WO2019229783A1

WO2019229783A1 - Joystick

Info

Publication number: WO2019229783A1
Application number: PCT/JP2018/020258
Authority: WO
Inventors: 今村　昌雄; 裕明森
Original assignee: ツバメ無線株式会社
Priority date: 2018-05-28
Filing date: 2018-05-28
Publication date: 2019-12-05

Abstract

[Problem] To provide a joystick with which play does not occur and the operation feeling is smooth when the operating stick is in an upright state. [Solution] This joystick 80 has elastic return mechanisms K1, K2 and a magnetic return mechanism 60, and the elastic return mechanisms K1, K2 and the magnetic return mechanism 60 complement each other to increase or decrease a returning force brought about by the angle of inclination of an operating stick 5, thereby substantially evening out variation in the returning force. As a result, the joystick 80 can achieve a smooth feeling of operation without great variation in the returning force with respect to the inclination of the operating stick 5. Additionally, because the returning force of the magnetic return mechanism 60 is maximized when the operating stick 5 is in the upright state, the upright state can be maintained without the generation of shaking or play.

Description

Joystick

The present invention relates to the structure of a joystick used for the operation of a mechanical device or the like.

The joystick is one of the composite variable resistors that are used for general operation of radio control, games, medical equipment, industrial robots, and other mechanical equipment. Note that a general joystick has a function of automatically returning the operation stick to an upright state in a free situation where the user does not apply force. The inventors of the present invention have made the invention described in [Patent Document 1] below regarding such a joystick. However, the joystick described in [Patent Document 1] uses the elastic force of the coil spring for the return operation of the operation stick, and a strong return force works when the operation stick is tilted, whereas in the state where the operation stick is upright. There is a problem that the return force is weak and play occurs in an upright state. The upright state here means a state in which the operation stick faces the Z-axis direction perpendicular to the XY plane.

In response to this problem, the inventors of the present invention have made the invention described in [Patent Document 2] below. The invention described in [Patent Document 2] is configured such that magnets are provided on the operation stick side and the case side, and both magnets are closest to each other when the operation stick is upright, and a strong restoring force is exerted. For this reason, the operation stick can be held in a completely upright state without play.

JP 2002-108473 A Japanese Patent No. 6059794

However, in the invention described in [Patent Document 2], when the operation stick is tilted to a specific angle and the return magnet on the operation stick side is separated from the positioning magnet on the case side to some extent, the attractive force between the magnets rapidly decreases and returns. Power drops at a stretch. This is not preferable because the operation feeling (light weight) changes depending on the inclination of the operation stick.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a joystick in which play does not occur and the operation feeling is smooth when the operation stick is upright.

The present invention
(1) An operation stick 5 that can be tilted from an upright state within a predetermined angle range, and a connecting means N that converts the inclination of the operation stick 5 into a rotational motion of two orthogonal rotating shafts (M1, M2). And two rotary variable resistors V1 and V2 that are connected to the connecting means N and whose resistance values change according to the rotational movements of the rotary shaft, and a return mechanism that returns the operation stick 5 to an upright state. And a joystick having
The return mechanism includes elastic return mechanisms K1 and K2 that return the operation stick 5 to the upright state by the elastic force of the elastic member 21, and a magnet type return mechanism 60 that returns the operation stick 5 to the upright state by the attractive force of the magnet. Have
The magnet type return mechanism 60 includes a return magnet 62 provided at the lower end of the operation stick 5 and a positioning fixed on the axis line when the operation stick 5 is upright with a predetermined gap. The above-described problem is solved by providing a joystick 80 that includes a magnet 64 and maintains the operation stick 5 in an upright state by an attractive force between the return magnet 62 and the positioning magnet 64.
(2) The connecting means N includes a bush 12 that pivotally supports the operation stick 5 and a connection plate 11 that includes a slit 11b into which the operation stick 5 is inserted and is curved in an arc shape.
One end of the bush 12 has a movable plate rotating shaft 12a to which one elastic return mechanism K2 is connected and a claw member 12c for rotating the one elastic return mechanism K2, and the other end has one rotation. The rotation axis M2 of the type variable resistor V2 is connected,
One end of the connecting plate 11 has a movable plate rotating shaft 11a to which the other elastic return mechanism K1 is connected and a claw member 11c for rotating the other elastic return mechanism K1, and the other end has the other end. The rotary axis M1 of the rotary variable resistor V1 is connected,
The elastic return mechanisms K1 and K2 include a pair of

movable plates

22 and 23 having

arms

22b and 23b that rotate about the movable

plate rotation shafts

11a and 12a. It spans between the

arms

22b and 23b of the pair of

movable plates

22 and 23, and urges the

arms

22b and 23b in the closing direction, and the

movable plates

22 and 23 are further moved by the rotation of the

claw members

11c and 12c. , 23b is rotated in the opening direction, and the above-mentioned problem is solved by providing the joystick 80 described in (1) above.
(3) The return force of the elastic return mechanisms K1 and K2 to the upright state increases according to the inclination angle of the operation stick 5, and the return force of the magnet type return mechanism 60 to the upright state is The above-mentioned problem is solved by providing the joystick 80 according to the above (1) or (2), wherein the joystick 80 decreases according to the inclination angle and the return force to the operation stick 5 is substantially smoothed.

In the joystick according to the present invention, the elastic return mechanism and the magnet return mechanism complement each other with the increase and decrease of the return force due to the inclination angle of the operation stick, and the change is substantially smoothed. Thereby, a smooth operation feeling can be obtained. Further, in the upright state of the operation stick, the return force of the magnet type return mechanism is maximized, so that the upright state can be maintained without causing blurring or play.

It is a figure which shows the operation stick of the joystick which concerns on this invention. It is a figure which shows the operation stick which installed the bush. It is a figure which shows the operation stick which installed the bush and the connection board. It is a figure which shows the elastic return mechanism of the joystick which concerns on this invention. It is a schematic sectional drawing which shows the inside of the joystick which concerns on this invention. It is a figure explaining operation | movement of the return mechanism of the joystick which concerns on this invention.

Embodiments of a joystick 80 according to the present invention will be described with reference to the drawings. Here, FIG. 1 (a) is a top view of the operation stick 5 constituting the joystick 80 according to the present invention, and FIG. 1 (b) is a front view. 2A is a top view of the operation stick 5 on which the bush 12 is installed, and FIG. 2B is a front view. 3A is a top view of the operation stick 5 in which the bush 12 and the connecting plate 11 are installed, and FIG. 3B is a left side view.

The operation stick 5 shown in FIG. 1 is for a user to operate a mechanical device by tilting within a predetermined angle range from an upright state. The stick 5a and a base side (lower side) of the stick 5a. And a base portion 5b that is placed in a movable state in a bush 12 to be described later. The base portion 5b is formed with a shaft hole 13a drilled in a direction perpendicular to the stick portion 5a, and a magnet hole 5c is formed on the bottom surface. And the stick shaft 13 pivotally supported by the bush 12 is inserted in the shaft hole 13a. In addition, a return magnet 62 constituting the magnet type return mechanism 60 is fixed in the magnet hole 5c. The operation stick 5 is preferably made of a well-known non-magnetic material such as aluminum, copper, non-magnetic stainless steel, brass, or plastic so that the operation stick 5 does not have a strong magnetic force due to the magnetic force of the return magnet 62. It is preferable to use brass.

Further, as shown in FIGS. 2 (a) and 2 (b), the bush 12 that pivotally supports the operation stick 5 has a substantially rectangular parallelepiped tube shape that is open at the top and bottom, and the base 5b of the operation stick 5 is provided inside. It can be accommodated. The bush 12 is formed with a bearing hole 12b into which the stick shaft 13 is inserted on the side surface in the long side direction. Then, after the base 5b of the operation stick 5 is inserted into the bush 12, the stick shaft 13 is axially attached through the shaft hole 13a and the bearing hole 12b of the base 5b, so that the operation stick 5 has the stick shaft 13 as an axis. Fix it so that it can rotate. Further, a movable plate rotating shaft 12a to which one elastic return mechanism K2 is connected and a claw member 12c for rotating the elastic return mechanism K2 are formed at one end on the short side of the bush 12. Further, a resistor shaft hole 12d to which the rotation shaft M2 of one rotary variable resistor V2 is connected is formed at the other end on the short side of the bush 12.

Further, as shown in FIGS. 3A and 3B, the connecting plate 11 includes a slit 11b into which the operation stick 5 is inserted, and has an upper portion curved in an arc shape in a side view. At one end of the connecting plate 11, a movable plate rotating shaft 11a to which the other elastic return mechanism K1 is connected and a claw member 11c for rotating the elastic return mechanism K1 are formed. Further, a resistor shaft hole 11d to which the rotation shaft M1 of the other rotary variable resistor V1 is connected is formed at the other end on the short side of the connecting plate 11. As shown in FIG. 3A, the connecting plate 11 and the bush 12 are arranged so that the operation stick 5 intersects with the operation stick 5 inserted into the slit 11b. A connecting means N for converting into rotational motion of two orthogonal rotating shafts (M1, M2) is configured.

Further, as shown in FIG. 4, the elastic return mechanisms K1 and K2 have a pair of

movable plates

22 and 23 that are substantially symmetrical to the left and right, and the

movable plates

22 and 23 are movable

plate rotating shafts

11a or 12a.

Bearing holes

22a and 23a,

arms

22b and 23b, latching

claws

22c and 23c extending from substantially diagonal positions of the

arms

22b and 23b, and claw members 11c provided on the base side of the

arms

22b and 23b. Or it has

claw receiving parts

22d and 23d with which 12c contacts. A known elastic member 21 such as a coil spring is bridged between the

arms

22b and 23b of the pair of

movable plates

22 and 23, and urges the

arms

22b and 23b in a closing direction. Further, a projection 9 protruding from the side surface of the case 1 of the joystick 80 is located between the latching

claws

22c, 23c of the

movable plates

22, 23, and the

movable plates

22, 23 are latched on the left and right side surfaces of the projection 9. The

claws

22c and 23c come into contact with each other. Further, the

claw members

11c and 12c of the connecting plate 11 or the bush 12 are positioned between the

claw receiving portions

22d and 23d of the

movable plates

22 and 23, and the

claw receiving portions

22d and 22c are provided on the left and right side surfaces of the

claw members

11c and 12c. 23d abuts each other.

Here, in FIG. 4, the latching claw 22 c of the movable plate 22 abuts on the right side surface of the projection 9, the claw receiving portion 22 d abuts on the left side surface of the

claw members

11 c and 12 c, and the latching claw 23 c of the movable plate 23. Is in contact with the left side surface of the protrusion 9 and the claw receiving portion 23d is in contact with the right side surface of the

claw members

11c and 12c. In this state, when the operation stick 5 is tilted and the

claw members

11c and 12c rotate, for example, in the clockwise direction, the

claw members

11c and 12c press the claw receiving portion 22d of the movable plate 22, and thereby the movable plate 22 is moved. Rotates clockwise around the movable

plate rotation shafts

11a and 12a. At this time, the movable plate 23 cannot rotate because the latching claw 23c is in contact with the left side surface of the projection 9, and maintains the state as it is. As a result, only the movable plate 22 rotates clockwise to open between the

arms

22b and 23b, and the elastic member 21 exerts an elastic force in a direction to close between the

arms

22b and 23b. On the other hand, when the

claw members

11c and 12c are rotated in the counterclockwise direction, the

claw members

11c and 12c press the claw receiving portion 23d of the movable plate 23, whereby the movable plate 23 is moved to the movable plate rotating shaft 11a. , 12a and rotate counterclockwise. At this time, the movable plate 22 cannot rotate because the latching claw 22c is in contact with the right side surface of the projection 9, and maintains the state as it is. As a result, only the movable plate 23 rotates counterclockwise to open the

arms

22b and 23b, and the elastic member 21 exerts an elastic force in a direction to close the

arms

22b and 23b.

And the joystick 80 is accommodated in the case 1 in a state where the operation stick 5 is connected to the connecting means N as shown in the schematic cross-sectional view of FIG. At this time, the stick portion 5a protrudes to the outside through the stick hole 4 provided on the upper surface of the case 1, and the movable

plate rotating shafts

11a and 12a are externally provided through the bearing holes 1a provided on the two adjacent side surfaces of the case 1. Protrusively. Further, the

claw members

11c and 12c protrude to the outside through an opening window provided below the bearing hole 1a. The

movable plates

22 and 23 constituting the elastic return mechanisms K1 and K2 are rotatably fitted on the movable

plate rotating shafts

11a and 12a. Further, a resistor connection hole 1b is provided on the side surface of the case 1 facing the bearing hole 1a. The variable resistance resistors V1 and V2 are fitted and fixed in the resistor connection hole 1b. The rotary shafts M1 and M2 of the variable resistors V1 and V2 are connected to the connecting plate 11 positioned in the case 1 and the

resistor shaft holes

11d and 12d of the bush 12, respectively. Note that the case 1 is preferably composed of an upper case and a lower case that are divided in the vertical direction along the axis surfaces of the bearing hole 1a and the resistor connection hole 1b. After the operation stick 5 is placed, the upper case is covered and fixed, so that the connecting means N and the operation stick 5 can be easily accommodated and installed in the case 1.

Further, a positioning magnet 64 is provided at a predetermined position on the bottom surface side of the case 1 of the joystick 80 with a predetermined gap from the return magnet 62. The positioning magnet 64 is provided on the axis when the operation stick 5 is upright. The return magnet 62 and the positioning magnet 64 constitute a magnet type return mechanism 60 according to the present invention. Note that the return magnet 62 and the positioning magnet 64 are well-known permanent magnets having a predetermined magnetic force, and are installed so that the opposing surfaces are different from each other. Thereby, an attractive force is generated between the return magnet 62 and the positioning magnet 64, and when the operation stick 5 is in a free state, the return magnet 62 and the positioning magnet 64 are attracted so that the two magnets are closest to each other and face each other. .

Next, the operation of the joystick 80 according to the present invention will be described. Here, FIG. 6A is a schematic diagram showing the elastic return mechanisms K1 and K2 and the magnetic return mechanism 60 when the operation stick 5 is in the upright state, and FIG. 6B is a view when the operation stick 5 is tilted. 3 is a schematic diagram showing elastic return mechanisms K1, K2 and a magnet return mechanism 60; First, when the user is in a free state in which no force is applied to the operation stick 5, the

arms

22b and 23b of the elastic return mechanisms K1 and K2 are closed by the elastic member 21 as shown in FIG. It is in. Further, the return magnet 62 on the operation stick 5 side of the magnet type return mechanism 60 and the positioning magnet 64 on the case 1 side are attracted to each other so that the two magnets are closest to each other and face each other. At this time, the operation stick 5 is in an upright state.

It should be noted that the elastic return mechanisms K1 and K2 in the upright state are in a state where the elastic force of the elastic member 21 is the weakest. Therefore, in the configuration of only the elastic return mechanisms K1 and K2, there is a possibility that play may occur in the operation stick 5 in the upright state. On the other hand, the magnet-type return mechanism 60 in the upright state is in a state where the return magnet 62 and the positioning magnet 64 are closest to each other and the attractive force is maximum. As a result, the joystick 80 according to the present invention maintains a vertical upright state in which the operation stick 5 does not shake or play mainly due to the return force of the magnetic return mechanism 60.

Next, when the user tilts the operation stick 5, the tilt is converted by the connecting means N into the rotational motion of the connecting plate 11 and the bush 12. That is, the bush 12 rotates around the movable plate rotating shaft 12a in accordance with the inclination of the operation stick 5 in the X-axis direction, whereby the rotating shaft M2 of the rotary variable resistor V2 connected to the resistor shaft hole 12d Rotate. As a result, the resistance value of the rotary variable resistor V2 changes according to the inclination of the operation stick 5 in the X-axis direction. Further, the tilt of the operation stick 5 in the Y-axis direction is converted into a rotational movement of the connecting plate 11 around the movable plate rotation shaft 11a when the operation stick 5 presses the slit 11b. As a result, the rotation axis M1 of the rotary variable resistor V1 connected to the resistor shaft hole 11d of the connecting plate 11 rotates, and the resistance value of the rotary variable resistor V1 corresponds to the inclination of the operation stick 5 in the Y-axis direction. Change.

At this time, the

claw members

11c and 12c rotate according to the rotation of the bush 12 and the connecting plate 11, as shown in FIG. 6B. As a result, the

movable plates

22 and 23 on the rotation direction side of the

claw members

11c and 12c are pressed and rotated around the movable

plate rotating shafts

11a and 12a as described above. Thereby, the space between the

arms

22b and 23b is expanded, and the elastic member 21 exerts an elastic force in the direction of narrowing the arm 22b.

At this time, the return magnet 62 moves in a direction away from the positioning magnet 64, and both magnets exert an attractive force in a direction to prevent this, that is, to maintain an upright state. However, in the magnetic return mechanism 60, the inclination angle of the operation stick 5 (from the upright state) increases, and the attractive force decreases as the return magnet 62 and the positioning magnet 64 move away. However, since the elastic return mechanisms K1 and K2 increase in elastic force as the tilt angle of the operation stick 5 increases, the increase in the return force (elastic force) of the elastic return mechanisms K1 and K2 increases with the magnetic return. It functions to compensate for a decrease in the return force (attraction force) of the mechanism 60, and substantially smoothes the change in the return force due to the tilt angle of the operation stick 5. As a result, the joystick 80 according to the present invention does not greatly change the return force with respect to the inclination of the operation stick 5, and can obtain a smooth operation feeling.

When the user removes the force on the operation stick 5, the elastic member 21 works in a direction to close between the

arms

22b and 23b, thereby returning the operation stick 5 to the upright state. Further, the return magnet 62 of the magnet type return mechanism 60 and the positioning magnet 64 attract each other, thereby returning the operation stick 5 to the upright state. When the operation stick 5 is in the upright state, the return force of the magnet type return mechanism 60 is maximized, and the upright state is maintained without causing blurring or play.

As described above, the joystick 80 according to the present invention has the elastic return mechanisms K1 and K2 and the magnetic return mechanism 60, and the elastic return mechanisms K1 and K2 return force in proportion to the inclination angle of the operation stick 5. Will increase. On the other hand, the return force of the magnet type return mechanism 60 decreases in inverse proportion to the inclination angle of the operation stick 5. The elastic return mechanisms K1 and K2 and the magnet return mechanism 60 complement each other with the increase and decrease of the return force due to the inclination angle of the operation stick 5, and substantially smooth the change. As a result, the joystick 80 according to the present invention does not greatly change the return force with respect to the inclination of the operation stick 5, and can obtain a smooth operation feeling. Further, when the operation stick 5 is in the upright state, the return force of the magnet type return mechanism 60 is maximized, so that the upright state can be maintained without causing blurring or play.

The joystick 80 shown in this example is an example, and the shape, dimensions, operation mechanism, material, and the like of each component can be changed and implemented without departing from the gist of the present invention.

5 Operation stick 11 Connecting plate 11b Slit 12

Bush

11a, 12a Movable

plate rotating shaft

11c, 12c Claw member 21

Elastic member

22, 23

Movable plate

22b, 23b Arm 60 Magnet type return mechanism 62 Return magnet 64 Positioning magnet 80 Joystick K1, K2 Elastic return mechanism M1, M2 Rotating shaft N Connecting means V1, V2 Rotary variable resistor

Claims

An operating stick that can be tilted within a predetermined angle range from an upright state, a connecting means that converts the tilt of the operating stick into a rotational motion of two orthogonal rotating shafts, and the rotating shaft connected to the connecting means A joystick having two rotary variable resistors each having a resistance value that changes in accordance with each of the rotational movements, and a return mechanism that returns the operation stick to an upright state.
The return mechanism has an elastic return mechanism that returns the operation stick to an upright state by an elastic force of an elastic member, and a magnet type return mechanism that returns the operation stick to an upright state by an attractive force of a magnet,
The magnet type return mechanism includes a return magnet provided at a lower end of the operation stick, and a positioning magnet fixed with a predetermined gap on the axis when the operation stick is in an upright state, A joystick characterized in that the operation stick is maintained in an upright state by an attractive force between the return magnet and the positioning magnet.
A bushing that pivotally supports the operation stick so as to be rotatable;
A connecting plate having a slit into which the operation stick is inserted and having an upper portion curved in an arc,
One end of the bush has a movable plate rotation shaft to which one elastic return mechanism is connected and a claw member that rotates the one elastic return mechanism, and the other end of one rotary variable resistor. The rotating shaft is connected
One end of the connecting plate has a movable plate rotation shaft to which the other elastic return mechanism is connected and a claw member for rotating the other elastic return mechanism, and the other rotary variable resistor at the other end. The rotation axis of the
The elastic return mechanism includes a pair of movable plates provided with arms that rotate about the movable plate rotation axis, and the elastic member is bridged between the arms of the pair of movable plates. 2. The joystick according to claim 1, wherein the arm is urged in a closing direction, and the movable plate is rotated in a direction in which the arm is opened by the rotation of the claw member.
The return force of the elastic return mechanism to the upright state increases according to the inclination angle of the operation stick, and the return force of the magnetic return mechanism to the upright state decreases according to the inclination angle of the operation stick, The joystick according to claim 1 or 2, wherein a return force with respect to the operation stick is substantially smoothed.