JP6786878B2 - Vibration generator and vibration generation method - Google Patents

Description

The present invention relates to a technique for generating vibration.

Facilities such as train stations and stadiums where events are held are crowded with people passing by. This crowded state not only hinders pedestrians from walking, but also induces problems such as injuries due to falls, which can be a problem for facility operators such as railway companies and stadiums.

For this reason, there are a wide variety of technologies for alleviating such congestion. For example, guidance blocks and Braille blocks are laid to assist the visually impaired in walking. The visually impaired person senses the convex portion of the guiding block or the Braille block by the feeling transmitted to the cane or the sole of the foot, and determines the walking course based on the information obtained from the shape of the convex portion or the like. However, for people with disabilities, strollers, wheelchairs, carry-backs, etc., the protrusions of the guidance blocks and Braille blocks may obstruct the passage. ..

Against this background, Patent Document 1 discloses a technique for inducing a visually impaired person by vibrating a derivative forming the same surface as the road surface.

Further, Patent Document 2 discloses a specific device (mechanism or method) for presenting a tactile force sense (haptic). For example, in the device disclosed in Patent Document 2, two eccentric rotors are arranged on the rotational coaxial in a tubular grip portion gripped by a person, and the phase relationship and rotation direction of these eccentric rotors are determined. Torque (force sense) is presented to the grasped hand depending on variations such as rotation speed. Further, Patent Document 3 discloses a configuration in which two weights that move linearly are arranged in parallel, and a force sense based on movement or rotation in one direction is presented depending on how the weights are moved.

In addition, Patent Document 4 relates to a press device, and the cited document 4 shows a configuration in which a universal joint or an eccentric cam is used for a movable portion. Patent Document 5 relates to a technique for solidifying the ground or the like by using a roller, and Patent Document 5 discloses a configuration in which a roller is vibrated by using an eccentric weight. Patent Document 6 discloses a configuration in which an annular disc attached to a camshaft is moved at a non-constant velocity.

JP-A-2016-030932 Japanese Unexamined Patent Publication No. 2005-190465 JP-A-2010-102613 Japanese Unexamined Patent Publication No. 2000-21701 Japanese Unexamined Patent Publication No. 10-244223 Japanese Unexamined Patent Publication No. 8-260923

The configuration shown in Patent Documents 2 and 3 is a configuration that gives a tactile sense to a person by an impact generated by moving a weight. In these configurations, it is conceivable to increase the weight in order to increase the sense of tactile force given to the person. Further, in the configuration shown in Patent Document 3, it is conceivable to variably control the speed and displacement direction of the weight.

However, increasing the weight or adding a configuration for variably controlling the speed and displacement direction of the weight to the configuration shown in Patent Document 3 causes a problem that the device becomes large and the configuration becomes complicated. To do.

The present invention has been devised to solve the above problems. That is, a main object of the present invention is to provide a technique which has a simple and compact structure and can easily increase the tactile force sense.

In order to achieve the above object, the vibration generator of the present invention has a uniform phase thereof.
A rotary drive device that generates a rotational force that is the basis of constant velocity rotational motion,
A conversion component that receives the rotational force from the rotational drive device and converts the rotational force into a rotational force that is the basis of non-constant rotational motion.
An eccentric cam that rotates at a non-constant velocity due to the rotational force after conversion by the conversion component,
It includes a vibrating body that vibrates at a non-constant velocity according to the rotation of the eccentric cam.

Further, the vibration generation method of the present invention has a uniform phase thereof.
The rotation drive device generates a rotational force that is the basis of constant-velocity rotational movement.
By a conversion component that converts the rotational force that is the basis of the constant velocity rotational motion into the rotational force that is the basis of the non-constant velocity rotational motion, the rotational force by the rotational drive device is used as the basis of the non-constant velocity rotational motion. Converted to rotational force,
The eccentric cam is rotated at a non-constant velocity by the rotational force after conversion.
The vibrating body is vibrated at an unequal velocity in response to the rotation of the eccentric cam.

According to the present invention, it is easy to increase the sense of tactile force with a simple and compact configuration.

It is a block diagram which shows the structure of the vibration generator of 1st Embodiment which concerns on this invention in a simplified manner. It is sectional drawing which shows typically the structure of the vibration generator of 2nd Embodiment which concerns on this invention. It is a simplified plan view when the vibration generator shown in FIG. 2 is seen from the upper side of FIG. It is a figure explaining one of the functions of a universal joint. It is sectional drawing which shows typically the structure of the vibration generator of 3rd Embodiment which concerns on this invention. It is sectional drawing which shows typically the structure of the vibration generator of 4th Embodiment which concerns on this invention.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.

<First Embodiment>
FIG. 1 is a block diagram showing a simplified configuration of the vibration generator according to the first embodiment of the present invention. The vibration generator 1 of the first embodiment includes a rotation drive device 3, a conversion component 4, an eccentric cam 5, and a vibrating body 6. The rotation drive device 3 has a configuration for generating a rotational force that is the basis of a constant-velocity rotational movement. The conversion component 4 has a configuration in which it receives a rotational force from the rotational drive device 3 and converts the rotational force into a rotational force that is the basis of non-constant rotational motion.

The eccentric cam 5 rotates due to the rotational force after conversion by the conversion component 4. The rotational movement of the eccentric cam 5 is non-constant because the rotational force after conversion by the conversion component 4 is utilized. The vibrating body 6 vibrates at an unequal velocity according to the rotation of the eccentric cam 5.

The vibration generator 1 of the first embodiment has a configuration in which the tactile force sensation is not given to a person by the impact caused by the movement of the weight, but is given by the non-constant velocity vibration by the vibrating body 6. In this configuration, the tactile force sense by the vibrating body 6 can be increased by changing the state of the non-constant vibration of the vibrating body 6 without increasing the vibrating body 6. Further, the state of the non-uniform vibration of the vibrating body 6 can be adjusted by, for example, changing the rotation speed of the rotational motion in the rotation driving device 3, so that the variable control can be easily performed. Therefore, the vibration generator 1 of the first embodiment has a simple and compact configuration, and can easily obtain an effect that the tactile force sense can be increased.

<Second Embodiment>
The second embodiment according to the present invention will be described below.

FIG. 2 is a cross-sectional view schematically showing the configuration of the vibration generator of the second embodiment. FIG. 3 is a simplified plan view of the vibration generator shown in FIG. 2 when viewed from above in FIG. The vibration generator 20 of the second embodiment is roughly a rotary drive device, a motor 21, a universal joint 22, a gear 23, an electromagnetic clutch 24, an eccentric cam 25, and a vibrating body. It has a stage 26 and a base 31.

That is, the motor 21 is fixed to the bottom plate 28 by a fixing member 29. The motor 21 is connected to an input shaft 22A provided on the universal joint 22 and rotates the input shaft 22A around its central shaft. The rotation of the input shaft 22A by the motor 21 is a constant velocity motion. Further, here, the input shaft 22A is arranged in a state where the central shaft is tilted with respect to the plate surface of the bottom plate 28.

The output shaft 22B provided on the universal joint 22 is inserted into the central portion of the gear 23B constituting the gear 23 and can rotate integrally with the gear 23B. Further, a base 31 is arranged on the tip end side of the output shaft 22B. The base 31 has a plate shape, and is arranged side by side on the bottom plate 28 so that the plate surface is parallel to the plate surface of the bottom plate 28. The base 31 is supported by the bottom plate 28 by the columns 34. The tip of the output shaft 22B of the universal joint 22 is fitted to a bearing portion 32 provided on the base 31 and supported by the base 31. The bottom plate 28, the base 31, and the support column 34 are often made of a metal material (aluminum, stainless steel, iron, etc.), but are made of a resin material depending on the strength and durability required according to the application. May be good.

In the second embodiment, the output shaft 22B of the universal joint 22 is arranged so that its central axis is orthogonal to the plate surface of the bottom plate 28 (base 31). That is, the central axis of the input shaft 22A and the central axis of the output shaft 22B form an angle.

By the way, when the central axis of the input shaft 22A and the central axis of the output shaft 22B of the universal joint 22 intersect, the input shaft 22A and the output shaft 22B are connected due to the structure of the connecting (joint) portion of the universal joint 22. The angular velocities ω1 and ω2 have a relationship represented by the equation (1).

In the equation (1), ω1 represents the angular velocity of the input shaft 22A, and ω2 represents the angular velocity of the output shaft 22B. θ represents the rotation angle of the input shaft 22A. As shown in FIG. 4, α represents the intersection angle between the central axis of the input shaft 22A and the central axis of the output shaft 22B.

That is, in the universal joint 22, the output shaft 22B performs a non-constant rotational motion of repeating acceleration and deceleration with a cycle of 1/2 rotation in response to the constant velocity rotational motion of the input shaft 22A. In other words, the universal joint 22 has a function as a conversion component that converts the rotational force that is the basis of the constant velocity rotational motion into the rotational force that is the basis of the non-constant velocity rotational motion.

The gears 23A paired with the gears 23B to form the gears 23 are arranged in a state of being meshed with the gears 23B. In the second embodiment, since the universal joint 22 is connected to the gear 23B, the gears 23A and 23B are configured so that the gear ratio between the gear 23A and the gear 23B is 1: 2. An electromagnetic clutch 24 is provided at the center of the gear 23A, and a rotary shaft 36 is inserted through the electromagnetic clutch 24. The electromagnetic clutch 24 has a function of controlling the transmission of rotational force from the gear 23A to the rotating shaft 36.

One end side of the rotating shaft 36 is fitted to a bearing portion 37 provided on the bottom plate 28 and supported by the bottom plate 28. The other end side of the rotating shaft 36 passes through the bearing portion 38 provided on the base 31 and projects upward from the base 31 in FIG.

A disk-shaped eccentric cam 25 is arranged on the upper side of the base 31 in FIG. 2. The tip end side of the rotating shaft 36 on the base 31 side is inserted through the rotation center portion of the eccentric cam 25. The rotation center portion P (see FIG. 3) of the eccentric cam 25 is set at a position deviated from the center portion of the eccentric cam 25. A protrusion 40 is formed on the eccentric cam 25. In the second embodiment, the two protrusions 40 are arranged so as to be arranged on the same straight line passing through the rotation center portion P of the eccentric cam 25.

Further, a disk-shaped stage 26 is arranged on the upper side of the base 31 in FIG. 2. The stage 26 is supported by the base 31 via a bearing (bearing ball) 42. A circular fitting hole 41 is formed in the stage 26. The protrusion 40 of the eccentric cam 25 is fitted into the fitting hole 41.

Further, the stage 26 is provided with an elongated hole (slit) 43. In the second embodiment, there are a plurality of (two) elongated holes 43 provided in the stage 26, and the longitudinal directions of the elongated holes 43 are aligned in the same direction. Further, the base 31 is provided with an elongated hole 44 extending in a direction orthogonal to the longitudinal direction of the elongated hole 43. The elongated holes 43 and 44 are paired in a one-to-one manner, and the paired elongated holes 43 and 44 are arranged so that a part of the elongated holes 43 and 44 overlap each other. Further, a common stopper 45 is inserted through the pair of elongated holes 43 and 44. The stopper 45 is supported by the stage 26 and the base 31 in a slidable state in the elongated holes 43 and 44 by using, for example, an E ring (not shown). The elongated holes 43 and 44 and the stopper 45 form a displacement limiting mechanism that regulates the displacement range of the stage 26.

The vibration generator 20 of the second embodiment is configured as described above. In the vibration generator 20, the input shaft 22A of the universal joint 22 rotates at a constant velocity due to the rotational drive of the motor 21, and the output shaft 22B rotates at a non-constant velocity in response to the rotational motion of the input shaft 22A. To do. Further, the gears 23A and 23B of the gear 23 are driven according to the rotational movement of the output shaft 22B, the rotary shaft 36 is rotated, and the eccentric cam 25 is rotationally moved around the rotation center portion P. As a result, the protrusion 40 of the eccentric cam 25 is rotationally displaced so as to draw a circular orbit centered on the rotation center P of the eccentric cam 25 while pressing the inner peripheral surface of the fitting hole 41 of the stage 26. The stage 26 does not rotate because the displaceable range is regulated by the elongated holes 43 and 44 and the stopper 45, but the displacement direction is the rotation center of the eccentric cam 25 due to the pressing force from the protrusion 40. It is displaced so as to draw a circular orbit centered on the part P. The movement of the stage 26 becomes the same movement (that is, vibration) as the fast-returning movement due to the non-uniform rotational movement of the eccentric cam 25, and gives a person a tactile sensation as if it is vibrating in one direction. Can be done. In this second embodiment, the vibration direction of such a stage 26 can be controlled by controlling the phase of rotation of the rotating shaft 36 (eccentric cam 25) with respect to the rotational movement of the gear 23B of the gear 23 by the electromagnetic clutch 24. ..

Similar to the vibration generator of the first embodiment, the vibration generator 20 of the second embodiment has a simple and compact configuration, and can easily obtain an effect that the tactile force sense can be increased. .. In particular, in the second embodiment, since the universal joint 22 is used as the conversion component, the configuration of the conversion component is simple, and it becomes easier to reduce the size of the vibration generator 20.

Further, the vibration generator 20 of the second embodiment has a configuration in which a gear 23 is interposed in a path for transmitting a rotational force from the universal joint 22 to the eccentric cam 25. Therefore, the vibration generator 20 can control the speed of vibration by the stage 26 with a simple configuration.

Further, since the vibration generator 20 of the second embodiment has a configuration in which the vibration direction of the stage 26 can be controlled by the electromagnetic clutch 24, variable control of the vibration direction can be easily realized. This and the ability to provide a large tactile force sense make it possible for the vibration generator 20 to be applied to a guidance system that performs directional guidance using the tactile force sense.

Further, the vibration generator 20 of the second embodiment has a configuration for regulating the displacement range of the stage 26. Therefore, even if the stage 26 receives a force due to the rotational movement of the eccentric cam 25, the stage itself can perform the same movement as the quick return movement without rotating.

Further, since the stage 26 moves along the base 31, the height of the vibration generator 20 can be reduced.

<Third Embodiment>
The third embodiment according to the present invention will be described below. In the description of the third embodiment, the same operation parts as the constituent parts of the vibration generator of the second embodiment are designated by the same reference numerals, and duplicate description of the common parts will be omitted.

FIG. 5 is a cross-sectional view showing a simplified configuration of the vibration generator of the third embodiment. The vibration generator 20 of the third embodiment is provided with a configuration (a configuration of phase control of the gear 23) for controlling the vibration direction of the stage (vibrating body) 26 instead of the electromagnetic clutch 24 of the second embodiment. .. That is, in the vibration generator 20 of the third embodiment, the electromagnetic clutch 24 is omitted, and the vibration generator 20 of the third embodiment further includes a gear 48 and a motor in addition to the configuration of the second embodiment. It includes 49 and a bracket 50. The gear 48 has gears 48A and 48B, and the rotary shaft 36 is inserted into the center of the gear 48A and is supported by the rotary shaft 36 via a bearing portion 52. The gear 48B is arranged so as to mesh with the gear 48A. Further, the motor 49 is fixed to the bottom plate 28. The shaft of the motor 49 is inserted through the center of the gear 48B, and the gear 48B rotates by receiving the rotational force of the motor 49.

The motor 21 is fixed to the gear 48A instead of being fixed to the bottom plate 28. The bracket 50 is arranged between the gear 23 and the base 31, and the rotating shaft 36 is inserted into the central portion thereof and supported by the rotating shaft 36 via the bearing portion 53. The bracket 50 rotates integrally with the rotating shaft 36. The bracket 50 and the gear 48A are connected by a connecting member 55.

The tip end side of the output shaft 22B of the universal joint 22 is supported and fixed to a bearing portion 54 formed on the bracket 50 instead of being supported by the base 31.

The vibration generator 20 of the third embodiment is configured as described above. In the vibration generator 20 of the third embodiment, the gear 48B is rotated by the rotational drive of the motor 49, and the gear 48A is also rotated accordingly. The rotational force due to the rotational movement of the gear 48A is transmitted to the rotary shaft 36. The force from the gear 48 to the rotary shaft 36 controls the phase of the gear 23A in the gear 23 (that is, the vibration direction of the stage 26).

The vibration generator 20 of the third embodiment can also obtain the same effect as the vibration generator 20 of the second embodiment. Further, the vibration generator 20 of the third embodiment has a configuration in which the vibration direction of the stage 26 is controlled by using a motor 49 and a gear 48 instead of the electromagnetic clutch 24. For this reason, the vibration generator 20 of the third embodiment is slightly larger than the case where the electromagnetic clutch 24 is used, but since the configuration is simple, it is less likely to break down and maintenance is easy. The effect of becoming can be obtained.

<Fourth Embodiment>
The fourth embodiment according to the present invention will be described below. In the description of the fourth embodiment, the same operation parts as the constituent parts of the vibration generators of the second and third embodiments are designated by the same reference numerals, and duplicate description of the common parts will be omitted.

FIG. 6 is a cross-sectional view showing a simplified configuration of the vibration generator of the fourth embodiment. The vibration generator 20 of the fourth embodiment controls the vibration direction of the stage (vibrating body) 26 with a configuration different from the configuration described in the third embodiment. The other configurations of the vibration generator 20 of the fourth embodiment are the same as those of the third embodiment.

That is, the vibration generator 20 of the fourth embodiment also controls the vibration direction of the stage 26 by using the gear 48 and the motor 49 as in the third embodiment. However, in the third embodiment, the motor 21 is mounted on the gear 48A of the gear 48, whereas in the fourth embodiment, the motor 21 is fixed to the bottom plate 28 as in the second embodiment.

That is, in the fourth embodiment, the motor 21 is fixed to the bottom plate 28 and supported by the base 31 via the universal joint 22. Further, the gear 23 includes gears 23C and 23D in addition to the gears 23A and 23B. A rotary shaft 36 is inserted through the center of the gear 23D, and the gear 23D is supported by the rotary shaft 36 via a bearing portion 57. The gear 23D is arranged so as to mesh with the gear 23B.

A shaft 58 is inserted through the center of the gear 23C, and the gear 48 is connected to the gear 48A of the gear 48 by the shaft 58. The gear 23C is arranged so as to mesh with the gear 23D and the gear 23A.

In the example of FIG. 6, the motor 49 is fixed to the bottom plate 28 via the fixing member 59.

The vibration generator 20 of the fourth embodiment can obtain the same effect as that of the second and third embodiments. Further, in the fourth embodiment, since the motor 21 is fixed, the wiring route for supplying electric power to the motor 21 should be taken into consideration as compared with the case where the motor 21 is displaced as in the third embodiment. However, it is possible to design the gear 48.

<Other Embodiments>
The present invention is not limited to the first to fourth embodiments, and various embodiments can be adopted. For example, a bearing roller (cam follower) may be provided on the movable portion of the eccentric cam 25 in the vibration generator 20 of the second to fourth embodiments. Further, in the second to fourth embodiments, the stage 26 is circular, but may have a shape other than the circular shape. Further, although the shape of the eccentric cam 25 is circular, it may be a shape other than the circular shape depending on the specifications of the vibration mode in the vibration generator.

Further, in addition to the configuration of the vibration generator 20 of the second to fourth embodiments, a member for protecting the stage 26, the eccentric cam 25, and the like may be provided depending on the application.

1,20 Vibration generator 3 Rotation drive device 4 Conversion parts 5,25 Eccentric cam 6 Vibrator 21,49 Motor 22 Universal joint 23,48 Gear 24 Electromagnetic clutch 26 Stage

Claims (5)

A rotary drive device that generates a rotational force that is the basis of constant velocity rotational motion,
A conversion component that receives the rotational force from the rotational drive device and converts the rotational force into a rotational force that is the basis of non-constant rotational motion.
An eccentric cam that rotates at a non-constant velocity due to the rotational force after conversion by the conversion component,
A vibrating body that vibrates at an unequal velocity in response to the rotation of the eccentric cam ,
A vibration generator provided separately from the rotation drive device and including a motor for controlling the rotation phase of the eccentric cam . The vibration generator according to claim 1, wherein the conversion component is a universal joint. The vibration generator according to claim 1 or 2, wherein a gear is interposed in a path for transmitting a rotational force from the conversion component to the eccentric cam . The vibration generator according to any one of claims 1 to 3 , further comprising a displacement limiting mechanism for regulating the displacement of the eccentric cam. The rotation drive device generates a rotational force that is the basis of constant-velocity rotational movement.
By a conversion component that converts the rotational force that is the basis of the constant velocity rotational motion into the rotational force that is the basis of the non-constant velocity rotational motion, the rotational force by the rotational drive device is used as the basis of the non-constant velocity rotational motion. Converted to rotational force,
The eccentric cam is rotated at a non-constant velocity while the phase is controlled by the rotational force after conversion and by the motor that controls the rotational phase of the eccentric cam.
A vibration generation method in which a vibrating body is vibrated at an unequal velocity in response to the rotation of the eccentric cam.

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