JP2014154002A - Operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation device capable of reducing a cam speed at the start of vibration presenting motion and stabilizing the magnitude of the vibration presenting motion.SOLUTION: An operation device comprises: a push operation mechanism where a push operation can be performed; a tactile sense presentation device that drives a touch panel 24 with a motor 42 and a cam plate through the push operation mechanism to present an operational feeling; and a drive control section 100 that can start driving at predetermined time intervals ΔT, drives tactile sense presentation of the touch panel 24 by driving the motor 42 and the cam plate in a first direction, and drives the motor 42 and the cam plate in a second direction opposite to the first direction after driving the tactile sense presentation. When performing driving in the second direction, the drive control section 100 performs drive control for driving the motor 42 and the cam plate in the second direction in the first period of the predetermined time interval ΔT and performs brake control for driving the motor 42 and the cam plate in the first direction in the latter period of the interval.

Description

  The present invention relates to an operation device, and more particularly, to an operation device having a function of presenting an operation feeling to an operator.

  As an example of a conventional information presentation device that transmits information to an operator, for example, a direction presentation device that presents a direction using the tilt of the operator's finger has been proposed (for example, see Patent Document 1).

  In the conventional direction presentation device described in Patent Document 1, a finger placement plate is arranged on the upper surfaces of a plurality of movable panels that can be moved up and down independently, and the finger navigation plate displays the finger placement plate. It is comprised so that it may incline corresponding to the course direction on a screen. As an example of a drive unit for driving the movable panel, a rack formed to protrude below the movable panel and a pinion fixed to the output shaft of the motor are used.

JP 2010-204741 A

  By the way, in this type of information presentation device, when the motor is driven by the rack and pinion as described above, operation resistance such as cogging of the motor reduces the operational feeling when the movable panel is operated. For this reason, a mechanism for driving the movable panel by a cam without constantly engaging the movable panel side and the motor side with a gear is conceivable. In this case, when the movable panel is driven by a motor, the motor-side cam is first brought into contact with the movable panel at the reference position, and the movable panel is driven upward to present information (vibration presentation). Is required to return to the reference position and then move the cam to the retracted position. However, in the case of such a mechanism, when the information presentation (vibration presentation) operation is started in the middle of the cam retracting operation, the operation starts from a state where the cam speed is not zero. There is a problem that it cannot be stabilized.

  Accordingly, an object of the present invention is to provide an operating device that can reduce the cam speed at the start of the vibration presenting operation and can stabilize the magnitude of the vibration presenting operation.

[1] In order to achieve the above object, the present invention provides a push operation mechanism that can push an operation unit, and a tactile sensation that presents a sense of operation by driving the operation unit by a drive unit via the push operation mechanism. And driving the drive unit in a first direction by driving the drive unit in a first direction, and driving the operation unit by tactile sensation, and driving the drive unit after the tactile display driving A drive control unit that drives in a second direction opposite to the first direction, and the drive control unit drives the drive in the first half of the predetermined time interval when driving in the second direction. An operating device is provided in which drive control for driving a part in the second direction is performed, and braking control for driving the drive part in the first direction is performed in the latter half thereof.

[2] The drive control for driving in the second direction is performed by a drive pulse for driving the drive unit in the second direction, and the brake control for driving in the first direction is performed by driving the drive unit in the second direction. The operation device according to the above [1] may be performed by brake braking that is driven in a first direction.

[3] The driving control for driving in the second direction is performed by a driving pulse for driving the driving unit in the second direction, and the braking control for driving in the first direction is performed by the driving unit. The operation device according to the above [1] may be performed by a driving pulse that drives the motor in the first direction.

  ADVANTAGE OF THE INVENTION According to this invention, the cam speed at the time of the start of vibration presenting operation | movement can be made small, and the operating device which can stabilize the magnitude | size of vibration presenting operation can be provided.

FIG. 1 is an exploded perspective view schematically showing an operating device provided with a tactile sense presentation device according to an embodiment of the present invention. FIGS. 2A to 2C are diagrams for explaining the operation of the tactile sense presentation device during vibration feedback. FIGS. 3A to 3C are diagrams corresponding to FIG. 4 illustrating the operation of the components of the tactile sense presentation device. FIG. 4 is a diagram for explaining the cam retracting operation. FIG. 5 is a block diagram of the electric system centering on the drive control unit of the operating device according to the embodiment of the present invention. FIGS. 6A to 6C are diagrams showing the relationship between the motor current I, the cam angular velocity ω, the cam angle θ, and the time t in the cam retracting operation in the case of brake braking, respectively. FIGS. 7A to 7C are diagrams showing the relationship among the motor current I, the cam angular velocity ω, the cam angle θ, and the time t in the cam retracting operation in the case of pulse braking, respectively.

  Preferred embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

(Embodiment of the present invention)
(Overall configuration of operation device 1)
The operation device 1 presents a sense of operation by driving the touch panel 24 by a push operation mechanism 30 capable of pushing the touch panel 24 as an operation unit, a motor 42 as a drive unit, and a cam plate 43 via the push operation mechanism 30. It is possible to start driving at a predetermined time interval ΔT with the tactile presentation device 40 that is a tactile presentation means for driving the touch panel 24 by tactile display by driving the motor 42 and the cam plate 43 in the first direction. And a drive control unit 100 that drives the motor 42 and the cam plate 43 in a second direction opposite to the first direction after the tactile presentation drive, and the drive control unit 100 drives in the second direction. In this case, the drive control for driving the motor 42 and the cam plate 43 in the second direction is performed in the first half of the predetermined time interval ΔT. The motor 42 and the cam plate 43 are schematically configured to perform braking control for driving in the first direction.

  Here, the first direction (push-up direction) is the direction in which the base 21, the frame 22, the touch panel 24, etc. are pushed upward (the reverse direction to the push operation), and is the A direction shown in FIG. The rotation direction of the motor 42, the cam plate 43, etc. is also the rotation direction for pushing up in this direction, the B direction shown in FIG. The second direction (retraction direction) is a direction in which the base 21, the frame 22, and the touch panel 24 are driven downward (a push operation direction), and a direction in which a cam plate 43 described later is retracted, as shown in FIG. The rotation direction of the motor 42, the cam plate 43, and the like is also the rotation direction in this direction, that is, the D direction shown in FIGS.

  In FIG. 1, reference numeral 1 indicating the whole schematically illustrates components of an operating device provided with a typical tactile sensation presentation device in this embodiment. Although this operating device 1 is not specifically limited, For example, it is used suitably for the touch panel for vehicles which outputs the operation signal for controlling the operation | movement of vehicle equipment, such as an air conditioner, an audio apparatus, a navigation apparatus.

  The operating device 1 according to the illustrated example is disposed, for example, in the periphery of a driver's seat such as a center console (not shown) in the passenger compartment, and is connected to a display (not shown) via wiring.

  When the touch panel is touched with an operator's finger, the controller device 1 detects, for example, a position on the surface of the touch panel 24 by a touch sensor, and a position detection signal corresponding to this position selects and determines an item button on the display. It is configured as a remote control input device.

  As illustrated in FIG. 1, the operation device 1 is configured to vibrate a finger that is touch-operated via a touch panel 24 as an operation unit when the touch panel device 20 capable of push operation and the touch panel device 20 accept an operation input. And a tactile sensation providing device 40 that presents an operational feeling to the operator.

  As shown in FIG. 1, the component parts of the touch panel device 20 and the tactile sense presentation device 40 are incorporated in a resin body 2 formed in a case shape that opens downward. The operation device 1 in which the touch panel device 20 and the tactile sense presentation device 40 are integrated is configured by fastening and fixing the resin cover body 3 covering the lower opening of the body 2 with a screw (not shown).

  As shown in FIG. 1, first to third operation knobs 5, 5, and 5 are provided in one row on one side of the body 2. Between the operation knobs 5 adjacent to each other, resin separators 4 and 4 that are insulators are interposed. On the other side of the body 2, a fourth operation knob 6 is provided. Each of the first to fourth operation knobs 5 and 6 is arranged so that push switches 5b and 6b mounted on the control board 7 can be turned on and off via pushers 5a and 6a.

(Configuration of touch panel device 20)
As shown in FIG. 1, the touch panel device 20 has a rectangular touch sensor substrate 23 and a sheet-like touch panel 24 interposed between a flat rectangular base 21 and a frame-shaped frame 22 via a double-sided tape (not shown). Assembled in a joined state. The base 21 and the frame 22 are made of a resin material. A rectangular frame-shaped shield member 25 is disposed on the outer peripheral portion of the touch panel device 20 so as to cover it. The shield member 25 is electrically connected to the ground circuit of the control board 7.

  As shown in FIG. 1, the touch sensor substrate 23 is elastically held via the click member 26 on the bottom surface of the concave portion formed in a concave shape on the upper surface of the base 21. The click member 26 is made of a cylindrical rubber material that can be displaced with respect to the touch panel 24 by elastic deformation, and has an inner diameter on the touch panel 24 side larger than an inner diameter on the base 21 side.

  As shown in FIG. 1, the frame 22 includes a frame portion 22a having an upper surface opened. The frame portion 22a includes a frame-shaped frame plate body and a cylindrical wall portion extending from the inner peripheral edge portion of the frame plate body toward the housing portion side.

  As shown in FIG. 1, the touch sensor substrate 23 and the touch panel 24 are connected via a conductive tape 27 that is a conductive material.

  As shown in FIG. 1, the touch sensor substrate 23 is, for example, a capacitance touch sensor that detects capacitance, and is connected to a connector (not shown) mounted on the control substrate 7 via a flexible flat cable 28. . One touch panel 24 is bonded to the back surface of the frame plate body of the frame 22 via a double-sided tape 29 having a sealing property, and is arranged to be operable with the operation surface exposed at the opening of the frame portion 22a of the frame 22. The

  As shown in FIG. 1, the base 21 further includes a plurality of elastic engaging pieces 21 a,..., 21 a that engage with through holes formed in the body 2, and guide holes formed in the body 2. Each of the pair of guide pieces 21b and 21b that are guided and moved and the connecting piece 21c that is a connecting member interlocked with the reciprocating motion of the touch panel 24 are extended toward the push operation mechanism 30 side.

(Configuration of push operation mechanism 30)
As shown in FIG. 1, the push operation mechanism 30 includes a support shaft 31 that is rotatably fixed to the body 2, and a link member 32 that rotates integrally with one end of the support shaft 31. At the other end of the support shaft 31, an encoder 33 that is a position sensor that detects the position of the push operation mechanism 30 and an enter switch 34 that detects whether the push operation is on or off are attached.

  The encoder 33 is a rotary encoder composed of an encoder slit plate 33A attached to the push operation mechanism 30 side and a photo interrupter 33B attached to the control board 7 side. Since the encoder slit plate 33A is attached to the support shaft 31 and rotates as the base 21 of the touch panel device 20 moves up and down, the encoder slit plate 33A can detect the movement of the touch panel 24 as an operation unit fixed to the base 21 with high resolution. it can. The detection signal of the encoder 33 is input to the control unit 110 as shown in FIG.

  The enter switch 34 includes an enter switch plate 34A attached to the push operation mechanism 30 side and a photo interrupter 34B attached to the control board 7 side. Since the enter switch plate 34 </ b> A is attached to the support shaft 31, it is possible to detect the enter operation of the touch panel 24 as an operation unit fixed to the base 21. The detection signal of the enter switch 34 is input to the control unit 110 as shown in FIG.

  As shown in FIG. 1, the push operation mechanism 30 further includes a stabilizer 35 that suppresses the tilting operation of the touch panel 24 during the push operation. Both ends of the stabilizer 35 intersect with the support shaft 31 and are attached to each of the pair of guide pieces 21 b of the touch panel device 20, thereby suppressing an inclination operation around the support shaft 31. .

  As shown in FIG. 1, a torsion spring 36 is attached to the link member 32. The torsion spring 36 is configured to always urge the link member 32 in one direction. The support shaft 31 and the torsion spring 36 are made of a metal material, and the link member 32 is made of a resin material.

  As shown in FIGS. 2A to 3B, the link member 32 includes a doughnut-shaped base portion 32a having a support shaft insertion hole 32b and a pair of protrusions formed on both sides of the outer peripheral surface of the base portion 32a. Arm portions 32c and 32c. A connecting pin 32d protrudes at an eccentric position of the base portion 32a.

  The connection pin 32d of the link member 32 reciprocates in a pin locking hole 21d formed in the connection piece 21c of the base 21 of the touch panel device 20 as shown in FIGS. Reciprocating fine movement). Due to the connection between the connection pin 32d and the connection piece 21c, the link member 32 rotates forward and backward around the support shaft 31 of the push operation mechanism 30 in conjunction with the push operation of the touch panel device 20. A portion of the connecting piece 21c opposite to the pin locking hole 21d is cut out so as not to interfere with the tactile sense presentation device 40.

(Configuration of the tactile presentation device 40)
In the operating device 1 according to the present embodiment, the main basic configuration is a tactile sensation presenting means for presenting an operational sensation by a vibration presenting operation in which the touch panel 24 as an operation unit is pushed upward by a motor 42 as a drive unit to cause main vibration. It exists in the tactile sense presentation apparatus 40 provided with. Therefore, the operating device 1 configured as described above shows one configuration example according to this embodiment, and the shape and structure of the component parts are not limited to the illustrated example.

  The tactile sense presenting device 40 includes tactile sense presenting means for presenting a sense of operation to the operator's fingers through the push operation mechanism 30. As shown in FIG. 1, the tactile sense presenting means is mainly configured by a drive transmission mechanism 41 that drives the push operation mechanism 30 via a link member 32. The drive transmission mechanism 41 includes a rotation drive unit and a cam mechanism.

  As shown in FIG. 1, the motor 42 that can rotate in the forward / reverse direction, which is the rotation driving means, is held in a housing 44, and the housing 44 is fastened and fixed to the body 2 of the touch panel device 20 via a screw (not shown). Is done. The motor 42 is electrically connected via a terminal 45 having a cord electrically connected to the control board 7 and a ground clip 46 for releasing static electricity charged in the motor 42 to the ground circuit of the control board 7. .

  As shown in FIG. 1, one cam mechanism includes a cam plate 43 that is a rotating cam member fixed to the output shaft of the motor 42.

  When the push operation mechanism 30 and the tactile presentation device 40 are always connected, the link member 32 of the push operation mechanism 30 and the cam plate 43 of the tactile presentation device 40 are resistant to the push operation of the push operation mechanism 30. Therefore, the operational feeling is impaired, which is not preferable.

  In the example of illustration, the structure which cancels | releases connection with the link member 32 and the cam plate 43 is provided. As shown in FIGS. 2A to 3C, the cam plate 43 is repositioned to either a transmission position where the drive is transmitted to the link member 32 or a non-transmission position where the drive is not transmitted to the link member 32. It is comprised so that rotation is possible. When it is not necessary to generate vibrations for tactile presentation, the cam plate 43 is in contact with the stopper 50 shown in FIG. 4, and the tactile presentation device 40 is stopped at a position where it is retracted from the push operation mechanism 30.

  The cam plate 43 is a motion conversion member that converts the reciprocating rotational motion of the motor 42 into the reciprocating fine motion of the touch panel device 20 as shown in FIGS. 2 (a) to 3 (c). A cam surface 43 a is formed on the output shaft of the motor 42 on the outer surface of the cam plate 43. In the illustrated example, the cam surface 43a is formed in an involute curve shape.

  As shown in FIGS. 3B and 3C, the cam surface 43 a is configured to rotate at a predetermined angle while coming into contact with a cam follower surface 32 e formed by the arm portion 32 c of the link member 32. .

  FIG. 4 is a diagram for explaining the cam retracting operation.

  Here, referring to FIGS. 2A to 3C and FIG. 4, according to the embodiment of the present invention, the loosening operation from the retracted state, the vibration presenting operation by pushing up from the reference position L1 (main vibration) ), The return operation to the reference position L1, and the retraction operation from the reference position L1 until the cam plate 43 contacts the stopper 50 will be described.

  When the controller device 1 is stopped, the cam plate 43 is in contact with the stopper 50 as shown in FIG.

  The motor 42 and the cam plate 43 are rotated in the B direction to perform a backlash filling operation for filling the gap (backlash) between the cam surface 43a and the cam follower surface 32e from the retracted state to the state shown in FIG. At this time, the touch panel 24 is at the reference position L1.

  From the state of FIG. 3B, the motor 42 is driven in the B direction, and the vibration presenting operation is performed by pushing the touch panel 24 (the base 21 is shown in FIG. 2) by the cam plate 43 upward from the reference position L1. To do. The vibration presenting operation by pushing upward is performed from the reference position L1 shown in FIGS. 2 (b) and 3 (b) to the upper L2 position shown in FIGS. 2 (c) and 3 (c). Is driven by the motor 42 while contacting the cam follower surface 32e of the link member 32.

  After the vibration presenting operation is pushed upward, as shown in FIG. 3A, the motor 42 is rotated in the D direction to return the touch panel 24 to the reference position L1.

  From the state of returning to the reference position L1 shown in FIG. 3B, the motor 42 is rotated in the D direction by motor control described later, and the retracting operation from the reference position L1 until the cam plate 43 contacts the stopper 50 is performed. Do.

  In the middle of or after completion of the evacuation operation, a series of vibration presentation operations starting from the backlash operation described above are started again at the timing of the predetermined time interval ΔT.

(Configuration of drive control unit 100)
FIG. 5 is a block diagram of the electric system centering on the drive control unit of the operating device according to the embodiment of the present invention. The drive control unit 100 includes a control unit 110, a drive circuit 120, and the like. The motor 42 is driven to rotate by being supplied with the motor current I from the drive circuit 120 based on the drive control signal Vc output from the control unit 110. Further, the motor 42 can control the motor by switching from the rotation control by the motor current I to the regenerative braking based on the brake control signal Vb output from the control unit 110.

  As shown in FIG. 5, the control unit 110 receives coordinate information, push information, and angle information from the touch panel 24, push switches 5b and 6b, encoder 33, and enter switch 34, respectively. Based on the control, the drive circuit 120 controls the motor 42 by energization or regenerative braking. In addition, the operation information is output to the electronic device from the touch panel 24 and the push switches 5b and 6b to remotely operate the electronic device.

  The control unit 110 includes, for example, a CPU (Central Processing Unit) that performs operations and processes on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. In addition, an analog signal output unit that outputs a drive control signal Vc and a brake control signal Vb generated by changing the voltage and the pulse width based on the setting is provided. The CPU performs an interrupt process at a predetermined time interval ΔT (for example, 5 ms) using a reference clock, and the above-described loosening operation, vibration presenting operation, returning operation, and evacuation operation are performed at the timing of the predetermined time interval ΔT. It is a system that can start operation.

(Evacuation operation of operating device 1)
With reference to FIGS. 4, 6, and 7, the retraction operation that is a characteristic part in the embodiment of the present invention will be described.

(When using brake braking)
FIGS. 6A to 6C are diagrams showing the relationship between the motor current I, the cam angular velocity ω, the cam angle θ, and the time t in the cam retracting operation in the case of brake braking, respectively.

  FIG. 6A shows the relationship between the motor current I and time t. As shown in FIG. 4, at time t = t1, the cam plate 43 is at a reference angle θ1 corresponding to the reference position L1. With the drive control signal Vc shown in FIG. 5, the retraction operation of the cam plate 43 is started from time t = t1 on the timing of the predetermined time interval ΔT.

  The drive control signal Vc performs drive control so that the motor current becomes a pulse Ip in order to drive the motor 42 and the cam plate 43 in the second direction (retraction direction D direction) in the first half of one cycle of the time interval ΔT. In the second half, a brake control signal Vb is output from the control unit 110, and a regenerative current for driving the motor 42 and the cam plate 43 in the first direction (push-up direction) is a brake current Ib (peak current) opposite to the motor current Ip. ) Braking control is performed.

  From time t = t1 to t2, the motor 42 is driven in the second direction (withdrawal direction D) by the motor current Ip by the pulse control signal to move the cam plate 43 in the withdrawal direction. Next, a brake control signal Vb is output from the control unit 110, and regenerative control is started from time t = t2. At t3, the brake current Ib has a peak opposite to Ip, and regenerative braking is performed until time t = t4. The total of the drive control in the retracting direction in the first half of the time interval ΔT and the braking control in the push-up direction in the second half may be a part or all of one cycle of the time interval ΔT. .

  FIG. 6B shows the relationship between the angular velocity ω of the cam plate 43 and time t. In the first half of one cycle of the time interval ΔT, the angular velocity is greatly decreased from ω (t1) to ω (t2) by driving the pulse current Ip in the retracting direction, and the angular velocity is reduced to ω ( Decrease gently until t4). Similarly, also in the next period ΔT, in the first half of one period, the pulse current Ip is greatly driven in the retracting direction to greatly reduce the angular velocity from ω (t4) to ω (t5), and the brake current by the motor regeneration control The angular velocity is gradually decreased to ω (t7) by Ib. By continuing such control, the cam plate 43 is controlled to move to the retracted position (angle θe) where the cam plate 43 shown in FIG. 4 contacts the stopper.

  FIG. 6C shows the relationship between the angle θ of the cam plate 43 and time t. In the first half of one cycle of the time interval ΔT, the angle is greatly decreased from θ (t1) to θ (t2) by driving the pulse current Ip in the retracting direction, and the angle is increased to θ4 by the brake current Ib by regenerative control of the motor. Decrease gently. Similarly, in the next cycle ΔT, in the first half of one cycle, the driving current is greatly driven in the retracting direction by the pulse current Ip to greatly reduce the angle from θ (t4) to θ (t5), and the brake current due to the regeneration control of the motor The angle is gradually decreased to θ (t7) by Ib. By continuing such control, the cam plate 43 is controlled to move to the retracted position (angle θe) where the cam plate 43 shown in FIG. 4 contacts the stopper.

  Here, a dotted line Lω shown in FIG. 6B indicates the relationship between the angular velocity ω and the time t when the retraction control is continuously performed. A dotted line Lθ shown in FIG. 6C indicates the relationship between the angle θ and the time t when the retraction control is continuously performed.

  As shown in FIG. 6C, even when the angles θ (t4) and θ (t7) at the times t4 and t7 are the same as the dotted line Lθ when continuously retracted, the time shown in FIG. The angular velocities ω (t4) and ω (t7) at t4 and t7 are above the dotted line Lω when the retraction control is continuously performed, and it can be seen that the angular velocities are small. As a result, the driven cam accelerates during driving, but thereafter the speed is reduced by friction or brake braking, so that the speed at the timing when the vibration is output next is made smaller than the case of continuous energization. be able to.

  As shown in FIG. 6C, even if the angle θ for each period ΔT is the same as when the retraction control is performed continuously, the angular velocity ω for each period ΔT is continuously changed as shown in FIG. It can be made smaller in the retreat direction than when retreat control is performed. Accordingly, in a system in which interrupt processing is performed from the microcomputer every period ΔT, the motor current is set to the pulse Ip to drive the motor 42 and the cam plate 43 in the second direction (retraction direction) in the first half of one period of the time interval ΔT. In the latter half, the regenerative current that drives the motor 42 and the cam plate 43 in the first direction (push-up direction) becomes a braking current Ib (peak current) opposite to the motor current Ip. Take control. As a result, the driven cam accelerates during driving, but thereafter the speed is reduced by friction or brake braking, so that the speed at the timing when the vibration is output next is made smaller than the case of continuous energization. be able to.

  Note that the state where the cam plate 43 is at the reference position L1 (reference angle θ1) at the time t = t1 described above is the end state of the return operation and is not constant. In the case of the system according to the present embodiment in which the retreat operation is started from such a reference position L1 (reference angle θ1), this is a particularly advantageous effect.

(When using pulse braking)
FIGS. 7A to 7C are diagrams showing the relationship among the motor current I, the cam angular velocity ω, the cam angle θ, and the time t in the cam retracting operation in the case of pulse braking, respectively.

  FIG. 7A shows the relationship between the motor current I and time t. As shown in FIG. 4, at time t = t1, the cam plate 43 is at a reference angle θ1 corresponding to the reference position L1. With the drive control signal Vc shown in FIG. 5, the retraction operation of the cam plate 43 is started from time t = t1 on the timing of the predetermined time interval ΔT.

  The drive control signal Vc performs drive control so that the motor current becomes a pulse Ip in order to drive the motor 42 and the cam plate 43 in the second direction (retraction direction D direction) in the first half of one cycle of the time interval ΔT. In the second half, the motor 42 and the cam plate 43 are driven to drive in the first direction (push-up direction), and output is performed so as to perform drive control so that the motor current becomes pulse Ib.

  From time t = t1 to t2, the motor 42 is driven in the second direction (withdrawal direction D) by the motor current Ip by the pulse control signal to move the cam plate 43 in the withdrawal direction. Next, the motor 42 is driven in the first direction by the motor current Ib by the pulse control signal having the reverse polarity, and the cam plate 43 is braked. The total of the drive control in the retracting direction in the first half of the time interval ΔT and the braking control in the push-up direction in the second half may be a part or all of one cycle of the time interval ΔT. .

  FIG. 7B shows the relationship between the angular velocity ω of the cam plate 43 and time t. In the first half of one cycle of the time interval ΔT, the angular velocity is greatly decreased from ω (t1) to ω (t2) by driving the pulse current Ip in the retracting direction, and the angular velocity is reduced to ω by brake control with the reverse polarity pulse current Ib. Decrease gently until (t3), ω (t4). Similarly, in the next period ΔT, in the first half of one period, the angular velocity is greatly decreased from ω (t4) to ω (t5) by driving the pulse current Ip greatly in the retract direction, and the pulse current Ib having the reverse polarity is used. The angular velocity is gradually decreased to ω (t6) and ω (t7) by brake control. By continuing such control, the cam plate 43 is controlled to move to the retracted position (angle θe) where the cam plate 43 shown in FIG. 4 contacts the stopper.

  FIG. 7C shows the relationship between the angle θ of the cam plate 43 and time t. In the first half of one cycle of the time interval ΔT, the angle is greatly decreased from θ (t1) to θ (t2) by driving the pulse current Ip in the retracting direction, and the angle is set to θ by brake control with the reverse polarity pulse current Ib. Decrease gently until (t4). Similarly, in the next cycle ΔT, in the first half of one cycle, the angle is greatly decreased from θ (t4) to θ (t5) by driving the pulse current Ip in the retract direction, and the pulse current Ib having the reverse polarity is used. The angle is gradually decreased to θ (t7) by brake control. By continuing such control, the cam plate 43 is controlled to move to the retracted position (angle θe) where the cam plate 43 shown in FIG. 4 contacts the stopper.

  Here, the dotted line Lω shown in FIG. 7B indicates the relationship between the angular velocity ω and the time t when the retraction control is continuously performed. A dotted line Lθ shown in FIG. 7C indicates the relationship between the angle θ and the time t when the retraction control is continuously performed.

  As shown in FIG. 7C, even when the angles θ (t4) and θ (t7) at the times t4 and t7 are the same as the dotted line Lθ when continuously retracted, the time shown in FIG. The angular velocities ω (t4) and ω (t7) at t4 and t7 are above the dotted line Lω when the retraction control is continuously performed, and it can be seen that the angular velocities are small. That is, because the angular velocity is small in the retracting direction, the driven cam accelerates during driving, but thereafter the speed is reduced by friction or brake braking. It can be made smaller than the case of continuous energization.

  As shown in FIG. 7C, even if the angle θ for each period ΔT is the same as the case where the retraction control is continuously performed, the angular velocity ω for each period ΔT is continuously changed as shown in FIG. It can be made smaller in the retreat direction than when retreat control is performed. Accordingly, in a system in which interrupt processing is performed from the microcomputer every period ΔT, the motor current is set to the pulse Ip to drive the motor 42 and the cam plate 43 in the second direction (retraction direction) in the first half of one period of the time interval ΔT. In order to drive the motor 42 and the cam plate 43 in the first direction (push-up direction) in the latter half, the drive control is performed so that the motor current becomes the pulse Ib. As a result, the driven cam accelerates during driving, but thereafter the speed is reduced by friction or brake braking, so that the speed at the timing at which vibration may be output next is continuously energized. Can also be reduced.

  Note that the state where the cam plate 43 is at the reference position L1 (reference angle θ1) at the time t = t1 described above is the end state of the return operation and is not constant. In the case of the system according to the present embodiment in which the retreat operation is started from such a reference position L1 (reference angle θ1), this is a particularly advantageous effect.

(Effect of embodiment)
The operating device 1 according to the embodiment of the present invention has the following effects.
(1) The controller device 1 according to the embodiment of the present invention is a system in which interrupt processing is performed from a microcomputer every cycle ΔT, and the motor 42 and the cam plate 43 are secondly connected in the first half of one cycle of the time interval ΔT. In order to drive the motor 42 and the cam plate 43 in the first direction (push-up direction), the regenerative current that drives the motor 42 and the cam plate 43 in the first direction (push-up direction) is controlled. Braking control is performed so that the brake current Ib (peak current) is opposite to Ip. As a result, as shown in FIG. 6C, even if the angle θ for each period ΔT is the same as the case where the retraction control is continuously performed, the angular velocity ω for each period ΔT is equal to that shown in FIG. It can be made smaller in the retracting direction than when the retracting control is continuously performed. In other words, the driven cam accelerates during driving, but thereafter the speed is reduced by friction or brake braking, so the speed at the timing when there is a possibility of next vibration output is made smaller than when continuously energized. And the magnitude of the output vibration can be stabilized.
(2) In addition, the controller device 1 according to the embodiment of the present invention is a system in which an interrupt process is performed from the microcomputer every cycle ΔT, and the motor 42 and the cam plate 43 are installed in the first half of one cycle of the time interval ΔT. In order to drive in the second direction (retraction direction), drive control is performed so that the motor current becomes the pulse Ip, and in the latter half, the motor current is used to drive the motor 42 and the cam plate 43 in the first direction (push-up direction). Is controlled so as to become a pulse Ib. As a result, as shown in FIG. 7C, even if the angle θ for each period ΔT is the same as the case where the retraction control is continuously performed, the angular velocity ω for each period ΔT is equal to that shown in FIG. It can be made smaller in the retracting direction than when the retracting control is continuously performed. In other words, the driven cam accelerates during driving, but thereafter the speed is reduced by friction or brake braking, so the speed at the timing when there is a possibility of next vibration output is made smaller than when continuously energized. And the magnitude of the output vibration can be stabilized.
(3) According to each of the embodiments described above, it is possible to provide an operating device that can reduce the cam speed at the start of the vibration presenting operation and stabilize the magnitude of the vibration presenting operation. Further, the latter half of the control shown in the two embodiments, the braking control by the brake current Ib, and the drive control by the pulse current Ip can be combined. Thereby, it is possible to realize an operating device having further excellent controllability and stability.

[Modification]
In the operating device 1 according to the present invention, other modifications as shown below are possible.

(1) The tactile sense presenting means is not limited to the in-vehicle device, but can be applied to various terminal devices such as game machines, personal computers, and mobile phones.
(2) Even with various switch devices that do not include a touch panel, it is possible to present a tactile stimulus operation feeling to an operator's finger, and the tactile sense presenting means includes, for example, a mouse device, a keyboard, an operation knob, etc. It can also be applied to.
(3) The tactile sensation providing means may select the number of arrangement, the arrangement position, the arrangement form, etc. as appropriate according to the purpose of use, for example, and can achieve the initial object of the present invention.

  As is clear from the above description, typical embodiments, modifications, and illustrations according to the present invention have been illustrated. However, the above-described embodiments, modifications, and illustrations show the invention according to the claims. It is not limited. Therefore, it should be noted that not all the combinations of features described in the above-described embodiments, modifications, and illustrated examples are essential to the means for solving the problems of the invention.

DESCRIPTION OF SYMBOLS 1 ... Operating device, 2 ... Body, 3 ... Cover body, 4 ... Separator, 5, 6 ... Operation knob, 5a, 6a ... Pusher, 5b, 6b ... Push switch, 7 ... Control board, 8 ... Stopper, 20 ... Touch panel Device: 21 ... Base, 21a ... Elastic engagement piece, 21b ... Guide piece, 21c ... Connection piece, 21d ... Pin locking hole, 22 ... Frame, 22a ... Frame part, 23 ... Touch sensor substrate, 24 ... Touch panel, 25 Shield member 26 Click member 27 Conductive tape 28 Flexible flat cable 29 Double-sided tape 30 Push mechanism 31 Support shaft 32 Link member 32a Base 32b Support shaft Insertion hole, 32c ... arm portion, 32d ... connecting pin, 32e ... cam follower surface, 33 ... encoder, 34 ... enter switch, 35 ... stabilizer 36 ... Torsion spring, 40 ... Tactile presentation device, 41 ... Drive transmission mechanism, 42 ... Motor, 43 ... Cam plate, 43a ... Cam surface, 44 ... Housing, 45 ... Terminal, 46 ... Ground clip, 50 ... Stopper, 100 ... Drive control unit 110 ... control unit 120 drive circuit Vc drive control signal Vb brake control signal L1 reference position L2 position ΔT predetermined time interval I motor current ω cam Angular velocity, θ ... cam angle, Ib ... brake current

Claims (3)

A push operation mechanism capable of pushing the operation unit;
Tactile sensation presenting means for driving the operation unit by the drive unit via the push operation mechanism to present an operation feeling;
Driving can be started at predetermined time intervals, and the operation unit is driven to provide a tactile sensation by driving the driving unit in a first direction, and the driving unit is moved to the first after the tactile sensation driving. A drive control unit for driving in a second direction opposite to the direction,
The drive control unit performs drive control for driving the drive unit in the second direction in the first half of the predetermined time interval when driving in the second direction, and the drive unit is operated in the second half. An operating device that performs braking control for driving in a first direction.   The drive control for driving in the second direction is performed by a drive pulse for driving the drive unit in the second direction, and the brake control for driving in the first direction is performed by driving the drive unit to the first direction. The operation device according to claim 1, wherein the operation device is operated by braking in a direction. The drive control for driving in the second direction is performed by a drive pulse for driving the drive unit in the second direction, and the brake control for driving in the first direction is performed by driving the drive unit to the first direction. The operating device according to claim 1, wherein the operating device is driven by a driving pulse driven in a direction.

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