JP2013108566A - Joint mechanism, and device having operation part including the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a joint mechanism capable of horizontally rotating a head holding member by horizontal torque applied to a head member.SOLUTION: This joint mechanism 1 includes a spherical head part 10 including a head part 12 having a spherical surface at least at a part, and a spherical head holding part 20 for holding the spherical surface of the spherical head part 10 to be capable of tiltably moving the spherical head part 10. Projection parts 15 are formed on the head part 12 of the spherical head part 10. Projection engagement parts 22 engaging with the projection parts 15 of the spherical head part 10 to be capable of transmitting horizontal torque applied to the spherical head part 10 thereto are formed on the spherical head holding part 20.

Description

  The present invention relates to a joint mechanism and a device having an operation unit including the joint mechanism, and more particularly, to a device including a head mechanism and a head holding member that holds the head member, and a device including a joint mechanism and a joint mechanism.

  Conventionally, a device having a joint mechanism including a head member and a head holding member that holds the head member and an operation unit including the joint mechanism is known (for example, see Patent Document 1).

  In the above-mentioned Patent Document 1, a ball head (head member) in which four protrusions are formed at an angular interval of 90 degrees along the outer peripheral surface, and a catch part in which a spherical bearing that rotatably holds the ball head is formed ( A ball joint (joint mechanism) including a head holding member is disclosed. Four concave grooves are formed on the outer edge of the spherical bearing of the catch part of the ball joint at an angular interval of 90 degrees along the outer edge. Each of the four concave grooves is configured such that each of the four protrusions formed on the outer peripheral surface of the ball head engages. The ball head is provided with a connecting shaft that can be manually rotated in the horizontal direction by the user. Then, in a state where the ball head is attached to the spherical bearing, the connecting shaft provided on the ball head is rotated by the user in the horizontal direction, so that each of the four protrusions formed on the ball head becomes the spherical bearing. The ball head is configured to rotate out of each of the four concave grooves.

Japanese Patent Laid-Open No. 11-101221

  However, in the ball joint described in Patent Document 1, when the connecting shaft provided on the ball head is rotated by the user in the horizontal direction, each of the four protrusions formed on the ball head is a spherical bearing. Since each of the four concave grooves is removed, there is a disadvantage that the horizontal rotational force applied to the ball head cannot be transmitted to the spherical bearing. For this reason, there is a problem that it is difficult to rotate the catch parts in the horizontal direction.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to rotate the head holding member in the horizontal direction by the horizontal rotational force applied to the head member. It is providing the apparatus which has an operation part provided with the joint mechanism and joint mechanism which can do.

  A joint mechanism according to a first aspect of the present invention includes a head member including a head part having a spherical surface at least partially, and holds the spherical surface of the head member so that the head member can be tilted. A head holding member, and a protrusion is provided on the head of the head member, and the head holding member is capable of transmitting a horizontal rotational force applied to the head member to the protrusion of the head member. A mating protrusion engaging portion is provided.

  In the joint mechanism according to the first aspect, as described above, a protrusion is provided on the head of the head member, and a horizontal rotational force applied to the head member with respect to the protrusion of the head member is provided on the head holding member. By providing a protrusion engaging portion that engages the head member in a manner that can transmit the horizontal rotational force applied to the head of the head member, the horizontal rotational force applied to the head of the head member is applied to the head. Since it can be reliably transmitted to the protrusion engaging portion of the head holding member via the protrusion on the head of the member, the head holding member is rotated in the horizontal direction by the horizontal rotational force applied to the head member. Can do. Further, since the joint mechanism can be configured by the head member and the head holding member, an increase in the number of parts can be suppressed as compared with a universal joint mechanism having a relatively large number of parts. Further, since the number of parts is small, the assembly workability of the joint mechanism can be improved.

  In the joint mechanism according to the first aspect, preferably, the protrusion engaging portion of the head holding member includes a constricted portion having a width substantially the same as the width of the protrusion of the head member, and the head member has a horizontal rotational force. When the head member is added, the projection of the head member and the constriction of the projection engaging portion of the head holding member are engaged with each other so that the rotational force in the horizontal direction can be transmitted, so that the head member rotates in the horizontal direction. It is configured. If comprised in this way, unlike the case where the width | variety of the constriction part of the protrusion engaging part of a head holding member is larger than the width | variety of the protrusion part of the head part of a head member, the horizontal direction rotational force was applied to the head member. In this case, since the backlash between the protrusion and the constriction can be reduced, the amount of rotation can be adjusted with high accuracy.

  In this case, preferably, the protrusion engaging portion of the head holding member is provided so as to sandwich the constricted portion, further includes a wide portion having a width larger than the width of the constricted portion, and the head member is disposed vertically. When the external force is applied to the head member so that the head member tilts in the direction in which the head member tilts most greatly in plan view, the protrusions are formed along the constricted part of the protrusion engaging part and the inner surface part of the wide part. Is configured to move. If comprised in this way, it can be made to incline in the direction which a head member inclines most greatly with a wide part, transmitting the rotational force of a horizontal direction by a constriction part.

  In the joint mechanism including the protrusion engaging portion including the constricted portion and the wide portion, preferably, the protruding portion has a columnar shape, and the protrusion engaging portion has an arc shape along the wide portion from the constricted portion. When the external force is applied to the head member so that the head member tilts in the direction in which the head member tilts most greatly in a plan view from the state in which the head member is arranged vertically, the outer surface portion of the cylindrical projection is It is comprised so that it may move along the arc-shaped inner surface part along the wide part from the constriction part of the protrusion engaging part. If comprised in this way, for example, unlike the case where a projection part is formed in a triangular prism shape or a quadrangular prism shape, the cylindrical projection part is made into the constriction part of the projection engagement part which has circular arc shape, and the inner surface part of the wide part Can be moved more smoothly (stable) along.

  In the joint mechanism including the protrusion engaging portion including the constricted portion and the wide portion, preferably, the protrusion engaging portion is formed to have a hook shape by the constricted portion and the wide portion provided so as to sandwich the constricted portion. Has been. If comprised in this way, the protrusion engaging part which has the wide part provided so that the constriction part and the constriction part may be pinched | interposed easily can be comprised by making the shape of a protrusion engagement part into a bowl shape. it can.

  In the joint mechanism including the protrusion engaging portion having the hook shape, the hook-shaped protrusion engaging portion is preferably a long hole including a constricted portion and a wide portion. According to this structure, when an external force is applied to the head member so that the head member tilts in the direction in which the head member tilts most greatly in a plan view from the state in which the head member is arranged vertically, the protrusion is easily provided. Can be smoothly (stablely) moved along the inner surface portion of the elongated hole including the constricted portion and the wide portion of the protrusion engaging portion.

  Preferably, the joint mechanism according to the first aspect further includes a biasing member that biases the head member so that the head member is arranged substantially vertically, and the biasing member is attached to a lower portion of the head. When the external member for tilting the head member is not applied by attaching the elastic member to the attachment portion formed in the lower part of the head, the central axis of the head member is It is comprised so that substantially vertical may be maintained. According to this structure, the head member can be maintained so that the central axis is substantially vertical in a state where an external force for tilting the head member is not applied. Further, when the external force applied to the head member for tilting is released, the central axis of the head member can be automatically returned (returned) to a substantially vertical position.

  In this case, preferably, the attachment portion includes a flat surface portion formed by cutting out a part of the lower portion of the head, and the biasing member includes a compression coil spring attached to the flat surface portion. If comprised in this way, when the external force which makes the head member incline is not applied, the vertical position of the head member can be easily maintained and automatically returned to the vertical position by the compression coil spring.

  In the joint mechanism according to the first aspect, preferably, the central axis of the protrusion is arranged in a direction perpendicular to the central axis of the head member and in the vicinity of the center of the head. According to this configuration, unlike the case where the central axis of the protrusion is arranged in a direction other than the direction perpendicular to the central axis of the head member and in a portion other than the vicinity of the center of the head, When a rotational force in the direction is applied, the horizontal rotational force can be reliably transmitted to the head holding member.

  In the joint mechanism according to the first aspect, preferably, the protrusion engaging portion of the head holding member is provided so as to sandwich a constriction portion having a width substantially equal to the width of the protrusion portion of the head member, and the constriction portion. And a protrusion engaging portion of the head holding member further includes a groove portion formed to extend downward with substantially the same width as the wide portion. If comprised in this way, when assembling a head member to a head holding member, the protrusion part of a head member can be easily assembled | attached to a protrusion engaging part via the groove part of the protrusion engaging part of a head holding member.

  An apparatus having an operation unit including a joint mechanism according to a second aspect of the present invention includes a head member that is built in the operation unit and includes a head having a spherical surface at least in part, and the head member is tilted. A joint mechanism including a head holding member that holds the spherical surface of the head member as possible, and a protrusion is provided on the head of the head member, and the head holding member is provided with a protrusion on the head member. On the other hand, there is provided a protrusion engaging portion that engages so as to be able to transmit a horizontal rotational force applied to the head member.

  In the apparatus having the operation unit including the joint mechanism according to the second aspect, as described above, the projection is provided on the head of the head member, and the head holding member is provided on the head member with respect to the projection of the head member. When a horizontal rotational force is applied to the head of the head member by providing a protrusion engaging portion that engages the applied horizontal rotational force so as to be able to be transmitted, it is applied to the head of the head member. Since the horizontal rotational force can be reliably transmitted to the protrusion engaging portion of the head holding member via the protrusion of the head of the head member, the horizontal holding force applied to the head member causes the head holding member Can be rotated horizontally.

  According to the present invention, as described above, the head holding member can be rotated in the horizontal direction by the horizontal rotational force applied to the head member.

1 is an overall perspective view of a haptic controller according to an embodiment of the present invention. It is a cross-sectional perspective view along the 200-200 line of FIG. 1 is an overall perspective view of a joint mechanism according to an embodiment of the present invention. It is a disassembled perspective view of the joint mechanism by one Embodiment of this invention. It is a top view (plan view) of a joint mechanism according to an embodiment of the present invention. It is a front view of the joint mechanism by one Embodiment of this invention. FIG. 6 is a cross-sectional view taken along line 300-300 in FIG. 5. It is a front view of the ball head part of the joint mechanism by one Embodiment of this invention. It is the perspective view which looked at the spherical head part of the joint mechanism by one Embodiment of this invention from diagonally downward. It is a front view of the ball head holding part of the joint mechanism by one Embodiment of this invention. It is sectional drawing along the 400-400 line of FIG. It is a top view (plan view) showing the case where the ball head part of the joint mechanism according to the embodiment of the present invention is tilted in the 0 degree direction. It is a front view which shows the case where the ball head part of the joint mechanism by one Embodiment of this invention is made to incline in the 0 degree direction. It is a top view (plan view) showing the case where the ball head part of the joint mechanism according to the embodiment of the present invention is tilted in the 45 degree direction. It is a front view which shows the case where the ball head part of the joint mechanism by one Embodiment of this invention is tilted in the 45 degree | times direction. It is the perspective view and exploded perspective view which show the universal joint mechanism by a comparative example.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings.

  With reference to FIG. 1 and FIG. 2, the structure of the haptic controller 100 by one Embodiment of this invention is demonstrated. The haptic controller 100 is an example of the “apparatus having an operation unit including a joint mechanism” in the present invention.

  A haptic controller 100 according to an embodiment of the present invention includes an operation unit 101 that can be operated by a user such as a horizontal rotation operation or a tilting operation of tilting at an arbitrary angle from a vertical direction (Z direction). ing. The operation unit 101 includes a cap 102 that can be manually rotated or tilted by a user, a boss 103 disposed near the center of the back side (arrow Z1 direction side) of the cap 102, and a boss 103. The slider 104 disposed below (in the direction of the arrow Z1), the sensor member 105 disposed below the slider 104, and the joint mechanism 1 disposed near the center of the back side of the sensor member 105. . Further, in the present embodiment, the joint mechanism 1 is indirectly rotated or tilted when the cap 102 of the operation unit 101 is rotated in the horizontal direction or tilted in any direction by the user. It is configured as follows.

  In addition, LED guides 106 are disposed below and to the sides of the joint mechanism 1. A sub board 107 is disposed below the LED guide 106. A plurality of PIs (photo interrupters) 108 and a plurality of LEDs 109 are arranged on the surface of the sub-substrate 107. In addition, a rib (not shown) formed on the back surface of the sensor member 105 is disposed above the PI 108 on the sub-substrate 107 so as to face the PI 108. Further, a guide portion 110 of the LED guide 106 is disposed above the LED 109 on the sub-substrate 107 (in the direction of arrow Z2) so as to face the LED 109.

  A disk holder 111 is disposed on the side of the sensor member 105 and the sub-substrate 107. A chassis 112 is disposed below the disk holder 111. A motor holder 113 is disposed between the chassis 112 and the sub board 107. The motor holder 113 is attached to a hole formed in the chassis 112. A motor 114 is disposed below the motor holder 113.

  Further, a rotor 116 is disposed below the motor 114 via a nut 115. A code wheel plate 117 is disposed below the rotor 116. Further, a code wheel (not shown) for detecting a rotation operation of the operation unit 101 by the user is attached to the back surface of the code wheel plate 117. A main board 119 on which an encoder 118 is disposed is disposed below a code wheel (not shown). A plurality of radial detection units are provided on the back surface (the surface on the encoder 118 side) of the code wheel (not shown). Further, when the code wheel is rotated by rotating the operation unit 101 by the user, the amount of movement (movement position) of the plurality of radial detection units provided on the back surface of the code wheel is determined by the encoder 118. By being detected, the rotation operation of the operation unit 101 by the user is detected.

  Further, when the cap 102 of the operation unit 101 is rotated in the horizontal direction by the user, the horizontal rotational force applied to the cap 102 is transmitted through the boss 103, the slider 104, and the joint mechanism 1 to the code wheel. It is configured to be transmitted to the plate 117.

  The code wheel is rotated together with the code wheel plate 117 by the rotational force transmitted to the code wheel plate 117, and the movement amounts (movement positions) of the plurality of radial linear detection units provided on the back surface of the code wheel are changed. By being detected by the encoder 118, it is detected that the user has rotated the cap 102 of the operation unit 101 in the horizontal direction. The signal detected by the encoder 118 is transmitted to the motor 114 via a cable (not shown), so that vibration corresponding to the rotation operation by the user is generated. The LED 109 is controlled to emit light so as to correspond to the horizontal rotation operation of the user.

  In addition, when the cap 102 of the operation unit 101 is tilted in an arbitrary direction from the vertical state by the user, the external force applied to the cap 102 is a joint mechanism via the boss 103, the slider 104, and the sensor member 105. 1 is transmitted. Further, when the operation unit 101 is tilted by the user, a rib (not shown) provided on the back surface of the sensor member 105 is provided on any one of the plurality of PIs 108 disposed on the surface of the sub-board 107. By approaching, it is possible to detect in which direction the operation unit 101 is tilted by the user. Further, the detected signal is transmitted to the motor 114 via a cable (not shown), thereby generating a vibration corresponding to the user's tilting operation. The LED 109 is controlled to emit light so as to correspond to the user's tilting operation.

  Next, a detailed configuration of the joint mechanism 1 will be described with reference to FIGS. 3 and 4, the joint mechanism 1 includes a ball head part 10 made of resin or metal, a ball head holding part 20 made of resin or metal for holding the ball head part 10, and a ball head. A compression coil spring 30 disposed below the part 10, a power direct coupling shaft 40 disposed below the compression coil spring 30, and a ball pin holding part 20 and a fixed pin 50 attached to the power direct coupling shaft 40 are provided. That is, the joint mechanism 1 according to the present embodiment is composed of five parts. The ball head part 10 is an example of the “head member” in the present invention, and the ball head holding part 20 is an example of the “head holding member” in the present invention.

  As shown in FIG. 4, the ball head part 10 includes a shaft portion 11 and a head portion 12 disposed below the shaft portion 11. Further, when the cap 102 of the haptic controller 100 is rotated in the horizontal direction or tilted by the user, the rotational force or tilt corresponding to the horizontal rotating operation is applied to the shaft portion 11 of the ball head part 10. An external force corresponding to the operation is indirectly transmitted from the cap 102.

  The head 12 has a first spherical surface portion 13 having a spherical surface and a second spherical surface portion 14 disposed below the first spherical surface portion 13.

  In addition, four protrusions 15 are formed on the first spherical surface portion 13 having a spherical surface so as to protrude from the outer surface of the first spherical surface portion 13. The four protrusions 15 have a cylindrical shape. Here, in the present embodiment, when a horizontal rotational force is applied to the ball head part 10, a protrusion 15 of the ball head part 10 and a protrusion engaging part 22 of a ball head holding part 20, which will be described later, The ball head holding parts 20 are configured to rotate in the horizontal direction by engaging the rotational force in the horizontal direction so that they can be transmitted.

  Further, as shown in FIG. 5, each of the four protrusions 15 of the ball head part 10 is disposed at equiangular intervals at an angle of about 90 degrees when viewed from above (in plan view). Further, as shown in FIG. 3, the central axis A of the protrusion 15 of the ball head part 10 is perpendicular to the central axis B (Z direction) of the ball head part 10 (X direction and Y direction), and As seen from the front, it is arranged near the center of the head 12 (near the center O shown in FIG. 8).

  As shown in FIGS. 7 to 9, a flat surface portion 13 a formed by cutting out the lower end portion of the first spherical surface portion 13 is formed in the lower portion of the first spherical surface portion 13. The flat surface portion 13a is an example of the “mounting portion” in the present invention. Further, the flat surface portion 13a of the first spherical surface portion 13 has a ring shape when viewed from below (as viewed from the direction of the arrow Z1).

  Further, as shown in FIG. 7, the compression coil spring 30 is disposed so as to urge the ball head part 10 upward (in the direction of arrow Z2) so that the ball head part 10 is disposed substantially vertically. Specifically, the upper end portion of the compression coil spring 30 is disposed so as to contact the surface of the flat surface portion 13a of the first spherical surface portion 13 (the surface on the arrow Z1 direction side). Further, the lower end portion of the compression coil spring 30 is disposed so as to contact the upper surface (surface on the arrow Z2 direction side) of the power direct coupling shaft 40. Thereby, when the external force which tilts to the ball head part 10 is not applied, the center axis B of the ball head part 10 is configured to be substantially vertical (along the Z direction). Further, the lower end portion 13b (the portion on the arrow Z1 direction side) of the second spherical surface portion 14 is disposed so as to make point contact with the upper surface (the surface on the arrow Z2 direction side) of the power direct coupling shaft 40.

  As shown in FIGS. 3 and 4, the ball head holding part 20 has a hole 21 that exposes the shaft portion 11 of the ball head part 10 on the upper surface and a projection 15 of the ball head part 10. Four protrusion engaging portions 22 which are long through holes engaged so as to be able to transmit a horizontal rotational force applied to the ball head part 10, and two fixing pin mounting holes 23 for mounting the fixing pin 50. Contains.

  As shown in FIG. 7, the ball head holding part 20 has a holding part 24 on the inner peripheral surface so that the shaft part 11 of the ball head part 10 can be tilted. The holding portion 24 is formed in a shape corresponding to the shape of the outer peripheral surface of the first spherical portion 13 of the ball head part 10. Further, the outer peripheral surface of the first spherical surface portion 13 is urged against the holding portion 24 by the urging force of the compression coil spring 30.

  Further, the four protrusion engaging portions 22 of the ball head holding part 20 are formed on the outer surface of the ball head holding part 20 at equal angular intervals of about 90 degrees. 6, the protrusion engaging portion 22 of the ball head holding part 20 includes a constricted portion 22a having a width W2 substantially the same as the horizontal width W1 of the protruding portion 15 of the ball head part 10, and a constricted portion. And includes two wide portions 22b having a width W3 larger than the width W2 of the constricted portion 22a.

  Further, as shown in FIG. 10, the protrusion engaging portion 22 is formed to have a hook shape by a constricted portion 22a and a wide portion 22b when viewed from the front. Further, the protrusion engaging portion 22 has an arc shape along the wide portion 22b from the constricted portion 22a.

  Further, as shown in FIG. 6, when an external force for tilting operation is not applied to the shaft portion 11 of the ball head part 10, the protrusion 15 of the ball head part 10 is a protrusion engaging portion of the ball head holding part 20. It is comprised so that 22 may be arrange | positioned in the constriction part 22a vicinity.

  In the present embodiment, when a horizontal rotational force is applied to the ball head part 10, the horizontal outer surface portion 15 a of the protrusion 15 of the ball head part 10 and the protrusion of the ball head holding part 20. The ball head holding part 20 is configured to rotate in the horizontal direction by engaging the inner surface portion 221a of the constricted portion 22a of the engaging portion 22 in line contact with the inner surface portion 221a so as to transmit the rotational force in the horizontal direction. Yes.

  In the present embodiment, as shown in FIG. 12, when the joint mechanism 1 is tilted, the direction in which the joint mechanism 1 is tilted is viewed from above (in plan view), and the arrow Y1 direction is set to 0 degrees. The direction between the arrow Y1 direction and the arrow X1 direction is a 45 degree direction, the arrow X1 direction is a 90 degree direction, the direction between the arrow X1 direction and the arrow Y2 direction is a 135 degree direction, and the arrow Y2 The direction is 180 degrees, the direction between the arrows Y2 and X2 is 225 degrees, the arrow X2 is 270 degrees, and the direction between the arrows X2 and Y1 is 315 degrees And When an external force is applied to the ball head part 10 so that the ball head part 10 tilts in the 0 degree direction (arrow Y1 direction) from the state in which the ball head part 10 is arranged vertically, as shown in FIG. The protrusion 15 formed in the 180 degree direction (arrow Y2 direction) of the head part 10 moves so as to draw a linear trajectory from the vicinity of the constricted portion 22a toward the wide portion 22b located above the constricted portion 22a. It is configured. The protrusion 15 formed in the 0 degree direction (arrow Y1 direction) of the ball head part 10 moves while drawing a straight path from the vicinity of the constricted portion 22a toward the wide portion 22b located below the constricted portion 22a. Is configured to do. Further, the protrusions 15 formed in the 90-degree direction (arrow X1 direction) and the 270-degree direction (arrow X2 direction) of the ball head part 10 are configured not to move.

  Note that the ball head part 10 is tilted in the 90 degree direction (arrow X1 direction), 180 degree direction (arrow Y2 direction) and 270 degree direction (arrow X2 direction) from the state in which the ball head part 10 is arranged vertically. Even when an external force is applied, the protrusion 15 of the ball head part 10 is configured to perform the same operation as described above.

  Further, in the present embodiment, as shown in FIG. 14, the direction in which the ball head part 10 is inclined most greatly in the plan view (45 degree direction, 135 degree direction, 225 degree direction, or 315 degree direction). ) Of the projection 15 formed in the 180 degree direction of the ball head part 10 as shown in FIG. The outer surface portion 15a of the right end portion (arrow X1 direction side) is an inner portion of the constricted portion 22a of the projection engaging portion 22 from the vicinity of the constricted portion 22a toward the upper right side of the wide portion 22b located above the constricted portion 22a. The surface portion 221a and the inner surface portion 221b of the wide portion 22b are configured to move while drawing a circular arc trajectory while in line contact with the inner surface portion 221b.

  In the protrusion 15 formed in the 270 degree direction of the ball head part 10, the outer surface portion 15a of the left end portion (arrow Y1 direction side) of the protrusion 15 is positioned above the constriction 22a from the vicinity of the constriction 22a. To move obliquely upward and to the left of the wide portion 22b, while drawing a circular arc trajectory in line contact with the inner surface portion 221a of the constricted portion 22a of the protrusion engaging portion 22 and the inner surface portion 221b of the wide portion 22b. It is configured.

  Further, in the protrusion 15 formed in the 0-degree direction of the ball head part 10, the outer surface portion 15a of the right end portion (arrow X2 direction side) of the protrusion 15 is positioned from the vicinity of the constriction 22a to the lower part of the constriction 22a. It is configured to move while drawing a circular arc trajectory while making line contact with the inner surface portion 221a of the constricted portion 22a of the protrusion engaging portion 22 and the inner surface portion 221b of the wide portion 22b toward the lower right of the wide portion 22b. Has been.

  Further, in the protrusion 15 formed in the 90-degree direction of the ball head part 10, the outer surface portion 15a of the left end portion (arrow Y2 direction side) of the protrusion 15 is located below the constricted portion 22a from below the constricted portion 22a. It is configured to move while drawing a circular arc trajectory while making line contact with the inner surface portion 221a of the constricted portion 22a of the protrusion engaging portion 22 and the inner surface portion 221b of the wide portion 22b toward the diagonally lower left of the wide portion 22b. Has been.

  In addition, even when an external force is applied to the ball head part 10 so that the ball head part 10 tilts in the 135 degree direction, the 225 degree direction, and the 315 degree direction from the vertically arranged state, the protrusion of the ball head part 10 The unit 15 is configured to perform the same operation as described above.

  As shown in FIGS. 3, 6, and 11, the protrusion engaging portion 22 of the ball head holding part 20 has a width W <b> 4 that is substantially the same as the width W <b> 3 of the wide portion 22 b below the protrusion engaging portion 22. Four groove portions 22c are formed so as to extend in the direction. Further, the four groove portions 22 c of the protrusion engaging portion 22 are formed on the inner surface of the ball head holding part 20 at an equal angle interval of about 90 degrees. Further, as shown in FIGS. 3 and 4, each of the four groove portions 22 c of the protrusion engaging portion 22 is formed at a position corresponding to each of the four protrusion portions 15 of the ball head part 10 in plan view. Yes.

  Further, as shown in FIG. 4, the fixing pin 50 is attached via two fixing pin mounting holes 23 of the ball head holding part 20 and two fixing pin mounting holes 41 of the power direct connection shaft 40. Yes. Thereby, the ball head part 10 and the compression coil spring 30 are fixed between the ball head holding part 20 and the power direct coupling shaft 40.

  Next, an assembly method of the joint mechanism 1 will be described with reference to FIG.

  First, the ball head part 10 is inserted into the ball head holding part 20 from below. At this time, the protrusion 15 of the ball head part 10 is inserted upward along the groove 22 c of the ball head holding part 20. Next, the compression coil spring 30 is fitted (contacted) to the lower portion (second spherical surface portion 14) of the ball head part 10. Further, the power direct connection shaft 40 is inserted from below the compression coil spring 30. Finally, the fixing pin 50 is inserted into the fixing pin mounting hole 23 formed in the ball head holding part 20 and the fixing pin mounting hole 41 formed in the power direct connection shaft 40. The joint mechanism 1 is assembled by the assembling method as described above.

  In the present embodiment, as described above, a protrusion 15 is provided on the head 12 of the ball head part 10, and the ball head holding part 20 is added to the ball head part 10 with respect to the protrusion 15 of the ball head part 10. When the horizontal rotational force is applied to the head 12 of the ball head part 10 by providing the protrusion engaging portion 22 that engages the horizontal rotational force so as to be transmitted, the head of the ball head part 10 is Since the horizontal rotational force applied to the part 12 can be reliably transmitted to the protrusion engaging part 22 of the ball head holding part 20 via the protrusion 15 of the head part 12 of the ball head part 10, the ball head The ball head holding part 20 can be rotated in the horizontal direction by the horizontal rotational force applied to the part 10. Here, with reference to FIG. 16, the structure of the universal joint mechanism 500 is demonstrated as a comparative example of the joint mechanism 1 by this embodiment. As shown in FIG. 16, the universal joint mechanism 500 according to the comparative example includes a head part 501, a shaft holding member 502, a shaft 503, a head support part 504, a spacer 505, a spacer 506, a shaft 507, a power A direct connection shaft 508 and a fixing pin 509 are provided. That is, the universal joint mechanism 500 according to the comparative example is composed of nine members. On the other hand, in this embodiment, since the joint mechanism 1 can be comprised by five components as mentioned above, compared with the universal joint mechanism 500 by the comparative example comprised from nine parts, this embodiment is implemented. The increase in the number of parts of the joint mechanism 1 according to the form can be suppressed. Further, since the number of parts is small, the assembly workability of the joint mechanism 1 according to the present embodiment can be improved compared to the assembly workability of the universal joint mechanism 500 according to the comparative example.

  In the present embodiment, as described above, when a horizontal rotational force is applied to the ball head part 10, the protrusion 15 of the ball head part 10 and the protrusion engaging part 22 of the ball head holding part 20 are The width of the constricted portion 22a of the protrusion engaging portion 22 of the ball head holding part 20 is obtained by engaging the constricted portion 22a so as to be able to transmit the rotational force in the horizontal direction and rotating the ball head part 10 in the horizontal direction. Unlike the case where W2 is larger than the width W1 of the protrusion 15 of the head 12 of the ball head part 10, when a horizontal rotational force is applied to the ball head part 10, the protrusion 15 and the constriction 22a Since the rattling can be reduced, the amount of rotation can be adjusted with high accuracy.

  Further, in the present embodiment, as described above, the 45-degree direction (135-degree direction, 225-degree direction, 315-degree direction) in which the ball-head part 10 is most inclined in a plan view from the state in which the ball-head part 10 is arranged vertically When an external force is applied to the ball head part 10 so as to tilt in the direction), the protrusion 15 extends along the inner surface part 221a of the constricted part 22a of the protrusion engaging part 22 and the inner surface part 221b of the wide part 22b. 45 degrees direction (135 degrees direction, 225 degrees direction, 315 degrees direction) in which the ball head part 10 easily tilts most easily by the wide section 22b while transmitting the horizontal rotational force by the constricted section 22a. ) Can be tilted.

  Further, in the present embodiment, as described above, external force is applied to the ball head part 10 so that the ball head part 10 tilts in the direction in which the ball head part 10 tilts most greatly in plan view from the state in which the ball head part 10 is arranged vertically. When added, the outer surface portion 15a of the cylindrical projection 15 moves from the constricted portion 22a of the projection engaging portion 22 along the arc-shaped inner surface portions 221a and 221b along the wide portion 22b. For example, unlike the case where the projection 15 is formed in a triangular prism shape or a quadrangular prism shape, the cylindrical projection portion 15 is formed with the inner surface portion 221a and the wide portion 22b of the constricted portion 22a of the projection engagement portion 22 having an arc shape. It can be moved more smoothly (stable) along the inner surface portion 221b.

  In the present embodiment, as described above, the protrusion engaging portion 22 is formed so as to have a hook shape by the narrow portion 22a and the wide portion 22b provided so as to sandwich the constricted portion 22a. By making the shape of the engaging portion 22 into a hook shape, the protrusion engaging portion 22 having the constricted portion 22a and the wide portion 22b provided so as to sandwich the constricted portion 22a can be configured easily.

  Further, in the present embodiment, as described above, the spherical head part 10 is arranged vertically by making the hook-shaped protrusion engaging portion 22 into a long hole including the constricted portion 22a and the wide portion 22b. Easily when an external force is applied to the ball head part 10 so that the ball head part 10 tilts in the 45 ° direction (135 ° direction, 225 ° direction, 315 ° direction) where the ball head part 10 tilts the most in plan view. The protrusion 15 can be smoothly (stablely) moved along the inner surface portion 221a (221b) of the elongated hole including the constricted portion 22a and the wide portion 22b of the protrusion engaging portion 22.

  Further, in the present embodiment, as described above, when the external force for tilting the ball head part 10 is not applied by attaching the compression coil spring 30 to the flat surface portion 13 a formed in the lower portion of the head 12. The central axis B of the ball head part 10 is kept substantially vertical so that the central axis B of the ball head part 10 becomes substantially vertical in a state where no external force for tilting the ball head part 10 is applied. Can be maintained. Further, when the external force applied to the ball head part 10 for tilting is released, the central axis B of the ball head part 10 can be automatically returned (returned) to a substantially vertical position.

  In the present embodiment, as described above, the center axis A of the protrusion 15 is arranged in a direction perpendicular to the center axis B of the ball head part 10 and in the vicinity of the center O of the head 12. Unlike the case where the central axis A of the protrusion 15 is arranged in a direction other than the direction perpendicular to the central axis B of the spherical head part 10 (Z direction) and in a portion other than the vicinity of the center O of the head 12. When a horizontal rotational force is applied to the head 12, the horizontal rotational force can be reliably transmitted to the ball head holding part 20.

  Further, in the present embodiment, as described above, the protrusion engaging portion 22 of the ball head holding part 20 is provided with the groove portion 22c formed to extend downward with a width W4 substantially the same as the width W3 of the wide portion 22b. Thus, when the ball head part 10 is assembled to the ball head holding part 20, the protrusion 15 of the ball head part 10 is easily inserted into the protrusion engaging part via the groove 22 c of the protrusion engaging part 22 of the ball head holding part 20. 22 can be assembled.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the above-described embodiment, a haptic controller is shown as an example of an apparatus having an operation unit including the joint mechanism of the present invention, but the present invention is not limited to this. In the present invention, the operation unit including the joint mechanism can be applied to devices (electronic devices and the like) other than the haptic controller. Specifically, the joint mechanism can also be applied to an operation unit that achieves both tilting and horizontal rotation of a portable device such as a mobile phone or a PDA (Personal Digital Assistant). In this way, the joint mechanism can be applied to various devices (electronic devices and the like), so that the product value can be increased by expanding the application range.

  Moreover, in the said embodiment, although the eaves | pierce | through long hole including the constriction part and the wide part was shown as an example of the protrusion engaging part of this invention, this invention is not limited to this. In the present invention, if it is possible to transmit the horizontal rotational force applied to the ball head part to the protrusion engaging portion, the protrusion engaging portion other than the elongate hole having a conical shape including the constricted portion and the wide portion. But you can. For example, the protrusion engaging portion may be formed by a groove portion.

  Moreover, although the example which forms four protrusion parts in a ball head part was shown in the said embodiment, this invention is not limited to this. For example, one or more, three or less, or five or more protrusions may be formed on the ball head part.

  In the above embodiment, an example in which a compression coil spring is applied as an example of an urging member that urges the ball head part so that the ball head part is arranged substantially vertically has been described, but the present invention is not limited thereto. Absent. For example, if it is possible to urge the ball head part so that the ball head part is arranged substantially vertically, an urging member made of an elastic body such as rubber may be used in addition to the compression coil spring. A configuration in which the urging structure is integrally provided on the bottom of the head part or the power direct connection shaft may be employed.

1 Joint mechanism 10 Ball head parts (head member)
12 Head 13a Flat surface (mounting part)
15 Protrusion 20 Ball head holding parts (head holding member)
22 Protrusion engaging portion 22a Constricted portion 22b Wide portion 30 Compression coil spring (biasing member)
101 Operation unit

Claims (11)

A head member including a head having a spherical surface at least in part;
A head holding member that holds the spherical surface of the head member so that the head member can be tilted;
A protrusion is provided on the head of the head member,
The joint mechanism, wherein the head holding member is provided with a protrusion engaging portion that engages with the protrusion of the head member so as to be able to transmit a horizontal rotational force applied to the head member. The protrusion engaging portion of the head holding member includes a constricted portion having substantially the same width as the width of the protrusion of the head member,
When a horizontal rotational force is applied to the head member, the protrusion of the head member and the constricted portion of the protrusion engaging portion of the head holding member can transmit a horizontal rotational force. The joint mechanism according to claim 1, wherein the head member is configured to rotate in a horizontal direction when combined. The protrusion engaging portion of the head holding member further includes a wide portion provided to sandwich the constricted portion, and having a width larger than the width of the constricted portion,
When an external force is applied to the head member so that the head member tilts in the direction in which the head member tilts most greatly in a plan view from the state in which the head member is arranged vertically, the protrusion portion is engaged with the protrusion. The joint mechanism according to claim 2, wherein the joint mechanism is configured to move along an inner surface portion of the constricted portion and the wide portion. The protrusion has a cylindrical shape,
The protrusion engaging portion has an arc shape along the wide portion from the constricted portion,
When an external force is applied to the head member so that the head member tilts in the direction in which the head member tilts most greatly in a plan view from the state in which the head member is arranged vertically, the outer surface of the cylindrical projection The joint mechanism according to claim 3, wherein the portion is configured to move along the arc-shaped inner surface portion along the wide portion from the constricted portion of the protrusion engaging portion.   The joint mechanism according to claim 3 or 4, wherein the protrusion engaging portion is formed to have a hook shape by the narrow portion and the wide portion provided so as to sandwich the constricted portion.   The joint mechanism according to claim 5, wherein the hook-shaped protrusion engaging portion is a long hole including the constricted portion and the wide portion. A biasing member that biases the head member such that the head member is disposed substantially vertically;
An attachment part to which the biasing member is attached is formed in the lower part of the head,
When the elastic member is attached to the attachment portion formed in the lower part of the head, the central axis of the head member is maintained substantially vertical when an external force for tilting the head member is not applied. The joint mechanism according to any one of claims 1 to 6, wherein the joint mechanism is configured to. The mounting portion includes a flat surface portion formed by cutting out a part of a lower portion of the head.
The joint mechanism according to claim 7, wherein the biasing member includes a compression coil spring attached to the flat surface portion.   The joint mechanism according to any one of claims 1 to 8, wherein a central axis of the protrusion is arranged in a direction perpendicular to the central axis of the head member and in the vicinity of the center of the head. . The protrusion engaging portion of the head holding member is provided so as to sandwich a constricted portion having a width substantially the same as the width of the protruding portion of the head member, and a width larger than the width of the constricted portion. A wide portion having
The joint mechanism according to claim 1, wherein the protrusion engaging portion of the head holding member further includes a groove portion formed to extend downward with substantially the same width as the wide portion. . A head member that is built in the operation unit and includes a head part having a spherical surface at least in part; and a head holding member that holds the spherical surface of the head member so that the head member can be tilted. Including a joint mechanism including
A protrusion is provided on the head of the head member,
An operation provided with a joint mechanism, wherein the head holding member is provided with a protrusion engaging portion that engages the protrusion of the head member so as to be able to transmit a horizontal rotational force applied to the head member. A device having a part.

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