, three) of guide protrusions 51 as the guide grooves 36 of the case 3 protruding in the radial direction from the outer periphery of the friction member main body 50 by a length corresponding to the groove depth of 36 are formed. For example, it is a plate-like member.

摩擦部材本体５０は、一方の面５３Ａが摺動面５３として回転ネジ部材６の摺動領域６０Ａ、６０Ｂに対向および面接触するように制動機構収容室２０内に配置される。   The friction member main body 50 is disposed in the braking mechanism accommodation chamber 20 so that one surface 53 </ b> A is opposed to and in surface contact with the sliding regions 60 </ b> A and 60 </ b> B of the rotating screw member 6 as the sliding surface 53.

ガイド突起部５１は、制動機構収容室２０の軸心Ｏ１周りに所定の角度おきに形成されており、それぞれの輪郭は、ケース３のガイド溝３６の断面に沿った形状を有している。このようなガイド突起部５１は、対応するガイド溝３６に収容され、このガイド溝３６の内部を、制動機構収容室２０の軸心Ｏ１に沿って滑らかにスライドする。これにより、２枚の摩擦部材５Ａ、５Ｂは、制動機構収容室２０の軸心Ｏ１方向の外力を受けると、上述したように、制動機構収容室２０の軸心Ｏ１周りの回転運動を阻止された状態（つまり、回転ネジ部材６の回転によるつれ回りを生じずに、回転ネジ部材６の摺動領域６０Ａ、６０Ｂが摩擦部材本体５０の摺動面５３と摺動している状態）で制動機構収容室２０の軸心Ｏ１に沿って案内される。   The guide protrusions 51 are formed around the axis O <b> 1 of the braking mechanism accommodation chamber 20 at a predetermined angle, and each contour has a shape along the cross section of the guide groove 36 of the case 3. Such guide protrusions 51 are accommodated in the corresponding guide grooves 36, and smoothly slide inside the guide grooves 36 along the axis O <b> 1 of the braking mechanism accommodating chamber 20. As a result, when the two friction members 5A and 5B receive an external force in the direction of the axis O1 of the braking mechanism housing chamber 20, the rotational movement around the axis O1 of the braking mechanism housing chamber 20 is prevented as described above. Braking (in a state where the sliding regions 60A and 60B of the rotating screw member 6 are sliding with the sliding surface 53 of the friction member main body 50 without causing rotation due to the rotation of the rotating screw member 6). Guided along the axis O1 of the mechanism housing chamber 20.

摩擦部材本体５０の中央領域には、プッシュロッド９のシャフト部９４が挿入されるロッド挿入穴５２として、プッシュロッド９のピストン駆動部９３が通過可能な大きさの貫通穴（ピストン駆動部９３が円柱状である場合には、ピストン駆動部９３の外径Ｒ１よりも大きな内径Ｒ７を有する貫通穴）５２Ａが形成されている。このロッド挿入穴５２の内径Ｒ７は、プッシュロッド９のフランジ９６の外径Ｒ２よりも小さい。このため、上述したように、ブレーキシリンダに向かってプッシュロッド９が移動（前進）すると、回転ネジ部材６に対してカバー７側に配置された摩擦部材５Ａにフランジ９６の押圧面９６１が当接し、２枚の摩擦部材５Ａ、５Ｂおよびそれらの間に挟み込まれた回転ネジ部材６が一体としてケース３の底部３４に向かって駆動される。   In the central region of the friction member main body 50, as a rod insertion hole 52 into which the shaft portion 94 of the push rod 9 is inserted, a through-hole (a piston driving portion 93 has a size through which the piston driving portion 93 of the push rod 9 can pass). In the case of a columnar shape, a through hole 52A having an inner diameter R7 larger than the outer diameter R1 of the piston driving portion 93 is formed. The inner diameter R7 of the rod insertion hole 52 is smaller than the outer diameter R2 of the flange 96 of the push rod 9. For this reason, as described above, when the push rod 9 moves (advances) toward the brake cylinder, the pressing surface 961 of the flange 96 comes into contact with the friction member 5A disposed on the cover 7 side with respect to the rotating screw member 6. The two friction members 5A and 5B and the rotating screw member 6 sandwiched therebetween are integrally driven toward the bottom 34 of the case 3.

コイルスプリング４０は、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂとケース３の底部３４との間に配置されている。このコイルスプリング４０は、制動機構収容室２０の軸心Ｏ１方向全長（カバー７の裏面７０からケース３の底部３４までの距離）から２枚の摩擦部材５Ａ、５Ｂの板厚Ｔおよび回転ネジ部材６の長さ（摺動領域６０Ａ、６０Ｂ間の距離）Ｌの合計（２Ｔ＋Ｌ）を差し引いた長さよりも長い自由長を有している。このため、ダンパ１の初期状態（ブレーキペダルが踏み込まれていない状態：図７（Ａ）の状態）において、コイルスプリング４０は、ケース３の底部３４と一方の摩擦部材５Ｂとの間で圧縮（プリロード）されており、ブレーキペダルの踏み込みによって、２枚の摩擦部材５Ａ、５Ｂおよびそれらの間に挟み込まれた回転ネジ部材６が一体としてケース３の底部３４に向かって駆動されると、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂとケース３の底部３４との間でさらに圧縮される。２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６は、コイルスプリング４０によって、ブレーキシリンダ側への変位量に応じた弾性力でプッシュロッド９のフランジ９６に押し当てられるため、回転ネジ部材６の摺動領域６０Ａ、６０Ｂには、２枚の摩擦部材５Ａ、５Ｂの摺動面５３から、コイルスプリング４０の弾性力に応じた垂直荷重がかかる。   The coil spring 40 is disposed between the friction member 5 </ b> B disposed on the bottom 34 side of the case 3 with respect to the rotating screw member 6 and the bottom 34 of the case 3. The coil spring 40 has a thickness T of the two friction members 5A and 5B and a rotating screw member from the entire length in the axis O1 direction of the braking mechanism accommodation chamber 20 (distance from the back surface 70 of the cover 7 to the bottom 34 of the case 3). It has a free length longer than the length obtained by subtracting the total length (2T + L) of 6 (the distance between the sliding regions 60A and 60B) L. Therefore, in the initial state of the damper 1 (the state where the brake pedal is not depressed: the state shown in FIG. 7A), the coil spring 40 is compressed between the bottom 34 of the case 3 and one friction member 5B ( When the two friction members 5A and 5B and the rotating screw member 6 sandwiched between them are integrally driven toward the bottom 34 of the case 3 by depressing the brake pedal, the rotating screw Further compression is performed between the friction member 5 </ b> B disposed on the bottom 34 side of the case 3 with respect to the member 6 and the bottom 34 of the case 3. The two friction members 5A and 5B and the rotating screw member 6 are pressed against the flange 96 of the push rod 9 by the coil spring 40 with an elastic force corresponding to the amount of displacement toward the brake cylinder. A vertical load corresponding to the elastic force of the coil spring 40 is applied to the sliding regions 60A and 60B from the sliding surfaces 53 of the two friction members 5A and 5B.

このようなダンパ１は、例えば、以下の手順によりプッシュロッド９に組み付けられ、電動ブレーキアクチュエータに組み込まれる。   Such a damper 1 is assembled | attached to the push rod 9 with the following procedures, for example, and is integrated in an electric brake actuator.

まず、ケース３の底部３４のスプリングガイド溝３７にコイルスプリング４０の一方の端部４１がはめ込まれるように、コイルスプリング４０を、一方の端部４１からケース３の開口部３０に挿入してケース３の内部に配置する。   First, the coil spring 40 is inserted into the opening 30 of the case 3 from the one end 41 so that the one end 41 of the coil spring 40 is fitted into the spring guide groove 37 of the bottom 34 of the case 3. 3 is arranged inside.

つぎに、摩擦部材５Ｂ、回転ネジ部材６および摩擦部材５Ａを、以下に示すように、この順にケース３の内部に収容してゆく。   Next, the friction member 5B, the rotating screw member 6 and the friction member 5A are housed in the case 3 in this order as shown below.

ケース３の内壁３２のガイド溝３６に摩擦部材５Ｂのガイド突起部５１を位置合わせしながら、この摩擦部材５Ｂを、ケース３の底部３４側に摩擦部材本体５０の他方の面（摺動面５３と反対面：以下、裏面）５４が向けられた状態でケース３の開口部３０に挿入する。摩擦部材５Ｂは、ケース３の内壁３２のガイド溝３６にガイド突起部５１がはめ込まれた状態でケース３の開口部３０に挿入されると、ケース３の底部３４に向かう力（例えば自重）を受けるだけで、ケース３の内壁３２のガイド溝３６に案内されてケース３の底部３４に向かってスムーズに移動する。これにより、摩擦部材５Ｂは、コイルスプリング４０の他方の端部４２に裏面５４を接触させた状態でケース３の内部に配置される。   While aligning the guide protrusion 51 of the friction member 5B with the guide groove 36 of the inner wall 32 of the case 3, the friction member 5B is placed on the other side (sliding surface 53) of the friction member main body 50 on the bottom 34 side of the case 3. Inserted into the opening 30 of the case 3 in a state in which the opposite surface (hereinafter, back surface) 54 is directed. When the friction member 5 </ b> B is inserted into the opening 30 of the case 3 with the guide protrusion 51 fitted in the guide groove 36 of the inner wall 32 of the case 3, the friction member 5 </ b> B applies a force (for example, its own weight) toward the bottom 34 of the case 3. By simply receiving it, it is guided by the guide groove 36 of the inner wall 32 of the case 3 and moves smoothly toward the bottom 34 of the case 3. As a result, the friction member 5 </ b> B is disposed inside the case 3 with the back surface 54 in contact with the other end 42 of the coil spring 40.

回転ネジ部材６の一方の端面６０をケース３の開口部３０に位置付けて、この回転ネジ部材６をケース３の軸心Ｏ１周りにわずかに回転させる。これにより回転ネジ部材６の外周６２のネジ部６１がケース３の内壁３２のネジ部３１とかみ合うと、この回転ネジ部材６は、ケース３の底部３４に向かう力（例えば自重）を受けるだけで、ケース３の軸心Ｏ１周りにスムーズに回転しながらケース３の底部３４に向かって移動する。これにより、回転ネジ部材６は、一方の端面６０の摺動領域６０Ｂ全域を摩擦部材５Ｂの摺動面５３に接触させた状態でケース３の内部に配置される。   One end face 60 of the rotating screw member 6 is positioned at the opening 30 of the case 3, and the rotating screw member 6 is slightly rotated around the axis O <b> 1 of the case 3. As a result, when the screw portion 61 of the outer periphery 62 of the rotary screw member 6 engages with the screw portion 31 of the inner wall 32 of the case 3, the rotary screw member 6 only receives a force (for example, its own weight) toward the bottom 34 of the case 3. Then, it moves toward the bottom 34 of the case 3 while smoothly rotating around the axis O1 of the case 3. Thereby, the rotating screw member 6 is arranged inside the case 3 in a state where the entire sliding region 60B of the one end surface 60 is in contact with the sliding surface 53 of the friction member 5B.

ケース３の内壁３２のガイド溝３６に摩擦部材５Ａのガイド突起部５１を位置合わせしながら、この摩擦部材５Ａを、回転ネジ部材６の摺動領域６０Ａ側に摩擦部材本体５０の摺動面５３が向けられた状態でケース３の開口部３０に挿入する。この摩擦部材５Ａも、ケース３の内壁３２のガイド溝３６にガイド突起部５１がはめ込まれた状態でケース３の開口部３０に挿入されると、ケース３の底部３４に向かう力（例えば自重）を受けるだけで、ケース３の内壁３２のガイド溝３６に案内されて回転ネジ部材６の他方の端面６０に向かってスムーズに移動する。これにより、摩擦部材５Ａは、回転ネジ部材６の他方の端面６０内の摺動領域６０Ａ全域に摺動面５３が接触した状態でケース３の内部に配置される。   While aligning the guide protrusion 51 of the friction member 5A with the guide groove 36 of the inner wall 32 of the case 3, the friction member 5A is placed on the sliding region 60A side of the rotating screw member 6 and the sliding surface 53 of the friction member main body 50. Is inserted into the opening 30 of the case 3 in a state where is directed. When the friction member 5 </ b> A is also inserted into the opening 30 of the case 3 with the guide projection 51 fitted in the guide groove 36 of the inner wall 32 of the case 3, a force toward the bottom 34 of the case 3 (for example, its own weight). Only by receiving, it is guided by the guide groove 36 of the inner wall 32 of the case 3 and smoothly moves toward the other end surface 60 of the rotating screw member 6. As a result, the friction member 5 </ b> A is disposed inside the case 3 with the sliding surface 53 in contact with the entire sliding region 60 </ b> A in the other end surface 60 of the rotating screw member 6.

そして、ケース３の開口部３０にカバー７を装着し、カバー７のネジ部７３とケース３の開口部３０のネジ部３３とを締結することによって、ハウジング２内に制動機構収容室２０が形成される。コイルスプリング４０の自由長は、制動機構収容室２０の軸心Ｏ１方向全長よりも２枚の摩擦部材５Ａ、５Ｂの板厚Ｔおよび回転ネジ部材６の長さＬの合計（２Ｔ＋Ｌ）以上大きいため、制動機構収容室２０に収容されたコイルスプリング４０は、カバー７のネジ部７３とケース３の開口部３０のネジ部３３とを締結により、ケース３の底部３４と摩擦部材５Ｂとの間でわずかに圧縮（プリロード）されている。   Then, the cover 7 is attached to the opening 30 of the case 3, and the screw portion 73 of the cover 7 and the screw portion 33 of the opening 30 of the case 3 are fastened to form the braking mechanism accommodation chamber 20 in the housing 2. Is done. The free length of the coil spring 40 is larger than the total length (2T + L) of the thickness T of the two friction members 5A and 5B and the length L of the rotating screw member 6 than the total length of the braking mechanism housing chamber 20 in the axial center O1 direction. The coil spring 40 accommodated in the braking mechanism accommodating chamber 20 is fastened between the bottom portion 34 of the case 3 and the friction member 5B by fastening the screw portion 73 of the cover 7 and the screw portion 33 of the opening 30 of the case 3. Slightly compressed (preloaded).

その後、プッシュロッド９の軸心Ｏを制動機構収容室２０の軸心Ｏ１に位置合わせしながら、このプッシュロッド９を、ピストン駆動部９３側からハウジング２の一方のロッド挿入口２１に挿入し、ハウジング２の他方のロッド挿入口２２からピストン駆動部９３が所定の長さ突き出す位置まで制動機構収容室２０内に挿入する。制動機構収容室２０では、プッシュロッド９のピストン駆動部９３が、摩擦部材５Ａのロッド挿入穴５２、回転ネジ部材６のロッド挿入穴６３、摩擦部材５Ｂのロッド挿入穴５２およびコイルスプリング４０の内部をこの順に通過するため、プッシュロッド９のシャフト部９４が、摩擦部材５Ａのロッド挿入穴５２、回転ネジ部材６のロッド挿入穴６３、摩擦部材５Ｂのロッド挿入穴５２およびコイルスプリング４０の内部に挿入された状態となっている。   Thereafter, while aligning the axis O of the push rod 9 with the axis O1 of the braking mechanism housing chamber 20, the push rod 9 is inserted into the one rod insertion port 21 of the housing 2 from the piston drive section 93 side, The piston drive part 93 is inserted into the braking mechanism accommodation chamber 20 from the other rod insertion port 22 of the housing 2 to a position where the piston driving part 93 protrudes a predetermined length. In the brake mechanism housing chamber 20, the piston drive portion 93 of the push rod 9 is provided inside the rod insertion hole 52 of the friction member 5 </ b> A, the rod insertion hole 63 of the rotating screw member 6, the rod insertion hole 52 of the friction member 5 </ b> B, and the coil spring 40. The shaft portion 94 of the push rod 9 passes through the rod insertion hole 52 of the friction member 5A, the rod insertion hole 63 of the rotating screw member 6, the rod insertion hole 52 of the friction member 5B, and the coil spring 40. It is in the inserted state.

このようにしてプッシュロッド９にダンパ１を組み付け後、このダンパ１を、プッシュロッド９のピストン駆動部９３の先端面９１がブレーキシリンダ内のピストンの後端面に突き当たるように、電動ブレーキアクチュエータのハウジング等に固定する。これにより、プッシュロッド９をその軸心Ｏに沿った往復移動可能に支持したダンパ１が電動ブレーキアクチュエータに組み込まれる。つぎに、電動ブレーキアクチュエータに組み込まれたダンパ１の動作について説明する。   After assembling the damper 1 to the push rod 9 in this manner, the damper 1 is attached to the housing of the electric brake actuator so that the front end surface 91 of the piston drive portion 93 of the push rod 9 abuts against the rear end surface of the piston in the brake cylinder. Fix to etc. Thereby, the damper 1 which supported the push rod 9 so that reciprocation along the axial center O was supported is integrated in an electric brake actuator. Next, the operation of the damper 1 incorporated in the electric brake actuator will be described.

図７は、ブレーキペダル踏み込み前後における制動機構収容室２０内の状態変化を説明するための概略図であり、図７（Ａ）は、ブレーキペダルが踏み込まれていない状態（初期状態）の制動機構収容室２０内における摩擦部材５Ａ、５Ｂおよび回転ネジ部材６の位置を示し、図７（Ｂ）は、ブレーキペダル踏み込み時の制動機構収容室２０内における摩擦部材５Ａ、５Ｂおよび回転ネジ部材６の位置を示している。ただし、図７（Ａ）（Ｂ）においては、コイルスプリング４０の輪郭を点線で示すことにより、制動機構収容室２０の内部を簡略表示してある。   FIG. 7 is a schematic diagram for explaining a state change in the braking mechanism housing chamber 20 before and after the brake pedal is depressed, and FIG. 7A is a braking mechanism in a state where the brake pedal is not depressed (initial state). The positions of the friction members 5A and 5B and the rotating screw member 6 in the accommodation chamber 20 are shown. FIG. 7B shows the friction members 5A and 5B and the rotation screw member 6 in the braking mechanism accommodation chamber 20 when the brake pedal is depressed. Indicates the position. However, in FIGS. 7A and 7B, the outline of the coil spring 40 is indicated by a dotted line, so that the inside of the braking mechanism accommodation chamber 20 is simply displayed.

図７（Ａ）に示すように、ダンパ１の初期状態において、プッシュロッド９のフランジ９６は制動機構収容室２０の外部に配置されており、２枚の摩擦部材５Ａ、５Ｂおよびそれらの間に挟みこまれた回転ネジ部材６は、プリロードされたコイルスプリング４０の弾性力によってカバー７の裏面５４に対して一体として押圧され、制動機構収容室２０内の初期位置に位置付けられている。ここで、制動機構収容室２０内における回転ネジ部材６および摩擦部材５Ａ、５Ｂの初期位置とは、制動機構収容室２０内における回転ネジ部材６および摩擦部材５Ａ、５Ｂの一方の移動限界位置、例えば、各摩擦部材５Ａ、５Ｂの摺動面５３が回転ネジ部材６の摺動領域６０Ａ、６０Ｂに密着し、かつ、一方の摩擦部材５Ａの裏面５４がカバー７の裏面７０に当接した状態で２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６が配置される位置である。   As shown in FIG. 7A, in the initial state of the damper 1, the flange 96 of the push rod 9 is disposed outside the braking mechanism housing chamber 20, and the two friction members 5A and 5B and the gap between them are interposed between them. The sandwiched rotating screw member 6 is pressed integrally against the back surface 54 of the cover 7 by the elastic force of the preloaded coil spring 40 and is positioned at the initial position in the braking mechanism accommodation chamber 20. Here, the initial positions of the rotating screw member 6 and the friction members 5A and 5B in the braking mechanism accommodating chamber 20 are the movement limit positions of one of the rotating screw member 6 and the friction members 5A and 5B in the braking mechanism accommodating chamber 20, For example, the sliding surface 53 of each friction member 5A, 5B is in close contact with the sliding regions 60A, 60B of the rotating screw member 6, and the back surface 54 of one friction member 5A is in contact with the back surface 70 of the cover 7. In this position, the two friction members 5A and 5B and the rotating screw member 6 are disposed.

ドライバがブレーキペダルを踏み込み、ブレーキペダルアーム１０１が回転軸１０２周りに所定の方向に回転すると、プッシュロッド９は、ブレーキペダルアーム１０１に連動して、ブレーキシリンダ（不図示）に向かう方向αに移動する。なお、以下においては、ブレーキシリンダに向かう方向αへの移動（図７（Ａ）参照）を前進、ブレーキシリンダから遠ざかる方向（方向αの逆方向）βへの移動（図７（Ｂ）参照）を後退と呼ぶ。   When the driver depresses the brake pedal and the brake pedal arm 101 rotates around the rotation shaft 102 in a predetermined direction, the push rod 9 moves in the direction α toward the brake cylinder (not shown) in conjunction with the brake pedal arm 101. To do. In the following, the movement in the direction α toward the brake cylinder (see FIG. 7A) advances, and the movement in the direction away from the brake cylinder (the direction opposite to the direction α) β (see FIG. 7B). Is called retreat.

プッシュロッド９の前進により、プッシュロッド９のフランジ９６がハウジング２の一方のロッド挿入口２１から制動機構収容室２０に進入すると、回転ネジ部材６に対してカバー７側に配置された摩擦部材５Ａの裏面５４にフランジ９６の押圧面９６１が当接する。これにより、コイルスプリング４０の弾性力で、２枚の摩擦部材５Ａ、５Ｂおよびその間に挟み込まれた回転ネジ部材６が一体としてフランジ９６の押圧面９６１に対して押し当てられるため、回転ネジ部材６の摺動領域６０Ａ、６０Ｂは、２枚の摩擦部材５Ａ、５Ｂから、コイルスプリング４０の弾性力に応じた垂直荷重を受ける。   When the push rod 9 advances and the flange 96 of the push rod 9 enters the braking mechanism accommodation chamber 20 from one rod insertion port 21 of the housing 2, the friction member 5 </ b> A disposed on the cover 7 side with respect to the rotating screw member 6. The pressing surface 961 of the flange 96 comes into contact with the back surface 54. As a result, the two friction members 5A and 5B and the rotating screw member 6 sandwiched therebetween are integrally pressed against the pressing surface 961 of the flange 96 by the elastic force of the coil spring 40, so that the rotating screw member 6 The sliding regions 60A and 60B receive a vertical load corresponding to the elastic force of the coil spring 40 from the two friction members 5A and 5B.

その後、プッシュロッド９は、コイルスプリング４０によりカバー７側に付勢された２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６をケース３の底部３４に向けてフランジ９６の押圧面９６１で押し込みながら前進する。   Thereafter, the push rod 9 pushes the two friction members 5 </ b> A and 5 </ b> B and the rotating screw member 6 urged toward the cover 7 by the coil spring 40 toward the bottom 34 of the case 3 on the pressing surface 961 of the flange 96. Advance.

このとき、回転ネジ部材６は、外周６２のネジ部６１とケース３の内壁３２のネジ部３１とのかみ合いにより制動機構収容室２０の軸心Ｏ１周りの所定方向（例えばネジ部６１の巻き方向）に回転しながらケース３の底部３４に向かって移動するが、２枚の摩擦部材５Ａ、５Ｂは、ケース３の内壁３２のガイド溝３６にガイド突起部５１が収容されているため、回転ネジ部材６の回転に伴うつれ周りを生じることなくケース３の底部３４に向かって案内される。すなわち、２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６は、２枚の摩擦部材５Ａ、５Ｂの摺動面５３に回転ネジ部材６の摺動領域６０Ａ、６０Ｂを摺動させながら、制動機構収容室２０の内部を前進する。これにより、回転ネジ部材６の摺動領域６０Ａ、６０Ｂと２枚の摩擦部材５Ａ、５Ｂの摺動面５３との間には、回転ネジ部材６の回転を妨げる方向に摩擦抵抗が生じ、この摩擦抵抗から生じる制動力で、回転ネジ部材６の前進、すなわち、ケース３の底部３４に向けて回転ネジ部材６および摩擦部材５Ａ、５Ｂを押し込むプッシュロッド９の前進も妨げられる。   At this time, the rotating screw member 6 is engaged with the screw portion 61 of the outer periphery 62 and the screw portion 31 of the inner wall 32 of the case 3 in a predetermined direction around the axis O1 of the braking mechanism housing chamber 20 (for example, the winding direction of the screw portion 61). ), While the two friction members 5A and 5B are rotated in the guide groove 51 of the inner wall 32 of the case 3, the guide protrusion 51 is accommodated in the two friction members 5A and 5B. The member 6 is guided toward the bottom 34 of the case 3 without causing any rotation around the rotation of the member 6. That is, the two friction members 5A and 5B and the rotary screw member 6 are configured so that the sliding mechanisms 60A and 60B of the rotary screw member 6 are slid on the sliding surfaces 53 of the two friction members 5A and 5B. The interior of the storage chamber 20 is advanced. As a result, a frictional resistance is generated between the sliding areas 60A and 60B of the rotating screw member 6 and the sliding surfaces 53 of the two friction members 5A and 5B in a direction that prevents the rotating screw member 6 from rotating. The braking force generated from the frictional resistance also prevents the forward movement of the rotary screw member 6, that is, the forward movement of the push rod 9 that pushes the rotary screw member 6 and the friction members 5A and 5B toward the bottom 34 of the case 3.

このとき、図７（Ｂ）に示すように、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂとケース３の底部３４との間隔が徐々に狭くなってゆくため、コイルスプリング４０は、この摩擦部材５Ｂの裏面５４とケース３の底部３４とによってさらに圧縮されてゆく。このため、プッシュロッド９の前進にしたがって、コイルスプリング４０の弾性力によって、２枚の摩擦部材５Ａ、５Ｂおよびそれらの間に挟み込まれた回転ネジ部材６がフランジ９６の押圧面９６１に対してより強く押し付けられ、２枚の摩擦部材５Ａ、５Ｂの摺動面５３から回転ネジ部材６の摺動領域６０Ａ、６０Ｂが受ける垂直荷重が徐々に増加する。このため、プッシュロッド９の前進とともに、回転ネジ部材６の摺動領域６０Ａ、６０Ｂと２枚の摩擦部材５Ａ、５Ｂの摺動面５３との間の摩擦抵抗が徐々に増大してゆく。これに伴い、プッシュロッド９の前進を妨げる制動力も増大する。   At this time, as shown in FIG. 7B, the gap between the friction member 5B disposed on the bottom 34 side of the case 3 and the bottom 34 of the case 3 with respect to the rotating screw member 6 gradually decreases. The coil spring 40 is further compressed by the back surface 54 of the friction member 5B and the bottom 34 of the case 3. For this reason, as the push rod 9 advances, the elastic force of the coil spring 40 causes the two friction members 5 </ b> A and 5 </ b> B and the rotating screw member 6 sandwiched between them to be pressed against the pressing surface 961 of the flange 96. The vertical load received by the sliding regions 60A and 60B of the rotating screw member 6 from the sliding surfaces 53 of the two friction members 5A and 5B is gradually increased. For this reason, as the push rod 9 advances, the frictional resistance between the sliding regions 60A and 60B of the rotating screw member 6 and the sliding surfaces 53 of the two friction members 5A and 5B gradually increases. Along with this, the braking force that prevents the push rod 9 from moving forward also increases.

このように、プッシュロッド９の前進に応じて増大する摩擦抵抗により発生する制動力で前進中のプッシュロッド９が制動されるため、ブレーキペダルを踏み込むドライバの足（駆動源）には、ブレーキペダルの踏み込み量に応じた適度な負荷が与えられる。   Thus, since the push rod 9 that is moving forward is braked by the braking force generated by the frictional resistance that increases as the push rod 9 moves forward, the brake pedal is applied to the foot (drive source) of the driver who steps on the brake pedal. A moderate load according to the amount of stepping on is given.

ここで、ドライバがブレーキペダルの踏み込みを一旦停止すると、プッシュロッド９の前進が停止して、２枚の摩擦部材５Ａ、５Ｂの摺動面５３と回転ネジ部材６の摺動領域６０Ａ、６０Ｂとの間に、今度は、コイルスプリング４０の復元を妨げる方向（プッシュロッド９の後退を妨げる方向）の摩擦抵抗が生じる。このため、ブレーキペダルを一定の位置で保持するドライバの足にかかる負荷が急激に減少する。   Here, once the driver stops the depression of the brake pedal, the forward movement of the push rod 9 stops, and the sliding surfaces 53 of the two friction members 5A and 5B and the sliding areas 60A and 60B of the rotating screw member 6 During this time, a frictional resistance is generated in a direction that prevents the coil spring 40 from restoring (a direction that prevents the push rod 9 from retreating). For this reason, the load applied to the foot of the driver holding the brake pedal at a fixed position is rapidly reduced.

ドライバがブレーキペダルの踏み込みを緩めることでブレーキペダルアーム１０１が逆方向に回転すると、プッシュロッド９が後退する。プッシュロッド９の後退により、フランジ９６も、ハウジング２の一方のロッド挿入口２１に向かって移動するため、２枚の摩擦部材５Ａ、５Ｂおよびそれらの間の回転ネジ部材６は、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂの裏面５４とケース３の底部３４との間で圧縮されたコイルスプリング４０によって一体として付勢され、プッシュロッド９とともに制動機構収容室２０内を後退する。   When the brake pedal arm 101 rotates in the reverse direction by loosening the brake pedal, the push rod 9 moves backward. As the push rod 9 moves backward, the flange 96 also moves toward one rod insertion port 21 of the housing 2, so that the two friction members 5 </ b> A and 5 </ b> B and the rotating screw member 6 between them are the rotating screw member 6. The coil spring 40 compressed as a unit between the back surface 54 of the friction member 5 </ b> B disposed on the bottom 34 side of the case 3 and the bottom 34 of the case 3, and together with the push rod 9, the braking mechanism accommodation chamber. Retreat inside 20

このとき、回転ネジ部材６は、外周６２のネジ部６１とケース３の内壁３２のネジ部３１とのかみ合いにより前進中の回転とは逆方向（例えばネジ部６１の巻き方向とは逆の方向）に回転しながらカバー７に向かって制動機構収容室２０の軸心Ｏ１方向に移動するが、２枚の摩擦部材５Ａ、５Ｂは、ケース３の内壁３２のガイド溝３６にガイド突起部５１が収容されているため、回転ネジ部材６の回転に伴うつれ周りを生じることなくカバー７に向かって制動機構収容室２０の軸心Ｏ１方向に案内される。すなわち、２枚の摩擦部材５Ａ、５Ｂおよびその間の回転ネジ部材６は、２枚の摩擦部材５Ａ、５Ｂの摺動面５３に回転ネジ部材６の摺動領域６０Ａ、６０Ｂを摺動させながら制動機構収容室２０の内部を後退する。これにより、回転ネジ部材６の摺動領域６０Ａ、６０Ｂと２枚の摩擦部材５の摺動面５３との間には、回転ネジ部材６の回転を妨げる方向に摩擦抵抗が生じ、この摩擦抵抗から生じる制動力で、回転ネジ部材６の後退、すなわち、カバー７に向けて回転ネジ部材６および摩擦部材５Ａ、５Ｂを駆動するプッシュロッド９の後退が徐々に行われる。   At this time, the rotating screw member 6 is in a direction opposite to the forward rotation due to the engagement between the screw portion 61 of the outer periphery 62 and the screw portion 31 of the inner wall 32 of the case 3 (for example, the direction opposite to the winding direction of the screw portion 61) ) To the cover 7 while rotating in the direction of the axis O1 of the braking mechanism accommodating chamber 20, the two friction members 5 </ b> A and 5 </ b> B have guide protrusions 51 in the guide grooves 36 of the inner wall 32 of the case 3. Since it is housed, it is guided in the direction of the axis O1 of the braking mechanism housing chamber 20 toward the cover 7 without causing any rotation around the rotating screw member 6. That is, the two friction members 5A and 5B and the rotating screw member 6 between them are braked while sliding the sliding regions 60A and 60B of the rotating screw member 6 on the sliding surfaces 53 of the two friction members 5A and 5B. The inside of the mechanism accommodating chamber 20 is retracted. As a result, a frictional resistance is generated between the sliding regions 60A and 60B of the rotating screw member 6 and the sliding surfaces 53 of the two friction members 5 in a direction that prevents the rotating screw member 6 from rotating. With the braking force generated from the above, the retraction of the rotary screw member 6, that is, the push rod 9 that drives the rotary screw member 6 and the friction members 5A and 5B toward the cover 7 is gradually performed.

ここで、回転ネジ部材６に対してケース３の底部３４側に配置された摩擦部材５Ｂとケース３の底部３４との間隔が徐々に広がってゆくため、コイルスプリング４０は、ダンパ１の初期状態におけるプリロード状態に徐々に復元してゆく。このため、プッシュロッド９の後退にしたがって、２枚の摩擦部材５Ａ、５Ｂの摺動面５３から回転ネジ部材６の摺動領域６０Ａ、６０Ｂが受ける垂直荷重がさらに徐々に減少し、回転ネジ部材６の摺動領域６０Ａ、６０Ｂと２枚の摩擦部材５Ａ、５Ｂの摺動面５３との間の摩擦抵抗がさらに徐々に減少してゆく。これに伴い、プッシュロッド９の後退を妨げる制動力も減少する。   Here, since the gap between the friction member 5 </ b> B disposed on the bottom 34 side of the case 3 and the bottom 34 of the case 3 gradually increases with respect to the rotating screw member 6, the coil spring 40 is in the initial state of the damper 1. Gradually restore to the pre-load state. For this reason, as the push rod 9 moves backward, the vertical load received by the sliding areas 60A and 60B of the rotating screw member 6 from the sliding surfaces 53 of the two friction members 5A and 5B further gradually decreases, and the rotating screw member The frictional resistance between the six sliding regions 60A and 60B and the sliding surfaces 53 of the two friction members 5A and 5B gradually decreases. Accordingly, the braking force that prevents the push rod 9 from retreating also decreases.

このように、プッシュロッド９の後退に応じて減少する摩擦抵抗により発生する制動力で後退中のプッシュロッド９が制動されるため、ブレーキペダルを踏み込むドライバの足（駆動源）には、ブレーキペダルは、ドライバの足の動きにあわせてスムーズに初期位置に復帰する。   In this way, the push rod 9 that is moving backward is braked by the braking force generated by the frictional resistance that decreases as the push rod 9 moves backward, so the driver's foot (drive source) that steps on the brake pedal has no brake pedal. Smoothly returns to the initial position according to the movement of the driver's foot.

以上説明したとおり、本実施の形態に係るダンパ１によれば、制動機構収容室２０のほぼ全長に渡って形成されたネジ部３１と回転ネジ部材６のネジ部６１とのかみ合いによって、プッシュロッド９の往復運動が回転ネジ部材６の回転運動に変換されるとともに、プッシュロッド９の変位量に応じた弾性力で、回転ネジ部材６の両端面６０に形成された摺動領域６０Ａ、６０Ｂに摩擦部材５Ａ、５Ｂの摺動面５３が押し当てられる。このため、プッシュロッド９のストローク全域において、ヒステリシス特性を有する制動力（往路と復路とにおいて大きさの異なる反力）をプッシュロッド９に与えることができる。したがって、プッシュロッド９の軸心Ｏに沿った所定方向の力をプッシュロッド９に与える駆動源（ドライバの足）に対して、２枚の摩擦部材５Ａ、５Ｂの摺動面５３と回転ネジ部材６の摺動領域６０Ａ、６０Ｂとの間の摩擦抵抗から生じる制動力、すなさち、一ストロークの往路と復路とにおいて大きさの異なる反力（ヒステリシス特性を有する負荷）を与えることができる。   As described above, according to the damper 1 according to the present embodiment, the push rod is engaged by the engagement between the screw portion 31 formed over substantially the entire length of the braking mechanism housing chamber 20 and the screw portion 61 of the rotating screw member 6. 9 is converted into the rotational motion of the rotary screw member 6 and the elastic force corresponding to the amount of displacement of the push rod 9 causes the sliding regions 60A and 60B formed on both end surfaces 60 of the rotary screw member 6 to move. The sliding surfaces 53 of the friction members 5A and 5B are pressed against each other. For this reason, a braking force having a hysteresis characteristic (reaction forces having different magnitudes in the forward path and the return path) can be applied to the push rod 9 over the entire stroke of the push rod 9. Therefore, the sliding surface 53 of the two friction members 5A and 5B and the rotating screw member with respect to a drive source (driver's foot) that applies a force in a predetermined direction along the axis O of the push rod 9 to the push rod 9 The braking force generated from the frictional resistance between the six sliding regions 60A and 60B, that is, the reaction forces (loads having hysteresis characteristics) having different magnitudes in the forward path and the return path of one stroke can be applied.

なお、本発明は、上記の実施の形態に限定されるものではなく、その要旨の範囲内で数々の変形が可能である。   In addition, this invention is not limited to said embodiment, Many deformation | transformation are possible within the range of the summary.

例えば、本実施の形態においては、自動車の電動ブレーキアクチュエータに組み込まれるダンパ１を例に挙げたが、本発明に係るダンパは、移動部材の往復移動を、ヒステリシス特性を有する制動力で制動することが有用な用途に適用可能である。例えば、自動車の電動ブレーキアクチュエータに限らず、楽器、ゲーム機、各種装置等、ユーザの操作を受け付ける操作部に連結される直動部材を有する様々な機器に組み込むことができる。   For example, in the present embodiment, the damper 1 incorporated in the electric brake actuator of an automobile is taken as an example, but the damper according to the present invention brakes the reciprocating movement of the moving member with a braking force having a hysteresis characteristic. Is applicable to useful applications. For example, the present invention is not limited to an electric brake actuator of an automobile, and can be incorporated into various devices having a linear motion member connected to an operation unit that receives a user operation, such as a musical instrument, a game machine, and various devices.

また、本実施の形態においては、制動対象のプッシュロッド９のシャフト部９４の外周面９７に環状のフランジ９６を設け、このフランジ９６により、２枚の摩擦部材５Ａ、５Ｂおよびその間の回転ネジ部材６を一体としてのプッシュロッド９の軸心Ｏ方向に駆動しているが、必ずしも、このようにする必要はない。例えば、制動対象の外周面の所定位置に止め輪等の部材を装着し、この部材により２枚の摩擦部材５Ａ、５Ｂおよびその間の回転ネジ部材６が駆動されるようにしてもよい。   Further, in the present embodiment, an annular flange 96 is provided on the outer peripheral surface 97 of the shaft portion 94 of the push rod 9 to be braked, and the two friction members 5A and 5B and a rotating screw member therebetween are provided by the flange 96. 6 is driven in the direction of the axis O of the push rod 9 as a unit, but this is not necessarily required. For example, a member such as a retaining ring may be mounted at a predetermined position on the outer peripheral surface to be braked, and the two friction members 5A and 5B and the rotating screw member 6 therebetween may be driven by this member.

また、本実施の形態においては、制動対象のプッシュロッド９を、ダンパ１が直接制動する移動部材１としているが、例えば、プッシュロッド９等の本来の制動対象とは別に、外周にフランジが形成された筒状のカラー部材を、ダンパ１が制動する移動部材として準備して、このカラー部材の内側にプッシュロッド９等の制動対象を挿入し、このカラー部材のフランジにより、２枚の摩擦部材５Ａ、５Ｂおよびその間の回転ネジ部材６が駆動されるようにしてもよい。   In the present embodiment, the push rod 9 to be braked is the moving member 1 that the damper 1 directly brakes. For example, a flange is formed on the outer periphery separately from the original brake target such as the push rod 9. The cylindrical collar member thus prepared is prepared as a moving member to be braked by the damper 1, and a braking object such as a push rod 9 is inserted inside the collar member, and two friction members are formed by the flange of the collar member. You may make it drive 5A, 5B and the rotation screw member 6 between them.

また、本実施の形態においては、弾性体４として１本のコイルスプリング４０を備える場合を例示しているが、弾性体４は、プッシュロッド９のストローク全域において２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６をカバー７に向けて一体として付勢できるものであればよい。   Further, in the present embodiment, the case where one coil spring 40 is provided as the elastic body 4 is illustrated, but the elastic body 4 includes two friction members 5A, 5B and What is necessary is just to be able to urge the rotating screw member 6 toward the cover 7 as a unit.

例えば、ゴム、積み重ねられた複数の皿バネ等の、コイルスプリング４０以外の弾性体を弾性体４として用いてもよい。   For example, an elastic body other than the coil spring 40 such as rubber or a plurality of stacked disc springs may be used as the elastic body 4.

また、ダンパ１の組み込み対象機器によっては、変位に応じて弾性係数が変化する非線形特性を有する弾性体を弾性体４として用いることによって、例えばブレーキペダルが所定位置まで踏み込まれたタイミングで、ユーザの手足にかかる負荷を急激に変化させてもよい。このような弾性体としては、例えば、制動機構収容室２０で２枚の摩擦部材５Ａ、５Ｂおよび回転ネジ部材６が所定距離前進したタイミングでケース３の底部３４と摩擦部材５Ｂとによる圧縮が開始されるコイルスプリングと上述のコイルスプリング４０とが入れ子状に配置された組合わせばね、不等ピッチコイルスプリング等が挙げられる。このような構成によれば、操作部を操作するユーザの手足等に適度な負荷を与えつつ、操作部が所定位置まで操作されたタイミング（プッシュロッド９がその軸心Ｏ方向に所定量変位したタイミング）で、ユーザの手足等にかかる負荷を急激に増大させることができるため、操作部が所定の位置まで操作されたこと等を通知する触覚的なシグナルをユーザに与えることができる。   Also, depending on the device to which the damper 1 is to be incorporated, an elastic body having a nonlinear characteristic whose elastic coefficient changes according to the displacement is used as the elastic body 4, for example, at the timing when the brake pedal is depressed to a predetermined position. You may change the load concerning a limb rapidly. As such an elastic body, for example, compression by the bottom portion 34 of the case 3 and the friction member 5B is started at a timing when the two friction members 5A and 5B and the rotating screw member 6 are advanced by a predetermined distance in the braking mechanism housing chamber 20. And a combination spring in which the coil spring 40 and the above-described coil spring 40 are arranged in a nested manner, an unequal pitch coil spring, and the like. According to such a configuration, the timing at which the operation unit is operated to a predetermined position (the push rod 9 is displaced by a predetermined amount in the direction of the axis O thereof) while applying an appropriate load to the user's limb or the like operating the operation unit. Since the load on the user's limbs and the like can be rapidly increased at the timing), a tactile signal for notifying that the operation unit has been operated to a predetermined position can be given to the user.

また、本実施の形態においては、複数のガイド溝３６をケース３の内壁３２に形成し、ガイド溝３６と同数のガイド突起部５１を２枚の摩擦部材５Ａ、５Ｂにそれぞれ設けて、すべてのガイド溝３６にそれぞれ２枚の摩擦部材５Ａ、５Ｂのガイド突起部５１をはめ込んでいるが、ケース３の内壁３２には、少なくとも１本のガイド溝３６が形成されていればよく、２枚の摩擦部材５Ａ、５Ｂには、それぞれ、ケース３の内壁３２のいずれかのガイド溝３６にはめ込まれるガイド突起部５１が少なくとも１つ設けられていればよい。   In the present embodiment, a plurality of guide grooves 36 are formed on the inner wall 32 of the case 3, and the same number of guide protrusions 51 as the guide grooves 36 are provided on the two friction members 5A and 5B, respectively. The guide protrusions 51 of the two friction members 5A and 5B are fitted in the guide groove 36, respectively. However, at least one guide groove 36 only needs to be formed on the inner wall 32 of the case 3. The friction members 5 </ b> A and 5 </ b> B only need to be provided with at least one guide protrusion 51 that fits into any one of the guide grooves 36 on the inner wall 32 of the case 3.

また、本実施の形態においては、回転ネジ部材６の一方の摺動領域６０Ａとプッシュロッド９のフランジ９６の押圧面９６１との間、および、回転ネジ部材６の他方の摺動領域６０Ｂとコイルスプリング４０との間にそれぞれ摩擦部材５Ａ、５Ｂを介在させているが、プッシュロッド９のフランジ９６の押圧面９６１を摺動面として利用すれば、回転ネジ部材６の一方の摺動領域６０Ａとプッシュロッド９のフランジ９６の押圧面９６１との間に摩擦部材５Ａを設ける必要はない。   Further, in the present embodiment, between one sliding region 60A of the rotating screw member 6 and the pressing surface 961 of the flange 96 of the push rod 9, and the other sliding region 60B of the rotating screw member 6 and the coil. Friction members 5A and 5B are interposed between the spring 40 and the sliding surface 601 of the flange 96 of the push rod 9 as a sliding surface. There is no need to provide the friction member 5A between the pressing surface 961 of the flange 96 of the push rod 9.

１：ダンパ、 ２：ハウジング、 ３：ケース、 ４：弾性体、 ５Ａ、５Ｂ：摩擦部材、 ６：回転ネジ部材、 ７：カバー、 ８：制動機構、 ９：プッシュロッド、 ２０：制動機構収容室、 ２１、２２：ハウジングのロッド挿入口、 ３０：ケースの開口部、 ３１：ケース内壁のネジ部、 ３２：ケースの内壁、 ３３：ケース開口部のネジ部、 ３４：ケースの底部、 ３５：ケース底部の貫通穴、 ３６：ケース内壁のガイド溝、 ３７：ケース底部のスプリングガイド溝、 ４０：コイルスプリング、 ４１、４２：コイルスプリングの端部、 ５０：摩擦部材本体、 ５１：摩擦部材のガイド突起部、 ５２：摩擦部材のロッド挿入穴、 ５３：摩擦部材の摺動面、 ５４：摩擦部材の裏面、 ６０Ａ、６０Ｂ：回転ネジ部材の摺動領域、 ６１：回転ネジ部材外周のネジ部、 ６２：回転ネジ部材の外周、 ６３：回転ネジ部材のロッド挿入穴、 ７０：カバーの裏面、 ７２：カバーの貫通穴、 ７３：カバーのネジ部、 ９１、９２：プッシュロッドの端面、 ９３：ピストン駆動部、 ９４：シャフト部、 ９５：アーム連結部、 ９７：シャフト部の外周面、 ９６：フランジ、 １００：クレビスジョイント、 １０１：ブレーキペダルアーム、 １０４、１０５：ナット、 １０３：ボルト、 ９５１：プッシュロッドのネジ穴、 ９６１：フランジの押圧面   DESCRIPTION OF SYMBOLS 1: Damper, 2: Housing, 3: Case, 4: Elastic body, 5A, 5B: Friction member, 6: Rotating screw member, 7: Cover, 8: Braking mechanism, 9: Push rod, 20: Braking mechanism accommodation chamber , 21, 22: Housing rod insertion port, 30: Case opening, 31: Case inner wall threaded part, 32: Case inner wall, 33: Case opening part threaded part, 34: Case bottom part, 35: Case Through hole at bottom, 36: guide groove on inner wall of case, 37: spring guide groove at bottom of case, 40: coil spring, 41, 42: end of coil spring, 50: friction member body, 51: guide protrusion of friction member 52: Rod insertion hole of friction member, 53: Sliding surface of friction member, 54: Back surface of friction member, 60A, 60B: Sliding area of rotating screw member, 61: Screw portion on the outer periphery of the rotating screw member, 62: Outer periphery of the rotating screw member, 63: Rod insertion hole of the rotating screw member, 70: Back surface of the cover, 72: Through hole in the cover, 73: Screw portion of the cover, 91 92: Push rod end surface, 93: Piston drive part, 94: Shaft part, 95: Arm connecting part, 97: Outer peripheral surface of shaft part, 96: Flange, 100: Clevis joint, 101: Brake pedal arm, 104, 105 : Nut, 103: Bolt, 951: Screw hole of push rod, 961: Pressing surface of flange

Claims (4)

軸心に沿って移動する移動部材を制動するダンパであって、
前記移動部材が前記軸心の方向に挿入される、当該移動部材を前記軸心周りに囲む内壁面に第一のネジ部が形成された筒状のハウジングと、
前記第一のネジ部にかみ合う第二のネジ部が形成された外周面と、第一の摺動領域が形成された第一の端面とを有し、前記移動部材の移動に応じて、前記ハウジングの内部を、前記移動部材とともに当該移動部材の軸心に沿って往復移動するネジ部材と、
前記ネジ部材の第一の摺動領域に対向する摺動面を有し、前記移動部材の移動に応じて、前記ハウジングの内部を、前記ネジ部材とともに前記移動部材の軸心に沿って往復移動する第一の摩擦部材と、
前記第一のネジ部のピッチの方向への前記移動部材の変位量に応じた弾性力で前記第一の摩擦部材の摺動面を前記ネジ部材の第一の摺動領域に押し当てる弾性体と、を備え、
前記ネジ部材は、前記移動部材の移動に応じて、前記ハウジングの第一のネジ部と前記第二のネジ部とのかみ合いにより回転して前記第一の摺動領域を前記第一の摩擦部材の摺動面と摺動させながら、前記ハウジングの内部を往復移動する、
ることを特徴とするダンパ。 A damper that brakes a moving member that moves along an axis,
A cylindrical housing in which a first screw portion is formed on an inner wall surface surrounding the moving member, the moving member being inserted in the direction of the axis;
An outer peripheral surface on which a second screw portion meshing with the first screw portion is formed; and a first end surface on which a first sliding region is formed; according to the movement of the moving member, A screw member that reciprocates along the axis of the moving member together with the moving member inside the housing;
The screw member has a sliding surface facing the first sliding region, and reciprocates along the axis of the moving member together with the screw member in accordance with the movement of the moving member. A first friction member,
An elastic body that presses the sliding surface of the first friction member against the first sliding region of the screw member with an elastic force corresponding to the amount of displacement of the moving member in the direction of the pitch of the first screw portion. And comprising
The screw member is rotated by meshing between the first screw portion of the housing and the second screw portion in accordance with the movement of the moving member, and the first friction member is moved through the first sliding region. Reciprocating inside the housing while sliding with the sliding surface of
A damper characterized by that. 請求項１または２に記載のダンパであって、
前記ネジ部材は、前記第一の端面の反対側に、第二の摺動領域が形成された第二の端面を有し、
当該ダンパは、さらに、
前記第一の弾性体により前記第一の摩擦部材とともに付勢された前記ネジ部材の第二の摺動領域が押し当てられる摺動面を有し、前記ハウジングの内部を、前記ネジ部材とともに前記移動部材の軸心に沿って往復移動する第二の摩擦部材を備え、
前記ネジ部材は、前記ハウジングの第一のネジ部と前記第二のネジ部とのかみ合いにより回転して前記第一および第二の摺動領域を前記第一および第二の摩擦部材の摺動面と摺動させながら前記ハウジングの内部を往復移動する
ことを特徴とするダンパ。 The damper according to claim 1 or 2,
The screw member has a second end surface formed with a second sliding region on the opposite side of the first end surface,
The damper is further
A sliding surface against which a second sliding region of the screw member urged together with the first friction member by the first elastic body is pressed, and the interior of the housing together with the screw member A second friction member that reciprocates along the axis of the moving member;
The screw member is rotated by meshing between the first screw portion and the second screw portion of the housing to slide the first and second friction members in the first and second friction regions. A damper that reciprocates inside the housing while sliding on a surface. 請求項１または２に記載のダンパであって、
前記弾性体として、変位に応じて弾性係数が変化する非線形特性を有する弾性体を備える
ことを特徴とするダンパ。 The damper according to claim 1 or 2,
A damper comprising an elastic body having a non-linear characteristic in which an elastic coefficient changes according to a displacement as the elastic body. 請求項３記載のダンパであって、
前記弾性体は、
前記第一の摩擦部材を、前記ネジ部材の第一の摺動領域に押し当てるように、前記ネジ部材に向けて付勢する第一の弾性体と、
前記第一の摩擦部材が、前記第一の弾性体を圧縮する方向に所定距離以上移動した場合に圧縮され、前記ネジ部材の第一の摺動領域に前記第一の摩擦部材の摺動面をさらに押し当てる第二の弾性体と、を有することを特徴とするダンパ。 The damper according to claim 3, wherein
The elastic body is
A first elastic body that urges the first friction member toward the screw member so as to press against the first sliding region of the screw member;
The first friction member is compressed when moving a predetermined distance or more in the direction of compressing the first elastic body, and the sliding surface of the first friction member is moved to the first sliding region of the screw member. And a second elastic body that further presses the damper.
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CN107831700A (en) * 2017-11-17 2018-03-23 温州大学瓯江学院 A kind of control system and method for the more fingering Zither playing devices for playing smoothness
WO2019039377A1 (en) * 2017-08-23 2019-02-28 オイレス工業株式会社 Damper and operating unit
CN113155607A (en) * 2021-04-06 2021-07-23 人本股份有限公司 Press-pull loading simulation test device

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WO2019039377A1 (en) * 2017-08-23 2019-02-28 オイレス工業株式会社 Damper and operating unit
CN111033077A (en) * 2017-08-23 2020-04-17 奥依列斯工业株式会社 Damper and operation unit
JPWO2019039377A1 (en) * 2017-08-23 2020-10-01 オイレス工業株式会社 Damper and operation unit
EP3674578A4 (en) * 2017-08-23 2021-06-09 Oiles Corporation Damper and operating unit
CN111033077B (en) * 2017-08-23 2022-01-28 奥依列斯工业株式会社 Damper and operation unit
JP7165661B2 (en) 2017-08-23 2022-11-04 オイレス工業株式会社 Damper and operating unit
US11493108B2 (en) 2017-08-23 2022-11-08 Oiles Corporation Damper and operation unit
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CN113155607A (en) * 2021-04-06 2021-07-23 人本股份有限公司 Press-pull loading simulation test device

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