TW202326366A - Operated device and device for operating - Google Patents

Abstract

Provided are an operated device and a device for operating that are usable in a game controller or the like that accepts tilting operations, the devices being capable of controlling the operating load associated with tilting. The present invention is applied to an operated device 2, which comprises a tilting body 21 that accepts an operation for tilting from a reference position around a center of tilt and which operates an object of operation according to the tilted state of the tilting body 21, and to a device for operating that incorporates the operated device 2. The tilting body 21 has a pressed part 213 on an end thereof, the pressed part 213 having a spread in a direction orthogonal to a central axis passing through the center of tilt. The operated device 2 and the like comprise: a pressing member 240 that presses the pressed part 213 in a direction proceeding toward the center of tilt and parallel to the central axis in the case in which the tilting body 21 is located at the reference position; a first biasing member 241 that biases the pressing member 240 toward the center of tilt; and a drive mechanism 25 that uses a gear to perform operation of pressing the pressing member 240 toward the center of tilt.

Description

Operated device and operating device

The present invention relates to an operated device including a pouring body that accepts an operation from the outside, and an operating device including the operated device.

An operated device called a joystick has been widely used as an operated device that operates to operate various devices such as computer games, various toys, and industrial robots. In the operated device in the form of a joystick, by tilting the joystick in various directions, the operation object moves in the tilting direction, so intuitive operation can be performed. As such an operated device, for example, Patent Document 1 proposes a variable resistance type indicating element that detects a tilt by using a variable resistance disposed on each of the XY axes. [Prior art literature] [Patent Document]

[Patent Document 1] Taiwan Utility Model No. 371503

[Problem to be Solved by the Invention]

For example, with computer games, new entertainment is always sought with regard to the structure for recognizing situations. Furthermore, even when a machine such as an industrial robot is used as an operation object, a structure for recognizing the operation state by various methods is required. The variable resistive indicating element proposed in Patent Document 1 is merely a device for inputting operations, and does not consider a configuration for recognizing the status of such operations.

The present invention has been made in view of the above circumstances, and its main object is to provide an operated device capable of changing the load related to the operation in order to recognize the state of the operated object.

Furthermore, another object of the present invention is to provide an operating device including such an operated device. [Means to solve the problem]

In order to solve the above-mentioned problems, the operated device disclosed in this application includes a dumping body that accepts an operation of tilting from a reference position centering on the tilting center, and operates an operation object according to the tilting state of the dumping body. , the operated device is characterized in that the pouring body has a pressed portion at the end, and the pressed portion has an extension toward a direction perpendicular to a central axis passing through the pouring center, and the operated device It includes: a pressing member for pressing the pressed portion in a direction parallel to the central axis when the pouring body is at a reference position and toward the pouring center; a force applying member for pressing the pressed portion toward the pouring center. a pressing member biases; and a drive mechanism that uses a gear to press the pressing member toward the pouring center.

Furthermore, the operated device is characterized in that the drive mechanism includes a power unit that performs rotational motion, and the gear converts the rotational motion of the power unit into a motion capable of pressing the pressing member.

Moreover, the device to be operated is characterized in that the drive mechanism includes: a power part that performs rotational motion; and a pinion and a rack as the gear, and the pinion is linked to the rotational motion of the power part to When rotating, the rack can be engaged with the pinion to operate, and the action of pressing the pressing member is performed by the action of the rack transmitting the rotational motion of the power unit.

Furthermore, the operated device is characterized in that the rack is formed in an arc shape.

In addition, the device to be operated is characterized in that the pouring body is operated to be pressed in a direction parallel to the center axis when located at the reference position and opposite to the direction pressed by the pressing member, and is directed toward the direction opposite to the direction pressed by the pressing member. The pressed operation direction moves in a substantially parallel direction, and the operated device includes a detection unit that detects movement of the pouring body.

Furthermore, the operating device described in the present application is characterized by comprising: the operated device; and a component that outputs a signal to the operated device to drive the driving mechanism included in the operated device, based on An operation signal of the operation of the pouring body included in the operated device is output to the outside. [Effect of the invention]

The operated device and the operating device of the present invention have the excellent effect that since the pouring body is pressed by the drive mechanism operated by gears, the load related to the operation can be varied.

＜Application example＞ Embodiments will be described below with reference to the drawings. The operated device disclosed in this application is a device that is operated by an operator. The operated device is incorporated in an operating device such as a joystick-type controller that outputs an operation signal for operating an operation object. The operating device disclosed in this application is used, for example, as a joystick-type controller, and can be used to operate various operating objects such as various toys, various mobile objects, various measuring devices, and industrial robots, in addition to computer games. Hereinafter, an operating device 1 applied to a joystick-type controller and an operated device 2 incorporated in the operating device 1 as an operating mechanism will be described below with reference to the drawings.

＜Device for operation＞ FIG. 1 is a schematic perspective view showing an example of the appearance of an operating device 1 incorporating an operated device 2 disclosed in the present application. The operation device 1 includes a frame body 10 in which grip parts 11 for gripping with the right hand and the left hand are formed at both ends. When gripping the grip parts 11 at both ends, the position on the upper surface where fingers touch has a substantially circular opening, and the operation part 12 for manipulating the operation object protrudes from the housing 10 through the opening. The operation unit 12 is attached to a later-described shaft member 20 included in the operation device 2 incorporated in the operation device 1 (see FIG. 3 and the like). Furthermore, on the upper surface side, a plurality of operation buttons 13 are arranged at positions where the operator's fingers can be pressed. In the operation device 1 illustrated in FIG. 1 , both an operated device 2 for detecting an operation based on a right-hand operation and an operated device 2 for detecting an operation based on a left-hand operation are housed in a single housing 10 . The station is operated by device 2. The operator can perform operations such as a tilting operation for tilting the shaft member 20 , a pressing operation for pushing inward of the housing 10 , and the like on the operation portion 12 . Furthermore, in this application, for convenience of description, the upper side when the operator performs operations in a normal posture, that is, the side where the operation buttons 13 are arranged and the operation portion 12 protrudes is referred to as the upper side.

FIG. 2 is a schematic perspective view showing an example of the appearance of the manipulation device 1 disclosed in the present application. FIG. 2 shows another form of the operating device 1 . The operating device 1 illustrated in FIG. 2 incorporates various mechanisms such as a device to be operated 2 in a single housing 10, and is formed as a controller for one-handed operation. For example, when it is applied to a controller of an industrial robot, it is considered that one hand is used to operate the operation device 1 of the present invention, and the other hand is used to perform other operations, which is particularly effective. Furthermore, it is also effective as a game controller for grasping different operation devices 1 with left and right hands.

<operated device> <First Embodiment> Next, the operated device 2 will be described. The operated device 2 can be realized in various forms. Various forms of the operated device 2 will be described below.

＜Structure＞ 3 and 4 are schematic perspective views showing an example of the operated device 2 disclosed in the present application. FIG. 5 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application. FIG. 6 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application. 3 to 6 illustrate the operated device 2 incorporated in the operating device 1 disclosed in the present application. FIG. 6 is a schematic cross-sectional view showing a cross section of the internal structure of the operated device 2 cut along the vertical plane A-B shown in FIG. 3 . The operated device 2 includes various members related to operation such as a shaft member 20 , a pouring body 21 , a holding member 22 , and a detection unit 23 . Furthermore, the operated device 2 includes: a supporting mechanism 24 supported on a substrate (not shown) on which members such as the holding member 22 are built into the operating device 1; Various members of the mechanism 25 and the like. In the following description, as shown in FIGS. 3 to 6 , a state in which a virtual central axis parallel to the longitudinal direction of the shaft member 20 and passes through the center of the pouring body 21 is perpendicular is defined as a reference posture.

The shaft member 20 has a long rod shape, and the operation part 12 can be attached to the upper end as illustrated in FIGS. 1 and 2 . The lower portion of the shaft member 20 is formed to be inserted into a substantially cylindrical insertion portion 210 formed in the pouring body 21 and protrudes from the upper end of the pouring body 21 . The upper part of the shaft member 20 is processed into a shape in which the operation part 12 can be attached. The shaft member 20 is inserted into the insertion portion 210 of the pouring body 21 , and is held by the insertion portion 210 so as to be rotatable in the circumferential direction.

The pouring body 21 is a substantially spherical hollow member, and a substantially cylindrical insertion portion 210 through which the shaft member 20 is inserted is formed in a shape attached to a substantially spherical body portion 211 . An opening 212 through which the connecting wire 230 of the detection unit 23 passes is opened on a side surface of the spherical body 211 , and the connecting wire 230 passes through the opening 212 and extends to the outside. The opening 212 is opened in an oval shape extending in the longitudinal direction. At the lower end of the pouring body 21, a pressed portion 213 having a substantially disk shape is formed.

The pouring body 21 receives an operation from the outside (operator) via the operation unit 12 and the shaft member 20, and operates according to the operation. The movement of the pouring body 21 according to the operator's operation is the movement with respect to the imaginary central axis parallel to the longitudinal direction of the shaft member 20 and passing through the center of the pouring body 21 . Specifically, the movement of the shaft member 20 is: a movement in which the central axis falls with the center of the pouring body 21 as a fulcrum, a movement in which the central axis rotates in the circumferential direction, and a movement in the vertical direction (the direction in which the central axis extends). action. When the shaft member 20 is tilted, the tilting body 21 is coupled with the shaft member 20 to tilt around the center as a fulcrum. When performing an operation of moving the shaft member 20 up and down, the pouring body 21 performs the operation of moving up and down in conjunction with the operation of the shaft member 20 . The pouring body 21 does not cooperate with the rotation of the shaft member 20 .

The holding member 22 is a member arranged so as to cover the pouring body 21, and its external shape is formed in a substantially spherical shape. The inner surface of the holding member 22 is formed in a substantially concave spherical shape along the outer surface of the pouring body 21 , and holds the pouring body 21 operable from the outside. The holding member 22 is assembled by combining two laterally separable half bodies 22a, and a slide ring 220 is incorporated so as to be sandwiched inside the half bodies 22a. The slide ring 220 is formed in a substantially annular shape in plan view. More specifically, it is in the shape of a roughly spherical band cut at two horizontal planes. The slide ring 220 is formed of a resin such as polyacetal (POM), polyamide (PA), polytetrafluoroethylene (PTFE) with a low coefficient of friction. The pouring body 21 held by the holding member 22 is operably held while abutting against the slide ring 220 . Since the pouring body 21 performs operations such as pouring while maintaining a state of being in contact with the slide ring 220 , the slide ring 220 reduces the frictional force generated during the operation.

In the support mechanism 24 mounted on the lower part of the holding member 22, a pressing member 240, a first biasing member 241, a movable member 242, a fixed member 243, a first shaft supporting part 244, a second biasing member 245, Various components such as the detection unit 246 are pressed down.

The pressing member 240 incorporated in the support mechanism 24 is a member that presses the pressed portion 213 at the lower end of the pouring body 21 from below to above. The upper part of the pressing member 240 is a disk-shaped disk portion 2400 , and the peripheral edge of the disk portion 2400 extends downward to form a cylindrical cylindrical portion 2401 . Further, a substantially columnar pusher 2402 extending downward from the vicinity of the center of the lower surface of the disc portion 2400 of the pressing member 240 is arranged. In the support mechanism 24 , an annular groove in a planar view into which the cylindrical portion 2401 of the pressing member 240 is fitted with a slight play is formed. The pressing piece 2402 penetrates downward through the through hole formed in the lower part of the support mechanism 24 . The lower end of the pressing member 2402 abuts against the drive mechanism 25 and receives upward pressure from the drive mechanism 25 . The cylindrical portion 2401 of the pressing member 240 is loosely fitted in the groove and moves up and down. Further, in the groove, a first urging member 241 using a return spring such as a compression coil spring is arranged. The lower end of the first urging member 241 is fixed to the inner bottom surface of the groove, and the upper end abuts against the pressing member 240 to urge the pressing member 240 upward. When the first urging member 241 urges the pressing member 240 upward, the pressing member 240 abuts against the pressed portion 213 formed at the lower end of the pouring body 21 on the upper surface, and presses the pressed portion 213 upward. Thereby, even when the tilting body 21 is manipulated to perform a tilting operation, it can be operated so as to return to the reference posture.

The operated device 2 disclosed in this application supports a so-called click operation in which the operation portion 12 is pressed down. When the operated device 2 accepts the operation of pressing the operation portion 12, the shaft member 20 moves downward in the extending direction of the central axis, and the pouring body 21 on which the shaft member 20 is mounted and the holding member 22 holding the pouring body 21 are linked to each other. The shaft member 20 operates downward. The support mechanism 24 includes various members such as the movable member 242 , the fixed member 243 , the first shaft support portion 244 , the second urging member 245 , and the push-down detection portion 246 described above as a mechanism for supporting the pressing operation.

The movable member 242 is fixed to the lower end of the holding member 22, and performs a swinging motion as it is pushed down. The fixed member 243 supports the movable member 242 swingably. The fixed member 243 swingably supports the movable member 242 by the first shaft support portion 244 using the shaft support pin, and the movable member 242 swings with the first shaft support portion 244 as a swing fulcrum. On the upper part of the fixed member 243, the second urging member 245 using a return spring such as a compression coil spring is arranged, and the second urging member 245 urges the movable member 242 upward. The pressing detection unit 246 is arranged between the movable member 242 and the fixed member 243 , and is configured using a member such as a tactile switch or a pressure sensor that receives a press based on the downward movement of the movable member 242 . Accordingly, the push detection unit 246 has a function of detecting a push operation, generating an operation tactile sensation called a click feeling, and the like.

In the operated device 2, in conjunction with the downward movement of the shaft member 20 based on the pressing operation of the operation part 12, the movable member 242 swings downward with the first shaft support part 244 as a swing axis, and presses the tactile switch, Press down detection unit 246 such as a pressure sensor. In the operated device 2 , since the movable member 242 swings at a small angle by the push operation, the swinging motion of the shaft member 20 can be considered to be substantially the same as a small up and down movement. That is, the movable member 242 and the pouring body 21 disposed on the movable member 242 and through which the shaft member 20 passes are linked to the downward movement of the shaft member 20 by the pressing operation, and move substantially parallel to the operation direction of the pressing operation. move below. The term "approximately parallel" here refers to parallel (downward) or an angle slightly inclined from parallel in consideration of the swing angle, and refers to an angle within a range considered to be substantially parallel. The pressing detection unit 246 detects the pressing force of the movable member 242 , and outputs an electrical signal indicating the downward movement of the shaft member 20 through the connection line 230 branched from the detection unit 23 . When the pressing of the operation part 12 is released, members such as the shaft member 20 , the pouring body 21 , the holding member 22 , and the movable member 242 are biased by the second biasing member 245 to return to the reference position.

The detecting unit 23 includes components such as a magnet 231 fixed to the inner bottom of the lower end of the pouring body 21 and a magnetic field sensor 232 for detecting a magnetic field, in addition to the above-mentioned connecting wire 230 . The magnet 231 is formed of a flat substantially cylindrical permanent magnet, and is arranged so that its magnetic poles face in a direction parallel to the central axis. In this application, the direction of the magnetic poles means the direction connecting two magnetic poles. Therefore, for example, an embodiment in which the arrangement of the magnets 231 is fixed such that the N pole faces upward and the S pole faces downward can be exemplified. The magnetic field sensor 232 is disposed near the center of the spherical portion 211 of the pouring body 21 . The magnetic field sensor 232 is configured using electronic components such as a Hall IC (Integrated Circuit, IC) that detects a magnetic field and outputs an electrical signal based on the detected magnetic field. The magnetic field detected by the magnetic field sensor 232 is output to the outside through the connection line 230 as an electric signal.

7 and 8 are schematic exploded perspective views showing an example of the operated device 2 disclosed in the present application. 9 and 10 are schematic perspective views showing an example of a part of the drive mechanism 25 included in the operated device 2 disclosed in the present application. FIG. 7 is shown from a viewpoint obliquely above, and FIG. 8 is shown from a viewpoint obliquely below. The drive mechanism 25 is attached to the lower portion of the support mechanism 24, and performs an operation of pressing the pressing member 240 from the bottom toward the center of the tilting upward. In the drive mechanism 25 , various components such as a mount 250 , a power unit 251 , and a gear 252 are incorporated. The gear 252 includes a swingable operating body 2520 (rack) and a first gear 2521 , a second gear 2522 , and a third gear 2523 (pinion gears) using spur gears. FIG. 9 is a perspective view showing members including the mounting base 250 , the power unit 251 , and a plurality of spur gears in the gear 252 included in the drive mechanism 25 , and is shown from an obliquely upper perspective. FIG. 10 shows the operating body 2520 included in the drive mechanism 25 and a part of the supporting mechanism 24 on which the operating body 2520 is swingably mounted, from an oblique perspective.

The drive mechanism 25 will be further described using FIGS. 7 to 10 . The mount 250 is a member to which various members such as the power unit 251 included in the drive mechanism 25 and spur gears can be mounted. The power part 251 is an electric motor installed on the mounting table 250 , and the rotating shaft included in the power part 251 rotates by energizing the power part 251 . The direction of rotation and the speed of rotation of the shaft can be controlled by the direction and voltage of the current.

The gear 252 includes an operating body 2520 functioning as a rack. The operating body 2520 has an elongated arm portion 2520 a whose one end side is a free end and the other end side is a fixed end. One end side of the arm portion 2520a forms an arc-shaped gear portion 2520b, and teeth engaged with the third gear 2523 are formed inside the arc. The other end side of the arm portion 2520a is pivotally supported by the support mechanism 24 via a second shaft support portion 2520c such as a shaft support pin so as to be swingable.

The gear 252 includes a first gear 2521 , a second gear 2522 , and a third gear 2523 functioning as a pinion as a spur gear. For example, for the first gear 2521, a spur gear with 10 teeth is used, for the second gear 2522, a spur gear with 20 teeth is used, and for the third gear 2523, a spur gear with 10 teeth is used. The first gear 2521 is supported by the shaft of the power part 251 . The second gear 2522 and the third gear 2523 are constituted as two-stage gears that are pivotally supported on a rotating shaft. The first gear 2521 meshes with the second gear 2522 , and the rotation of the power part 251 is transmitted from the first gear 2521 to the second gear 2522 . As the second gear 2522 rotates, the third gear 2523 supported on the same rotating shaft rotates. The third gear 2523 meshes with the gear part 2520b of the operating body 2520 .

The gear part 2520b and the third gear 2523 of the operating body 2520 are used as a rack and pinion mechanism to transmit the rotational motion of the power part 251 . The operating body 2520 transmits the rotational motion through the gear part 2520b, and thus swings with the second shaft supporting part 2520c as a swing fulcrum. The operating body 2520 swings, and the pressing member 2402 presses the pressing member 240 upward with the arm portion 2520a.

As mentioned above, the driving mechanism 25 includes a power part 251 that performs rotational motion and a gear 252 , and the gear 252 converts the rotational motion of the power part 251 into a motion capable of pressing the pressing member 240 . The gear 252 includes a first gear 2521 using spur gears, a second gear 2522, a third gear 2523, and an operating body 2520. In the operating body 2520, the gear portion 2520b functions as a power point, and the second shaft support portion 2520c functions as a fulcrum. , and the arm portion 2520a functions as a point of action. The pressing member 240 is pressed upward by the operation of the operating body 2520 that transmits the rotational motion of the power unit 251 .

<action> Next, the operation of the operated device 2 disclosed in this application will be described. 11 and 12 are schematic cross-sectional views showing an example of the operated device 2 disclosed in the present application. FIG. 11 shows a state where the shaft member 20 of the operated device 2 is in a reference posture. The reference posture of the shaft member 20 means a state in which the operating device 1 is not operated by the operator and the longitudinal direction of the shaft member 20 is the vertical direction. FIG. 12 shows a state in which the shaft member 20 and the tilting body 21 of the operated device 2 are tilted from the reference posture illustrated in FIG. 11 by the operator's tilting operation.

When the operation unit 12 is subjected to a tilting operation, the shaft member 20 and the pouring body 21 of the operated device 2 are tilted with the center of the pouring body 21 as a fulcrum. As illustrated in FIG. 11 , when the shaft member 20 and the pouring body 21 are in the reference posture, the pressing member 240 presses the vicinity of the flat center of the pressed portion 213 toward the upper side where the center of the pouring body 21 is located, so the shaft The member 20 and the pouring body 21 take a stable posture. As illustrated in FIG. 12 , when the shaft member 20 and the pouring body 21 fall, the pressed portion 213 presses the pressing member 240 downward by the peripheral edge. In the state illustrated in FIG. 12 , the pressing member 240 presses the peripheral portion of the pressed portion 213 toward the upper side where the center of the pouring body 21 is located, so force acts in the direction of rotation in which the pouring body 21 returns to the reference posture. As illustrated in FIG. 12 , when the shaft member 20 and the tilting body 21 fall from the reference posture, a force acts in a direction to return to the reference posture, resulting in an unstable state. Therefore, when the operator's force to make it fall is released, the shaft member 20 and the pouring body 21 return to the reference position.

The force associated with pressing the pressing member 240 is the resultant force of the force applied by the first urging member 241 and the force pushed up by the swing of the operating body 2520 . The force applied by the first urging member 241 depends on the spring constant and the length in the pressing direction. The force brought by the swing of the operating body 2520 is determined according to the force transmitted from the power part 251 .

The operator feels the force of the pressing member 240 for returning the pouring body 21 to the reference position as a load for the operation. The operated device 2 disclosed in this application can press the pressing member 240 not only by pressing the first force applying member 241 but also by the operation of the operating body 2520 transmitting the power of the power part 251 . The pressing caused by the movement of the operating body 2520 is controlled by the power part 251 , so by controlling the power part 251 , the load felt by the operator relative to the operation can be controlled.

When the shaft member 20 and the fall body 21 fall, the magnetic field detected by the magnetic field sensor 232 and formed by the magnet 231 changes, and the changed state is output as a signal indicating the fall state to the outside.

<Second Embodiment> Next, another configuration example of the operated device 2 will be described. The second embodiment is a configuration different from the first embodiment in terms of the pressing operation. In the following description, the same reference numerals as those in the first embodiment are attached to the same structures as those in the first embodiment, and the first embodiment is referred to, and detailed descriptions are omitted.

FIG. 13 is a schematic perspective view showing an example of the operated device 2 disclosed in the present application. FIG. 14 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application. The operated device 2 illustrated in FIGS. 13 and 14 is illustrated in a state where the operating portion 12 is attached to the shaft member 20 . The operated device 2 includes various members such as a shaft member 20 , a pouring body 21 , a holding member 22 , a detection unit 23 , a support mechanism 24 , a drive mechanism 25 and the like. In addition, the configurations of the detection unit 23 and the drive mechanism 25 are the same as those of the first embodiment, and therefore reference is made to the first embodiment, and descriptions and detailed descriptions of the drawings are omitted.

Various members such as a movable member 242 , a fixed member 243 , a pressing detection portion 246 , and an elastic body 247 are incorporated in the support mechanism 24 .

The movable member 242 of the second embodiment has a substantially rectangular shape in plan view, and claws 2420 protruding outward are formed on four sides, respectively.

The fixing member 243 of the second embodiment is formed using a substantially rectangular metal plate in plan view. On four sides of the fixed member 243 , guide portions 2430 are protrudingly formed at positions corresponding to the claws 2420 of the movable member 242 , and the guide portions 2430 are bent upward along the four sides. The guide part 2430 is formed with an opening for freely fitting the claw part 2420 of the movable member 242 . The claw portion 2420 is fitted with play into the opening of the guide portion 2430 , and the guide portion 2430 guides the vertical movement of the loosely fitted claw portion 2420 , thereby stabilizing the vertical movement of the movable member 242 . Further, on the upper surface of the fixed member 243, a pressing detection unit 246 using a tactile switch, a pressure sensor, or the like that detects pressing based on the downward movement of the movable member 242 is disposed. And constitute. Furthermore, a substantially circular opening through which the pressing member 240 is inserted is formed near the center of the fixing member 243 .

An elastic body 247 formed using a resin material is disposed between the movable member 242 and the fixed member 243 . The elastic body 247 has a substantially rectangular planar shape and has a substantially circular opening through which the pressing member 240 is inserted. Furthermore, the elastic body 247 is also formed with an opening at a position corresponding to the position where the pressing detection portion 246 is disposed. The elastic body 247 is sandwiched between the movable member 242 and the fixed member 243 , and uses elasticity to relax the movement of the movable member 242 due to the pressing operation. Accordingly, the elastic body 247 moderates the detection sensitivity of the pressing detection unit 246 to the pressing operation, and prevents the operation from being detected excessively sensitively.

In the operated device 2 configured as described above, the movable member 242 moves downward to press the depression detection unit 246 in conjunction with the downward movement of the shaft member 20 based on the depression operation of the operation unit 12 . The movable member 242 is guided by the four claws 2420 loosely fitted with the guides 2430 located on the four sides of the fixed member 243, thereby moving downward in the direction of the pressing operation. That is, the movable member 242 and the pouring body 21 disposed on the movable member 242 and through which the shaft member 20 is inserted are linked to the downward movement of the shaft member 20 based on the pressing operation, and move toward the direction substantially parallel to the operation direction of the pressing operation. Move below. The pressing detection part 246 detects the pressing by the movable member 242, and outputs an electric signal indicating the downward movement of the shaft member 20. When the pressing of the operation portion 12 is released, members such as the shaft member 20 , the pouring body 21 , and the movable member 242 return to the reference positions.

As described above, the operated device 2 disclosed in this application can be implemented in various forms.

<Third Embodiment> Next, still another configuration example of the operated device 2 will be described. The third embodiment is a configuration different from the second embodiment in terms of the pressing operation. In the following description, the same symbols as those of the first embodiment or the second embodiment are attached to the same structures as those of the first embodiment or the second embodiment, and the first embodiment or the second embodiment is referred to, and detailed description is omitted. .

FIG. 15 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application. FIG. 16 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application. The operated device 2 illustrated in FIGS. 15 and 16 is illustrated in a state where the operating portion 12 is attached to the shaft member 20 . The operated device 2 includes various members such as a shaft member 20 , a pouring body 21 , a holding member 22 , a detection unit 23 , a support mechanism 24 , a drive mechanism 25 and the like. In addition, since the structure of the drive mechanism 25 is the same as that of 1st Embodiment, description of drawings and detailed description are abbreviate|omitted with reference to 1st Embodiment.

Various members such as a movable member 242 , a fixed member 243 , a pressing detection portion 246 , and an elastic body 247 are incorporated in the support mechanism 24 .

In the third embodiment, the movable member 242 is formed with a protrusion 2421 protruding downward from the lower surface, and the lower end of the protrusion 2421 abuts against the upper surface of the fixed member 243 .

An elastic body 247 is disposed between the movable member 242 and the fixed member 243 . The elastic body 247 has a substantially rectangular planar shape, and is formed with a substantially circular opening through which the pressing member 240 is inserted, and an opening at a position corresponding to the position where the pressing detection part 246 is arranged, and further forms an opening corresponding to the position of the movable member. The opening at the position corresponding to the protrusion 2421 of 242 .

In the operated device 2 configured as described above, the movable member 242 moves downward to press the depression detection unit 246 in conjunction with the downward movement of the shaft member 20 based on the depression operation of the operation unit 12 . The movable member 242 is guided by the guide part 2430 to move downward in the direction of the pressing operation. Since the protrusion 2421 of the movable member 242 is in contact with the upper surface of the fixed member 243 , strictly speaking, the movable member 242 swings downward with the protruding position of the protrusion 2421 as a swing fulcrum. The angle at which the movable member 242 swings through the pressing operation is small, so the swinging motion of the movable member 242 can be considered to be substantially the same as the slight up and down movement. That is, the movable member 242 and the pouring body 21 disposed on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the pressing operation, toward a direction substantially parallel to the operation direction of the pressing operation. Move below. The pressing detection part 246 detects the pressing by the movable member 242, and outputs an electric signal indicating the downward movement of the shaft member 20. When the pressing of the operation portion 12 is released, members such as the shaft member 20 , the pouring body 21 , and the movable member 242 return to the reference positions.

As described above, the operated device 2 disclosed in this application can be implemented in various forms.

＜Example of control structure＞ Next, a control structure related to the operation of the operated device 2 disclosed in this application will be described. FIG. 17 is a schematic block diagram conceptually showing an example of the control structure of the operated device 2 disclosed in this application. The operated device 2 includes a control circuit 26 equipped with various control chips such as Large Scale Integration (LSI) and Very Large Scale Integration (VLSI) and read-only memory. Various recording chips such as Read Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), and various components. The control circuit 26 includes a control section 260 such as a central processing unit (Central Processing Unit, CPU) that controls the entire device. 262, the various configurations of the pattern recording unit 263 and the like are controlled. Furthermore, the control circuit 26 receives various commands from the external mode selection unit 27 .

The AD converter 261 accepts the displacement of the tilting angle of the X-axis and the Y-axis of the pouring body 21 and the input of an analog signal representing the push-in of the pouring body 21 according to the magnetic field detected by the detection unit 23, and converts it into a digital signal and outputs it. to the circuit of the control unit 260 .

The pattern recording unit 263 is a memory in which an energization pattern to the drive mechanism 25 is recorded in advance. The control unit 260 selects the energization mode recorded in the mode recording unit 263 based on the selection signal received from the mode selection unit 27, and sends an operation signal for operating the drive mechanism 25 based on the selected energization mode through the motor driver 262. output. The mode selection means 27 is based on, for example, software processing executed by a game machine connected to the operating device 1, and outputs a selection signal according to the progress of the game. Furthermore, when the operation device 1 accepts a specific operation, the mode selection means 27 may output a selection signal as a process based on a program executed in the operation device 1 .

The motor driver 262 input with the operation signal from the control unit 260 appropriately changes the format of the signal, and outputs the operation signal to the driving mechanism 25 .

＜Mechanical Properties＞ Next, the mechanical characteristics during operation in the operation device 1 disclosed in the present application will be described. FIGS. 18 to 20 are graphs showing an example of force pressing the pressing member 240 from below in the manipulation device 1 disclosed in the present application. 18 to FIG. 20 represent the relationship by taking the displacement related to the tilting angle at which the pouring body 21 is tilted on the horizontal axis and the force required for tilting on the vertical axis. The displacement related to the tilting angle refers to the tilting angle itself or the distance by which the pressing member 240 is pushed downward by the pressed portion 213 tilted according to the tilting angle. In the figure, the thin line represents the force relationship generated by the first force applying member 241 , the dotted line represents the force relationship generated by the operating body 2520 of the driving mechanism 25 , and the thick line represents the resultant force of the first force applying member 241 and the operating body 2520 .

FIG. 18 shows a state where the power unit 251 of the drive mechanism 25 is not energized. In the state where the drive mechanism 25 is not energized, the operating body 2520 does not press the pressing member 240, so the force required for the dumping of the pouring body 21 is equal to the force generated by the first urging member 241. According to the first urging member 241 The spring constant of , increases at a fixed rate with respect to the length. Furthermore, since the pressing member 240 is preloaded, it is not a complete proportional relationship.

FIGS. 19 and 20 show the state in which the drive mechanism 25 is energized, and in FIG. 20 a larger current flows than in FIG. 19 . The operating body 2520 used to drive the mechanism 25 increases the force for pressing the pressing member 240 in accordance with the magnitude of the applied current. Therefore, the resultant force of the first urging member 241 and the operating body 2520 also changes according to the current supplied to the drive mechanism 25 . That is, the force required for tilting the tilting body 21 corresponding to the resultant force of the first biasing member 241 and the operating body 2520 can be controlled by energizing the driving mechanism 25 . The force required for the pouring of the pouring body 21 is controlled by the control circuit 26 .

FIGS. 21 to 23 are graphs showing an example of force pressing the pressing member 240 from below in the manipulation device 1 disclosed in the present application. 21 to 23 show the relationship by taking the displacement corresponding to the tilting angle at which the pouring body 21 is tilted on the horizontal axis and the force required for tilting on the vertical axis. In the figure, the thin line represents the force relationship generated by the first force applying member 241 , the dotted line represents the force relationship generated by the operating body 2520 of the driving mechanism 25 , and the thick line represents the resultant force of the first force applying member 241 and the operating body 2520 . 21 to 23 show examples of energization patterns for controlling the force to press the pressing member 240 by controlling energization to the drive mechanism 25 according to the tilting angle of the pouring body 21 .

FIG. 21 shows an example of an energization pattern in which energization to the drive mechanism 25 is controlled so that the force generated by the operating body 2520 increases according to the tilting angle. In the example of FIG. 21 , the gradient of the force pressing the pressing member 240 is larger than the gradient of the force generated by only the first biasing member 241 . Therefore, the operator feels a tactile feeling as if the spring constant of the compression coil spring used as the first urging member 241 is increased, that is, a tactile feeling of a so-called reinforced spring.

FIG. 22 shows an example of an energization pattern in which energization to the drive mechanism 25 is controlled so that the resultant force of the force pressing the pressing member 240 is constant regardless of the tilting angle. By performing control as illustrated in FIG. 22 , the operator can feel a tactile sensation that the tilting is performed with a constant force regardless of the tilting angle.

FIG. 23 shows an example of an energization pattern in which energization to the drive mechanism 25 is controlled so that the resultant force of the force pressing the pressing member 240 becomes smaller in accordance with the tilting angle. By controlling as illustrated in FIG. 23 , the operator can feel a tactile sensation that the force to make it fall is weakened.

FIG. 24 is a graph showing an example of force pressing the pressing member 240 from below in the manipulation device 1 disclosed in the present application. FIG. 24 shows the relationship by taking the displacement corresponding to the tilting angle at which the pouring body 21 is tilted on the horizontal axis and the force required for tilting on the vertical axis. In the figure, the thin line represents the force relationship generated by the first biasing member 241 , the dotted line represents the force relation of the operating body 2520 of the drive mechanism 25 , and the thick line represents the resultant force of the first biasing member 241 and the operating body 2520 . FIG. 24 shows an example of an energization pattern for controlling energization of the drive mechanism 25 in accordance with the progress of the game.

FIG. 24 shows an example of an energization pattern for controlling energization to the drive mechanism 25 so that the drive mechanism 25 operates when the tilt angle becomes a predetermined angle. When the energization is controlled as illustrated in FIG. 24 , the operator feels a click-like force when the tilting angle of the tilting body 21 becomes a fixed angle. This type of control is installed in, for example, a computer game such as a flight simulator, in which an impact is generated when the operating angle exceeds a fixed angle, thereby giving the operator a sense of excitement.

FIG. 25 is a graph showing an example of force pressing the pressing member 240 from below in the manipulation device 1 disclosed in the present application. Fig. 25 shows the relationship by taking the time on the horizontal axis and the force required for falling on the vertical axis. In the figure, the thin line represents the force relationship generated by the first force applying member 241 , the dotted line represents the force relationship generated by the operating body 2520 of the driving mechanism 25 , and the thick line represents the resultant force of the first force applying member 241 and the operating body 2520 . FIG. 25 shows an example of an energization pattern for controlling energization of the drive mechanism 25 in accordance with the progress of the game in which the operation object is operated.

Figure 25 is installed in a fishing game, for example, the hooking of the fish is represented by the increase of the pressing force brought about by the temporary energization in the first half, and the baiting of the fish is represented by the increase of the pressing force brought by the continuous energization in the second half. The pull of the hooked fish. As shown in FIGS. 24 and 25 , the operation device 1 disclosed in the present application can realize various controls corresponding to a game in which an operation object is operated.

As described above, the operated device 2 and the operating device 1 disclosed in the present application can be applied to the operating device 1 such as a joystick-type controller, and control the force for returning the dumped body 21 to the reference position. Therefore, there are excellent effects such as that the operation load for the tilting operation of the dump body 21 can be controlled, and the operator can feel the operation load and recognize a change in the operation load. For example, when the operation device 1 disclosed in the present application is applied to a game controller, an expansion in which the operation load changes according to the progress of the game can be performed.

The present invention is not limited to the embodiments described above, and can be implemented in other various forms. Therefore, the above-described embodiments are merely illustrations in all points, and should not be interpreted limitedly. The technical scope of the present invention is illustrated by the scope of the patent application and is not limited by the text of the specification. Furthermore, all the deformation|transformation and changes which belong to the equivalent range of a patent claim are within the scope of the present invention.

For example, in the above-mentioned embodiments, the form of the controller applicable to games has been described, but the present invention is not limited thereto, and can be used for various operation objects such as various toys, various mobile objects, various measuring devices, and industrial robots. operate. For example, in the case of a controller applied to an industrial robot, it is possible to perform control according to the operation situation, for example, to increase the operation load when handling heavy luggage.

Furthermore, in the above-described embodiment, the operating body 2520 is formed as a member that is formed in an arc and swings, but the present invention is not limited thereto, as long as it has a function of pressing the pressing member 240 . For example, it can be deployed in various forms, for example, the operating body 2520 is formed as a linear rack that moves up and down.

Furthermore, in the above-mentioned embodiment, the form in which the gear 252 of the driving mechanism 25 presses the pressing member 240 of the support mechanism 24 from below is shown, but the present invention is not limited thereto, and for example, it can be developed into various forms, for example: the gear 252 presses the pressing member 240 from below. The form of pressing the first urging member 241 and the like.

Furthermore, in the above-mentioned embodiment, the form in which the pressing piece 2402 of the support mechanism 24 is fixed to the lower surface of the disc portion 2400 of the pressing member 240 is shown, but the present invention is not limited thereto, and may be configured such that The lower part of the part 2400 is held so that it can move up and down. Furthermore, it can be deployed in various forms, for example, the lower end of the pressing member 2402 is pivotally supported by the arm portion 2520a of the operating body 2520 by a mechanism such as a link mechanism.

Furthermore, in the above-mentioned embodiment, as a method of detecting the state such as the tilting angle of the tilting body 21, the form using the magnetic field sensor 232 using a Hall IC was shown, but the present invention is not limited thereto, and a Various sensors that detect status. For example, sensors using various elements such as capacitors and optical sensors may be used in addition to variable resistors.

1: Operating device 2: Operated device 10: frame 11: Grip 12: Operation Department 13: Operation button 20: shaft member 21: dump body 22: Holding components 22a: half body 23: Detection unit 24: Supporting institutions 25: Driving mechanism 26: Control circuit 27: Mode selection component 210: Insertion part 211: spherical part 212: Opening 213: Pressed part 220: slip ring 230: connecting line 231: magnet 232: Magnetic field sensor 240: Press member 241: The first force applying member (force applying member) 242: Movable components 243: Fixed components 244: First axis support part 245: the second force application member 246: Press the detection part 247:Elastomer 250: Mounting table 251: Power Department 252: gear 260: control department 261: AD conversion department 262:Motor driver 263: Pattern recording department 2400: Circular plate part 2401: cylinder part 2402: Pressing parts 2420: Claws 2421: protrusion 2430: Guidance Department 2520: operating body (rack) 2520a: Arm 2520b: gear department 2520c: Second axis support part 2521: first gear 2522: second gear 2523: Third gear (pinion)

FIG. 1 is a schematic perspective view showing an example of the appearance of an operating device incorporating the operated device disclosed in the present application. FIG. 2 is a schematic perspective view showing an example of the appearance of the manipulation device disclosed in the present application. FIG. 3 is a schematic perspective view showing an example of the operated device disclosed in the present application. FIG. 4 is a schematic perspective view showing an example of the operated device disclosed in the present application. FIG. 5 is a schematic exploded perspective view showing an example of the operated device disclosed in the present application. Fig. 6 is a schematic cross-sectional view showing an example of the operated device disclosed in the present application. Fig. 7 is a schematic exploded perspective view showing an example of the operated device disclosed in the present application. Fig. 8 is a schematic exploded perspective view showing an example of the operated device disclosed in the present application. 9 is a schematic perspective view showing an example of a part of the drive mechanism included in the operating device disclosed in the present application. 10 is a schematic perspective view showing an example of a part of the drive mechanism included in the operating device disclosed in the present application. Fig. 11 is a schematic cross-sectional view showing an example of the operated device disclosed in the present application. Fig. 12 is a schematic cross-sectional view showing an example of the operated device disclosed in the present application. FIG. 13 is a schematic perspective view showing an example of the operated device disclosed in the present application. Fig. 14 is a schematic exploded perspective view showing an example of the operated device disclosed in the present application. Fig. 15 is a schematic exploded perspective view showing an example of the operated device disclosed in the present application. Fig. 16 is a schematic cross-sectional view showing an example of the operated device disclosed in the present application. FIG. 17 is a schematic block diagram conceptually showing an example of the control structure of the operated device disclosed in the present application. FIG. 18 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. FIG. 19 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. FIG. 20 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. FIG. 21 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. Fig. 22 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. Fig. 23 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. FIG. 24 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application. FIG. 25 is a graph showing an example of force pressing a pressing member from below in the manipulation device disclosed in the present application.

2: Operated device

20: shaft member

21: dump body

23: Detection unit

24: Supporting institutions

25: Driving mechanism

211: spherical part

213: Pressed part

230: connecting line

231: magnet

232: Magnetic field sensor

240: Press member

241: the first force applying member (force applying member)

251: Power Department

252: gear

2400: Circular plate part

2402: Pressing parts

2520: operating body (rack)

2520a: Arm

2520b: gear department

2520c: Second axis support part

Claims (6)

An operated device including a pouring body that accepts an operation of pouring from a reference position centering on a pouring center, and operates an operation object according to the dumping state of the pouring body, the operated device is characterized in that , The pouring body has a pressed portion at an end, and the pressed portion has an extension toward a direction perpendicular to a central axis passing through the pouring center, The operated devices include: a pressing member for pressing the pressed portion in a direction parallel to the central axis when the pouring body is at a reference position and toward the pouring center; a urging member urging the pressing member toward the pouring center; and The drive mechanism uses a gear to press the pressing member toward the pouring center. The operated device as described in claim 1, wherein The drive mechanism includes a power part for rotational movement, The gear converts the rotational movement of the power part into a movement capable of pressing the pressing member. The operated device as described in claim 1, wherein The drive mechanism includes: the power section, which performs a rotational movement; and As the pinion and the rack of the gear, the pinion rotates in conjunction with the rotational movement of the power part, and the rack can be engaged with the pinion to operate, The action of pressing the pressing member is performed by the action of the rack that transmits the rotational motion of the power unit. The operated device as described in claim 3, wherein The rack is formed in an arc shape. The operated device according to any one of claim 1 to claim 4, wherein The pouring body is pressed in a direction parallel to the center axis when located at the reference position and opposite to a direction pressed by the pressing member, and moves in a direction substantially parallel to the pressed operation direction, The operated device includes a detection unit that detects movement of the pouring body. An operating device, characterized in that it comprises: The operated device as described in any one of claim 1 to claim 4; and a component that outputs a signal for driving the driving mechanism included in the operated device to the operated device, The operation device outputs an operation signal based on an operation of the pouring body included in the device to be operated to the outside.

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