WO2020044631A1 - Operation device and vibration generating device - Google Patents
Operation device and vibration generating device Download PDFInfo
- Publication number
- WO2020044631A1 WO2020044631A1 PCT/JP2019/010390 JP2019010390W WO2020044631A1 WO 2020044631 A1 WO2020044631 A1 WO 2020044631A1 JP 2019010390 W JP2019010390 W JP 2019010390W WO 2020044631 A1 WO2020044631 A1 WO 2020044631A1
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- WIPO (PCT)
- Prior art keywords
- yoke
- movable
- fixed
- movable yoke
- elastic support
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/02—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
Definitions
- the present disclosure relates to an operating device and a vibration generating device.
- an operation device that can perform an input operation by touching an operation surface, such as a touch pad, has become widespread.
- the operator cannot obtain the operational feeling as when operating a switch device, a variable resistor, or the like. Therefore, an operation device with force feedback has been proposed in which a pseudo operation feeling is felt by applying vibration to the operation surface when operated.
- Patent Document 1 discloses an input device that uses a yoke offset to cross a pressing direction and a vibration direction in order to suppress vibration noise.
- Patent Document 2 discloses a device including an excitation coil and a permanent magnet as an electromagnetic vibration device that can be used for a reciprocating electric shaver or the like.
- the posture of the yoke may not be stable, and the magnitude of the vibration may be unstable. Further, the electromagnetic vibration device of Patent Document 2 cannot be used as an operation device that can perform an input operation.
- the present disclosure aims to provide an operation device and a vibration generation device that can generate stable vibration.
- the operation device includes a movable unit having an operation member to be pressed, a vibration generation unit that applies vibration to the movable unit in a first direction along an operation surface of the operation member, A fixed unit that vibratably supports the movable unit, a detection unit that detects that the operation member has been pressed, and a control unit that drives the vibration generation unit according to a detection result of the detection unit.
- an elastic supporting portion that holds the vibration member so as to be able to vibrate.
- the fixed yoke includes a base, a first protrusion protruding from the base toward the movable yoke, and a protrusion protruding from the base toward the movable yoke, and the first protrusion in the first direction. And two second protrusions provided at positions sandwiched therebetween.
- the permanent magnet is magnetized such that both ends in the first direction have different magnetic poles, and a boundary between the magnetic poles and the first protrusion overlap in the second direction.
- the movable yoke In the initial state in which the excitation coil is not energized, the movable yoke is biased in the second direction to approach the fixed yoke by the magnetic attraction of the permanent magnet, and the movable yoke is fixed to the fixed yoke.
- the elastic support portion is compressed between the movable yoke and the yoke, and the movable yoke is urged toward the first position in the first direction. Vibrating in the first
- stable vibration can be generated.
- FIG. 3 is a plan view illustrating a configuration of an actuator.
- FIG. 5 is a plan view excluding a movable yoke and a permanent magnet from FIG. 4. It is sectional drawing which shows the structure of an actuator. It is a figure showing composition of a control device. 5 is a flowchart showing the contents of processing by the control device. It is sectional drawing which shows the modification of rubber.
- FIG. 1 is a perspective view showing the configuration of the operating device according to the embodiment
- FIG. 2 is a top view showing the configuration of the operating device according to the embodiment
- FIG. 3 is the configuration of the operating device according to the embodiment.
- FIG. FIG. 3 corresponds to a cross-sectional view taken along line II in FIG.
- the operating device 100 has a fixed base 110, a bezel 120 fixed on an edge of the fixed base 110, and a decorative panel 141 inside the bezel 120.
- An electrostatic sensor 142 is provided on the fixed base 110 side of the decorative panel 141, and a touch pad 140 is formed by the decorative panel 141 and the electrostatic sensor 142.
- the movable base 130 is provided on the fixed base 110 side of the touch pad 140.
- the movable base 130 includes a flat plate portion 131 wider than the touch pad 140 in a plan view, and a wall portion 132 extending from an edge of the flat plate portion 131 toward the fixed base 110.
- the fixed base 110 includes a flat portion 111 wider than the flat portion 131 in a plan view, a wall portion 112 extending upward from an edge of the flat portion 111 outside the wall portion 132, and a flange portion 113 protruding outward from the wall portion 112. Have. The lower end of the bezel 120 contacts the flange 113.
- the actuator 160 is provided on the flat plate portion 111. Actuator 160 contacts flat portions 111 and 131. In a plan view, the actuator 160 is located substantially at the center of the flat portions 111 and 131. A plurality of pretension springs 150 are provided around the actuator 160 between the flat plate portions 111 and 131 to attract the flat plate portions 111 and 131 to each other.
- the touch pad 140 is an example of an operation member, and the movable base 130 and the touch pad 140 are included in a movable unit.
- the fixed base 110 is an example of a fixed portion
- the actuator 160 is an example of a vibration generating portion (vibration generating device).
- a panel guide 190 is provided between the wall portion 112 and the wall portion 132 to be in contact with the wall portions 112 and 132.
- the panel guide 190 has elasticity, and guides the movable base 130 inside the fixed base 110.
- a plurality of reflection type photo interrupters 170 are provided on the flat plate portion 111 of the fixed base 110.
- the photo-interrupter 170 irradiates the flat portion 131 of the movable base 130 above the light with light, receives the light reflected by the flat portion 131, and detects the distance to the irradiated portion of the flat portion 131. can do.
- the photo interrupters 170 are arranged inside the four corners of the touch pad 140 in plan view.
- the photo interrupter 170 is an example of a detection unit.
- a control device 180 is further provided on the fixed base 110.
- the control device 180 drives the actuator 160 in accordance with the operation of the touch pad 140 to perform tactile feedback to the user by the processing described below.
- the control device 180 is, for example, a semiconductor chip.
- the control device 180 is provided on the flat plate portion 111, but the location where the control device 180 is provided is not limited, and may be provided, for example, between the touch pad 140 and the movable base 130. .
- FIG. 4 is a plan view illustrating the configuration of the actuator 160
- FIG. 5 is a plan view of the actuator 160 with the movable yoke and the permanent magnet removed
- FIG. 6 is a cross-sectional view illustrating the configuration of the actuator 160.
- FIG. 6 corresponds to a cross-sectional view taken along the line II in FIGS.
- the actuator 160 includes the fixed yoke 10, the movable yoke 20, the excitation coil 30, the rubber 40, and the permanent magnet 60.
- the fixed yoke 10 has a plate-shaped base 11 having a substantially rectangular planar shape.
- the longitudinal direction of the base 11 is defined as the X direction
- the lateral direction is defined as the Y direction
- the thickness direction is defined as the Z direction.
- the rubber 40 is an example of an elastic support.
- the X direction corresponds to a first direction
- the Z direction corresponds to a second direction.
- the fixed yoke 10 further includes a central projecting portion 12 projecting upward (Z direction) from the center of the base portion 11 and a lateral projecting projecting upward (Z direction) from near both ends in the longitudinal direction (X direction) of the base portion 11. It has a part 13.
- the two side protrusions 13 are provided at positions sandwiching the center protrusion 12 in the X direction.
- the excitation coil 30 is wound around the central projection 12 between the two side projections 13.
- a rubber 40 is provided on each side protrusion 13.
- the central protrusion 12 is an example of a first protrusion
- the side protrusion 13 is an example of a second protrusion.
- the movable yoke 20 is plate-shaped and has a substantially rectangular plane shape.
- the movable yoke 20 is in contact with the rubber 40 at an end in the longitudinal direction (X direction).
- a permanent magnet 60 is attached to a surface of the movable yoke 20 on the fixed yoke 10 side.
- the permanent magnet 60 is magnetized so that both ends in the X direction have different magnetic poles, and has an N pole portion 61 and an S pole portion 62.
- the permanent magnet 60 is attached to substantially the center of the movable yoke 20 in a plan view such that a boundary 63 between the N pole portion 61 and the S pole portion 62 overlaps with the center projecting portion 12 in the Z direction.
- the permanent magnet 60 magnetizes the fixed yoke 10 and the movable yoke 20, and the movable yoke 20 is urged in a direction approaching the fixed yoke 10 in the Z direction by magnetic attraction. Further, both ends of the movable yoke 20 are urged in a direction approaching each of the two side protrusions 13 in the X direction by the magnetic attraction. That is, the movable yoke 20 is urged toward a predetermined position in the X direction. This predetermined position is an example of a first position.
- the control device 180 drives the actuator 160 so that the direction of the current flowing through the exciting coil 30 is alternately reversed when performing tactile feedback to the user. That is, the control device 180 alternately reverses the direction of the current flowing through the exciting coil 30, and alternately reverses the magnetic poles of the surface of the central protrusion 12 and the side protrusion 13 on the permanent magnet 60 side. As a result, the permanent magnet 60 and the movable yoke 20 are alternately attracted to each of the two side projections 13 and reciprocate in the X direction. That is, the energization of the exciting coil 30 causes the movable yoke 20 to vibrate in the X direction with the predetermined position (first position) in the initial state as a neutral position.
- the rubber 40 has a rectangular planar shape whose longitudinal direction is the Y direction, and the equivalent spring constant of the rubber 40 in the X direction is smaller than the equivalent spring constant in the Z direction. Therefore, when the same force is applied in the X direction and the Z direction, the rubber 40 is more greatly deformed in the X direction than in the Z direction. That is, the rubber 40 is not easily deformed in the Z direction and is easily deformed in the X direction.
- the equivalent spring constant in the X direction of the rubber 40 is 3.2 N / mm
- the equivalent spring constant in the Z direction is 25 N / mm.
- the rubber 40 is sandwiched between the side protrusion 13 and the movable yoke 20. That is, it is sandwiched between the fixed yoke 10 and the movable yoke 20. Therefore, the rubber 40 is held between the fixed yoke 10 and the movable yoke 20 unless it is intentionally disassembled.
- the rubber 40 may be fixed to the upper surface of the side protruding portion 13, the lower surface of the movable yoke 20, or both of them.
- the control device 180 determines whether the load applied to the operation position of the touch pad 140 has reached a reference value for generating haptic feedback, and drives the actuator 160 according to the result to generate haptic feedback.
- FIG. 7 is a diagram illustrating a configuration of the control device 180.
- the control device 180 includes a CPU (Central Processing Unit) 181, a ROM (Read Only Memory) 182, a RAM (Random Access Memory) 183, and an auxiliary storage unit 184.
- the CPU 181, the ROM 182, the RAM 183, and the auxiliary storage 184 constitute a so-called computer.
- Each part of the control device 180 is mutually connected via a bus 185.
- the CPU 181 executes various programs (for example, a load determination program) stored in the auxiliary storage unit 184.
- the ROM 182 is a nonvolatile main storage device.
- the ROM 182 stores various programs and data necessary for the CPU 181 to execute various programs stored in the auxiliary storage unit 184.
- the ROM 182 stores a boot program such as a BIOS (Basic Input / Output System) and an EFI (Extensible Firmware Interface).
- BIOS Basic Input / Output System
- EFI Extensible Firmware Interface
- the RAM 183 is a volatile main storage device such as a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory).
- the RAM 183 functions as a work area that is developed when various programs stored in the auxiliary storage unit 184 are executed by the CPU 181.
- the auxiliary storage unit 184 is an auxiliary storage device that stores various programs executed by the CPU 181 and various data generated by the CPU 181 executing the various programs.
- the control device 180 has such a hardware configuration and performs the following processing.
- FIG. 8 is a flowchart showing the content of the processing by control device 180.
- control device 180 detects the touch pad 140 (step S1). Then, it is determined whether or not a finger has touched the touch pad 140 based on the output of the electrostatic sensor 142 (step S2). If the finger has not touched, the drift of the photo interrupter 170 is canceled (step S2). S3).
- a detection signal is obtained from each of the photo interrupters 170 (step S4).
- the output signal of the photo interrupter 170 is an analog signal, a signal after conversion into a digital signal is obtained.
- step S5 From the detection signals of the photointerrupter 170, the displacement amount in the Z-axis direction at the detected position of the flat plate portion 131 is calculated (step S5).
- step S6 the amount of displacement Z in the Z-axis direction at the operation position of the touch pad 140 is calculated. That is, from the displacement amount in the Z-axis direction calculated from the detection signals of all or some of the four photo interrupters 170, and the X coordinate and Y coordinate of the operation position detected by the touch pad 140, the Z at the operation position is determined. An axial displacement Z is calculated.
- Step S7 the relationship between the applied load and the displacement amount in the Z-axis direction is obtained in advance, this is stored in the ROM 182, and is read out to calculate the threshold value (on threshold value) Zth in the Z-axis direction at the operation position.
- Step S8 it is determined whether the displacement amount Z is greater than the ON threshold value Zth. If the displacement amount Z is greater than the ON threshold value Zth, it is determined that the applied load is greater than the reference value and the actuator 160 is driven to perform haptic feedback. (Step S9). At this time, the control device 180 drives the actuator 160 such that a current in a direction in which a repulsive force acts between the fixed yoke 10 and the movable yoke 20 flows through the exciting coil 30.
- the control device 180 performs such an operation.
- the movable yoke 20 in the initial state where the excitation coil 30 is not energized, the movable yoke 20 is urged in the Z direction by the magnetic attraction of the permanent magnet 60 so as to approach the fixed yoke 10.
- the rubber 40 is compressed between the movable yoke 20 and the fixed yoke 10. Therefore, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the Z direction is stabilized.
- the actuator 160 is less likely to rattle due to the pressing operation. Also at this point, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the Z direction is easily stabilized.
- the strength of the drag from the rubber 40 depends on the amount of compression of the rubber 40
- the amount of compression of the rubber 40 in the initial state depends on, for example, the elastic force of the rubber 40 and the pretension spring 150 and the magnetic force of the permanent magnet 60. Dependent. Therefore, by these selections, the amount of compression in the initial state and the strength of the drag at the time of the pressing operation can be appropriately adjusted.
- the movable yoke 20 In the initial state, the movable yoke 20 is urged toward a predetermined position (first position) in the X direction by the magnetic attraction of the permanent magnet 60. Therefore, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the X direction is stabilized.
- the movable yoke 20 overlaps the central projecting portion 12 and the side projecting portion 13 in plan view. That is, the movable yoke 20 overlaps with the center projecting portion 12 and the side projecting portion 13 in the Z direction. Therefore, the movable yoke 20 tends to stop at the center of the fixed yoke 10 even in the Y direction by the magnetic attraction of the permanent magnet 60. Therefore, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the Y direction is also stabilized.
- the operating device 100 has excellent self-positioning performance, and the relative position of the movable yoke 20 with respect to the fixed yoke 10 is easily stabilized in the X, Y, and Z directions. That is, the posture of the movable yoke 20 is easily stabilized when viewed from the fixed yoke 10. Therefore, a stable vibration can be generated during tactile feedback.
- the excitation coil 30 is energized, and the movable yoke 20 vibrates in the X direction with a predetermined position (first position) in the initial state as a neutral position.
- the equivalent spring constant of the rubber 40 in the X direction is smaller than the equivalent spring constant in the Z direction, the rubber 40 is not easily deformed by the pressing operation, and a large vibration amount can be obtained in the X direction.
- the actuator 160 vibrates in the direction along the operation surface of the touch pad 140 (first direction) according to the operation position and the operation load.
- the user can recognize how the operation performed on the operation device 100 is reflected without visually recognizing the display device provided on the operation device 100 or the like.
- the operation device 100 is provided on a center console for various switches of a vehicle
- the driver recognizes from the vibration of the actuator 160 how the operation performed by the driver is reflected without moving his / her eyes to the operation device 100. can do.
- the vibration direction is a direction perpendicular to the operation surface, the air is likely to vibrate to generate a vibration sound, but the generation of such a vibration sound can be suppressed.
- the upper and lower ends of the rubber 40 may be fixed to the movable yoke 20 and the side protruding portions 13, respectively. Further, the upper end of the rubber 40 may be fixed to the movable yoke 20 and the lower end may not be fixed to the side protruding portion 13 but may be in close contact. Further, the lower end of the rubber 40 may be fixed to the side protruding portion 13 and the upper end may not be fixed to the movable yoke 20 but may be in close contact. Either the upper end or the lower end of the rubber 40 is fixed to the movable yoke 20 or the side protruding portion 13, and the other is not fixed, but is merely adhered, so that the assembling workability can be improved.
- FIG. 9 is a diagram illustrating a modified example of the rubber.
- a columnar rubber 70 may be used.
- a rubber 80 having a shape in which two truncated cones are stacked with their bottoms having small areas overlapping each other may be used. That is, a rubber-like rubber 80 in which a constriction is formed in the center of the cylinder in the height direction may be used.
- the ratio of the equivalent spring constant in the Z direction to the equivalent spring constant in the X direction is larger in the rubber 80 than in the rubber 70 if the diameters and materials of the upper surface and the lower surface are the same. That is, according to the rubber 80, it is possible to obtain a larger vibration amount in the X direction than the rubber 70, while suppressing the rattling caused by the pressing operation.
- the number of rubbers is not limited, and two or more rubbers may be provided for each side projecting portion 13.
- the operation member is not limited to the operation panel member such as the touch pad 140, and may be a push button having an operation surface.
- a non-contact position detection sensor such as an electrostatic sensor may be used instead of the photo interrupter 170.
- the pressure applied to the touch pad 140 may be detected using a pressure sensor.
- the operating device of the present disclosure is particularly suitable for an operating device provided on a center console of an automobile. Since the center console is provided between the driver's seat and the passenger's seat, the planar shape of the operation device provided on the center console may be complicated. In the operation device according to the present disclosure, since the magnitude of the vibration is stable within the operation surface, appropriate tactile feedback can be performed even when the planar shape of the operation member is complicated.
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- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
This operation device comprises a vibration generating unit, etc. The vibration generating unit includes a movable yoke, a fixed yoke, a permanent magnet that is attached to the movable yoke, an excitation coil that is attached to the fixed yoke, and an elastic support portion that is disposed between the movable yoke and the fixed yoke. The fixed yoke includes a base portion, a first protruding portion, and two second protruding portions. The permanent magnet is magnetized such that both ends thereof in the first direction have different magnetic poles, and the boundary between the magnetic poles overlaps, in a second direction, with the first protruding portion. In the initial state, the magnetic attraction force of the permanent magnet urges the movable yoke, in the second direction, toward the fixed yoke, the elastic support portion is compressed between the movable yoke and the fixed yoke, and the movable yoke is urged, in the first direction, toward a first position. When current flows through the excitation coil, the movable yoke vibrates in the first direction with the first position set as a neutral position.
Description
本開示は、操作装置及び振動発生装置に関する。
The present disclosure relates to an operating device and a vibration generating device.
近年、タッチパッドのように操作面に触れることで入力操作が行うことができる操作装置が普及している。このような操作装置を操作したとき、操作者はスイッチ装置や可変抵抗器などを操作したときのような操作感触が得られない。そこで、操作されたときに操作面に振動を加えることで擬似的な操作感触が感じられるフォースフィードバック付き操作装置が提案されている。
In recent years, an operation device that can perform an input operation by touching an operation surface, such as a touch pad, has become widespread. When operating such an operating device, the operator cannot obtain the operational feeling as when operating a switch device, a variable resistor, or the like. Therefore, an operation device with force feedback has been proposed in which a pseudo operation feeling is felt by applying vibration to the operation surface when operated.
例えば、特許文献1には、振動音を抑制するために、ヨークのオフセットを用いて押圧方向と振動方向とを交差させる入力装置が開示されている。また、特許文献2には、往復式電気かみそり等に利用可能な電磁振動装置として、励磁コイル及び永久磁石を備えた装置が開示されている。
For example, Patent Document 1 discloses an input device that uses a yoke offset to cross a pressing direction and a vibration direction in order to suppress vibration noise. Patent Document 2 discloses a device including an excitation coil and a permanent magnet as an electromagnetic vibration device that can be used for a reciprocating electric shaver or the like.
しかしながら、特許文献1に記載の入力装置では、ヨークの姿勢が安定せず、振動の大きさが不安定になることがある。また、特許文献2の電磁振動装置は、入力操作が可能な操作装置に用いることができない。
However, in the input device described in Patent Document 1, the posture of the yoke may not be stable, and the magnitude of the vibration may be unstable. Further, the electromagnetic vibration device of Patent Document 2 cannot be used as an operation device that can perform an input operation.
本開示は、安定した振動を発生することができる操作装置及び振動発生装置を提供することを目的とする。
The present disclosure aims to provide an operation device and a vibration generation device that can generate stable vibration.
本開示によれば、操作装置は、押圧操作される操作部材を有する可動部と、前記可動部に対して前記操作部材の操作面に沿う第1の方向の振動を付与する振動発生部と、前記可動部を振動可能に支持する固定部と、前記操作部材が押圧操作されたことを検出する検出部と、前記検出部の検出結果に応じて前記振動発生部を駆動する制御部と、を有する。前記振動発生部は、前記可動部に取り付けられた可動ヨークと、前記固定部に取り付けられ、前記可動ヨークに対して前記第1の方向と交差する第2の方向に対向配置された固定ヨークと、前記可動ヨークに取り付けられた永久磁石と、前記固定ヨークに取り付けられ、通電により磁束を生じさせる励磁コイルと、前記可動ヨークと前記固定ヨークとの間に配置され、前記可動ヨークを前記固定ヨークに対して振動可能に保持する弾性支持部と、を有する。前記固定ヨークは、基部と、前記基部から前記可動ヨークに向けて突出する第1の突出部と、前記基部から前記可動ヨークに向けて突出し、前記第1の方向において前記第1の突出部を間に挟む位置に設けられた2つの第2の突出部と、を有する。前記永久磁石は、前記第1の方向の両端が異なる磁極となるように着磁され、前記磁極の境界と前記第1の突出部とが前記第2の方向で重なり合う。前記励磁コイルに通電されていない初期状態で、前記永久磁石の磁気吸引力により、前記第2の方向で前記可動ヨークが前記固定ヨークに接近する向き付勢されると共に、前記可動ヨークと前記固定ヨークとの間で前記弾性支持部が圧縮されており、前記第1の方向で前記可動ヨークが第1の位置へ向けて付勢され、前記励磁コイルへの通電により、前記可動ヨークは、前記第1の位置を中立位置として前記第1の方向に振動する。
According to the present disclosure, the operation device includes a movable unit having an operation member to be pressed, a vibration generation unit that applies vibration to the movable unit in a first direction along an operation surface of the operation member, A fixed unit that vibratably supports the movable unit, a detection unit that detects that the operation member has been pressed, and a control unit that drives the vibration generation unit according to a detection result of the detection unit. Have. A movable yoke attached to the movable unit, a fixed yoke attached to the fixed unit, and opposed to the movable yoke in a second direction intersecting the first direction; A permanent magnet attached to the movable yoke, an excitation coil attached to the fixed yoke and generating a magnetic flux when energized, and disposed between the movable yoke and the fixed yoke; And an elastic supporting portion that holds the vibration member so as to be able to vibrate. The fixed yoke includes a base, a first protrusion protruding from the base toward the movable yoke, and a protrusion protruding from the base toward the movable yoke, and the first protrusion in the first direction. And two second protrusions provided at positions sandwiched therebetween. The permanent magnet is magnetized such that both ends in the first direction have different magnetic poles, and a boundary between the magnetic poles and the first protrusion overlap in the second direction. In the initial state in which the excitation coil is not energized, the movable yoke is biased in the second direction to approach the fixed yoke by the magnetic attraction of the permanent magnet, and the movable yoke is fixed to the fixed yoke. The elastic support portion is compressed between the movable yoke and the yoke, and the movable yoke is urged toward the first position in the first direction. Vibrating in the first direction with the first position as a neutral position.
本開示によれば、安定した振動を発生することができる。
According to the present disclosure, stable vibration can be generated.
以下、本開示の実施形態について添付の図面を参照しながら具体的に説明する。なお、本明細書及び図面において、実質的に同一の機能構成を有する構成要素については、同一の符号を付することにより重複した説明を省くことがある。
Hereinafter, embodiments of the present disclosure will be specifically described with reference to the accompanying drawings. In the specification and the drawings, components having substantially the same function and configuration will be denoted by the same reference numerals and redundant description may be omitted.
図1は、実施形態に係る操作装置の構成を示す斜視図であり、図2は、実施形態に係る操作装置の構成を示す上面図であり、図3は、実施形態に係る操作装置の構成を示す断面図である。図3は図2中のI-I線に沿った断面図に相当する。
FIG. 1 is a perspective view showing the configuration of the operating device according to the embodiment, FIG. 2 is a top view showing the configuration of the operating device according to the embodiment, and FIG. 3 is the configuration of the operating device according to the embodiment. FIG. FIG. 3 corresponds to a cross-sectional view taken along line II in FIG.
図1~図3に示すように、実施形態に係る操作装置100は、固定ベース110、固定ベース110の縁上に固定されたベゼル120、及びベゼル120の内側の化粧パネル141を有する。化粧パネル141の固定ベース110側に静電センサ142が設けられており、化粧パネル141と静電センサ142とによりタッチパッド140が形成されている。タッチパッド140の固定ベース110側に可動ベース130が設けられている。可動ベース130は、平面視でタッチパッド140より広い平板部131、及び平板部131の縁から固定ベース110に向かって延びる壁部132を有する。固定ベース110は、平面視で平板部131より広い平板部111、平板部111の縁から壁部132の外側で上方に延びる壁部112、及び壁部112から外方に突出するフランジ部113を有する。ベゼル120の下端がフランジ部113に接触する。
As shown in FIGS. 1 to 3, the operating device 100 according to the embodiment has a fixed base 110, a bezel 120 fixed on an edge of the fixed base 110, and a decorative panel 141 inside the bezel 120. An electrostatic sensor 142 is provided on the fixed base 110 side of the decorative panel 141, and a touch pad 140 is formed by the decorative panel 141 and the electrostatic sensor 142. The movable base 130 is provided on the fixed base 110 side of the touch pad 140. The movable base 130 includes a flat plate portion 131 wider than the touch pad 140 in a plan view, and a wall portion 132 extending from an edge of the flat plate portion 131 toward the fixed base 110. The fixed base 110 includes a flat portion 111 wider than the flat portion 131 in a plan view, a wall portion 112 extending upward from an edge of the flat portion 111 outside the wall portion 132, and a flange portion 113 protruding outward from the wall portion 112. Have. The lower end of the bezel 120 contacts the flange 113.
平板部111上にアクチュエータ160が設けられている。アクチュエータ160は平板部111及び131に接触する。平面視で、アクチュエータ160は平板部111及び131の略中心に位置する。また、平板部111及び131間でアクチュエータ160の周囲に、平板部111及び131を互いに引き付け合う複数のプリテンションスプリング150が設けられている。タッチパッド140は操作部材の一例であり、可動ベース130及びタッチパッド140が可動部に含まれる。また、固定ベース110は固定部の一例であり、アクチュエータ160は振動発生部(振動発生装置)の一例である。
ア ク チ ュ エ ー タ The actuator 160 is provided on the flat plate portion 111. Actuator 160 contacts flat portions 111 and 131. In a plan view, the actuator 160 is located substantially at the center of the flat portions 111 and 131. A plurality of pretension springs 150 are provided around the actuator 160 between the flat plate portions 111 and 131 to attract the flat plate portions 111 and 131 to each other. The touch pad 140 is an example of an operation member, and the movable base 130 and the touch pad 140 are included in a movable unit. Further, the fixed base 110 is an example of a fixed portion, and the actuator 160 is an example of a vibration generating portion (vibration generating device).
また、壁部112と壁部132との間に、壁部112及び132に接触するパネルガイド190が設けられている。例えばパネルガイド190は弾性を有し、固定ベース110の内側で可動ベース130を案内する。
パ ネ ル A panel guide 190 is provided between the wall portion 112 and the wall portion 132 to be in contact with the wall portions 112 and 132. For example, the panel guide 190 has elasticity, and guides the movable base 130 inside the fixed base 110.
また、固定ベース110の平板部111上に複数の反射型のフォトインタラプタ170が設けられている。フォトインタラプタ170は、その上方にある可動ベース130の平板部131に光を照射し、平板部131により反射された光を受光して、平板部131の光が照射された部分までの距離を検出することができる。例えば、フォトインタラプタ170は、平面視でタッチパッド140の四隅の内側に配置されている。フォトインタラプタ170は検出部の一例である。
反射 Further, a plurality of reflection type photo interrupters 170 are provided on the flat plate portion 111 of the fixed base 110. The photo-interrupter 170 irradiates the flat portion 131 of the movable base 130 above the light with light, receives the light reflected by the flat portion 131, and detects the distance to the irradiated portion of the flat portion 131. can do. For example, the photo interrupters 170 are arranged inside the four corners of the touch pad 140 in plan view. The photo interrupter 170 is an example of a detection unit.
更に、固定ベース110上に制御装置180が設けられている。制御装置180は、後述の処理により、タッチパッド140の操作に応じて、アクチュエータ160を駆動させてユーザへの触覚フィードバックを行う。制御装置180は、例えば半導体チップである。本実施形態では制御装置180が平板部111上に設けられているが、制御装置180が設けられる場所は限定されず、例えばタッチパッド140と可動ベース130との間等に設けられていてもよい。
制 御 A control device 180 is further provided on the fixed base 110. The control device 180 drives the actuator 160 in accordance with the operation of the touch pad 140 to perform tactile feedback to the user by the processing described below. The control device 180 is, for example, a semiconductor chip. In the present embodiment, the control device 180 is provided on the flat plate portion 111, but the location where the control device 180 is provided is not limited, and may be provided, for example, between the touch pad 140 and the movable base 130. .
次に、アクチュエータ160の構成について説明する。図4は、アクチュエータ160の構成を示す平面図であり、図5は、図4から可動ヨーク及び永久磁石を除いた平面図であり、図6は、アクチュエータ160の構成を示す断面図である。図6は図4及び図5中のI-I線に沿った断面図に相当する。
Next, the configuration of the actuator 160 will be described. FIG. 4 is a plan view illustrating the configuration of the actuator 160, FIG. 5 is a plan view of the actuator 160 with the movable yoke and the permanent magnet removed, and FIG. 6 is a cross-sectional view illustrating the configuration of the actuator 160. FIG. 6 corresponds to a cross-sectional view taken along the line II in FIGS.
図4~図6に示すように、アクチュエータ160は、固定ヨーク10、可動ヨーク20、励磁コイル30、ラバー40及び永久磁石60を有する。固定ヨーク10は、平面形状が略矩形の板状の基部11を有する。基部11の長手方向をX方向、短手方向をY方向、厚さ方向をZ方向とする。ラバー40は弾性支持部の一例である。X方向が第1の方向に相当し、Z方向が第2の方向に相当する。
ア ク チ ュ エ ー タ As shown in FIGS. 4 to 6, the actuator 160 includes the fixed yoke 10, the movable yoke 20, the excitation coil 30, the rubber 40, and the permanent magnet 60. The fixed yoke 10 has a plate-shaped base 11 having a substantially rectangular planar shape. The longitudinal direction of the base 11 is defined as the X direction, the lateral direction is defined as the Y direction, and the thickness direction is defined as the Z direction. The rubber 40 is an example of an elastic support. The X direction corresponds to a first direction, and the Z direction corresponds to a second direction.
固定ヨーク10は、更に、基部11の中央から上方(Z方向)に突立する中央突出部12、及び基部11の長手方向(X方向)の両端近傍から上方(Z方向)に突立する側方突出部13を有する。2つの側方突出部13は、X方向において中央突出部12を間に挟む位置に設けられている。励磁コイル30は、2つの側方突出部13の間で中央突出部12に巻き付けられている。各側方突出部13上にラバー40が設けられている。中央突出部12は第1の突出部の一例であり、側方突出部13は第2の突出部の一例である。
The fixed yoke 10 further includes a central projecting portion 12 projecting upward (Z direction) from the center of the base portion 11 and a lateral projecting projecting upward (Z direction) from near both ends in the longitudinal direction (X direction) of the base portion 11. It has a part 13. The two side protrusions 13 are provided at positions sandwiching the center protrusion 12 in the X direction. The excitation coil 30 is wound around the central projection 12 between the two side projections 13. A rubber 40 is provided on each side protrusion 13. The central protrusion 12 is an example of a first protrusion, and the side protrusion 13 is an example of a second protrusion.
可動ヨーク20は板状であり、略矩形の平面形状を有する。可動ヨーク20は、その長手方向(X方向)の端部にてラバー40に接触している。可動ヨーク20の固定ヨーク10側の面に永久磁石60が取り付けられている。永久磁石60は、X方向の両端が異なる磁極となるように着磁されており、N極部61及びS極部62を有する。そして、永久磁石60は、N極部61とS極部62との境界63がZ方向で中央突出部12と重なり合うようにして、平面視で可動ヨーク20の略中央に取り付けられている。永久磁石60は固定ヨーク10及び可動ヨーク20を磁化し、磁気吸引力により、可動ヨーク20はZ方向で固定ヨーク10に接近する向きに付勢される。また、磁気吸引力により、可動ヨーク20の両端は、X方向で2つの側方突出部13の各々に接近する向きに付勢される。つまり、可動ヨーク20はX方向で所定の位置に向けて付勢される。この所定の位置が第1の位置の一例である。
The movable yoke 20 is plate-shaped and has a substantially rectangular plane shape. The movable yoke 20 is in contact with the rubber 40 at an end in the longitudinal direction (X direction). A permanent magnet 60 is attached to a surface of the movable yoke 20 on the fixed yoke 10 side. The permanent magnet 60 is magnetized so that both ends in the X direction have different magnetic poles, and has an N pole portion 61 and an S pole portion 62. The permanent magnet 60 is attached to substantially the center of the movable yoke 20 in a plan view such that a boundary 63 between the N pole portion 61 and the S pole portion 62 overlaps with the center projecting portion 12 in the Z direction. The permanent magnet 60 magnetizes the fixed yoke 10 and the movable yoke 20, and the movable yoke 20 is urged in a direction approaching the fixed yoke 10 in the Z direction by magnetic attraction. Further, both ends of the movable yoke 20 are urged in a direction approaching each of the two side protrusions 13 in the X direction by the magnetic attraction. That is, the movable yoke 20 is urged toward a predetermined position in the X direction. This predetermined position is an example of a first position.
制御装置180は、ユーザへの触覚フィードバックを行う際に、励磁コイル30に流れる電流の向きが交互に反転するようにアクチュエータ160を駆動する。すなわち、制御装置180は、励磁コイル30に流れる電流の向きを交互に反転させ、中央突出部12及び側方突出部13の永久磁石60側の面の磁極を交互に反転させる。この結果、永久磁石60及び可動ヨーク20は、2つの側方突出部13の各々に交互に引き付けられ、X方向で往復運動する。つまり、励磁コイル30への通電により、可動ヨーク20は初期状態における所定の位置(第1の位置)を中立位置としてX方向に振動する。
The control device 180 drives the actuator 160 so that the direction of the current flowing through the exciting coil 30 is alternately reversed when performing tactile feedback to the user. That is, the control device 180 alternately reverses the direction of the current flowing through the exciting coil 30, and alternately reverses the magnetic poles of the surface of the central protrusion 12 and the side protrusion 13 on the permanent magnet 60 side. As a result, the permanent magnet 60 and the movable yoke 20 are alternately attracted to each of the two side projections 13 and reciprocate in the X direction. That is, the energization of the exciting coil 30 causes the movable yoke 20 to vibrate in the X direction with the predetermined position (first position) in the initial state as a neutral position.
例えば、ラバー40はY方向を長手方向とする矩形の平面形状を有し、ラバー40のX方向における等価ばね定数は、Z方向における等価ばね定数よりも小さい。従って、X方向及びZ方向に同じ強さの力が加えられた場合、ラバー40はZ方向よりもX方向に大きく変形する。つまり、ラバー40はZ方向に変形しにくく、X方向に変形しやすい。例えば、ラバー40のX方向における等価ばね定数は3.2N/mmであり、Z方向における等価ばね定数は25N/mmである。
For example, the rubber 40 has a rectangular planar shape whose longitudinal direction is the Y direction, and the equivalent spring constant of the rubber 40 in the X direction is smaller than the equivalent spring constant in the Z direction. Therefore, when the same force is applied in the X direction and the Z direction, the rubber 40 is more greatly deformed in the X direction than in the Z direction. That is, the rubber 40 is not easily deformed in the Z direction and is easily deformed in the X direction. For example, the equivalent spring constant in the X direction of the rubber 40 is 3.2 N / mm, and the equivalent spring constant in the Z direction is 25 N / mm.
ラバー40は側方突出部13と可動ヨーク20との間に挟持されている。すなわち、固定ヨーク10と可動ヨーク20との間に挟み込まれている。このため、意図的に分解しなければ、ラバー40は固定ヨーク10と可動ヨーク20との間に保持される。なお、ラバー40が側方突出部13の上面若しくは可動ヨーク20の下面又はこれらの両方に固着されていてもよい。
The rubber 40 is sandwiched between the side protrusion 13 and the movable yoke 20. That is, it is sandwiched between the fixed yoke 10 and the movable yoke 20. Therefore, the rubber 40 is held between the fixed yoke 10 and the movable yoke 20 unless it is intentionally disassembled. The rubber 40 may be fixed to the upper surface of the side protruding portion 13, the lower surface of the movable yoke 20, or both of them.
次に、制御装置180によるアクチュエータ160の駆動について説明する。制御装置180は、タッチパッド140の操作位置に加えられた荷重が触覚フィードバックを生じさせる基準値に達しているか判断し、その結果に応じてアクチュエータ160を駆動して触覚フィードバックを生じさせる。図7は、制御装置180の構成を示す図である。
Next, driving of the actuator 160 by the control device 180 will be described. The control device 180 determines whether the load applied to the operation position of the touch pad 140 has reached a reference value for generating haptic feedback, and drives the actuator 160 according to the result to generate haptic feedback. FIG. 7 is a diagram illustrating a configuration of the control device 180.
制御装置180は、CPU(Central Processing Unit)181、ROM(Read Only Memory)182、RAM(Random Access Memory)183及び補助記憶部184を備える。CPU181、ROM182、RAM183及び補助記憶部184は、いわゆるコンピュータを構成する。制御装置180の各部は、バス185を介して相互に接続されている。
The control device 180 includes a CPU (Central Processing Unit) 181, a ROM (Read Only Memory) 182, a RAM (Random Access Memory) 183, and an auxiliary storage unit 184. The CPU 181, the ROM 182, the RAM 183, and the auxiliary storage 184 constitute a so-called computer. Each part of the control device 180 is mutually connected via a bus 185.
CPU181は、補助記憶部184に格納された各種プログラム(例えば、荷重判定プログラム)を実行する。
The CPU 181 executes various programs (for example, a load determination program) stored in the auxiliary storage unit 184.
ROM182は不揮発性の主記憶デバイスである。ROM182は、補助記憶部184に格納された各種プログラムを、CPU181が実行するために必要な各種プログラム、データ等を格納する。具体的には、ROM182は、BIOS(Basic Input/Output System)やEFI(Extensible Firmware Interface)等のブートプログラムなどを格納する。
The ROM 182 is a nonvolatile main storage device. The ROM 182 stores various programs and data necessary for the CPU 181 to execute various programs stored in the auxiliary storage unit 184. Specifically, the ROM 182 stores a boot program such as a BIOS (Basic Input / Output System) and an EFI (Extensible Firmware Interface).
RAM183は、DRAM(Dynamic Random Access Memory)やSRAM(Static Random Access Memory)等の揮発性の主記憶デバイスである。RAM183は、補助記憶部184に格納された各種プログラムがCPU181によって実行される際に展開される作業領域として機能する。
The RAM 183 is a volatile main storage device such as a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory). The RAM 183 functions as a work area that is developed when various programs stored in the auxiliary storage unit 184 are executed by the CPU 181.
補助記憶部184は、CPU181により実行される各種プログラム及び各種プログラムがCPU181によって実行されることで生成される各種データを格納する補助記憶デバイスである。
The auxiliary storage unit 184 is an auxiliary storage device that stores various programs executed by the CPU 181 and various data generated by the CPU 181 executing the various programs.
制御装置180は、このようなハードウェア構成を備えており、次のような処理を行う。図8は、制御装置180による処理の内容を示すフローチャートである。
The control device 180 has such a hardware configuration and performs the following processing. FIG. 8 is a flowchart showing the content of the processing by control device 180.
先ず、制御装置180はタッチパッド140を検出する(ステップS1)。そして、タッチパッド140に指が接触したか否かを静電センサ142の出力に基づいて判断し(ステップS2)、指が接触していない場合には、フォトインタラプタ170のドリフトをキャンセルする(ステップS3)。
First, the control device 180 detects the touch pad 140 (step S1). Then, it is determined whether or not a finger has touched the touch pad 140 based on the output of the electrostatic sensor 142 (step S2). If the finger has not touched, the drift of the photo interrupter 170 is canceled (step S2). S3).
一方、タッチパッド140に指が接触したと判断した場合は、フォトインタラプタ170の各々から検出信号を取得する(ステップS4)。例えば、フォトインタラプタ170の出力信号がアナログ信号である場合、デジタル信号への変換後の信号を取得する。
On the other hand, if it is determined that the finger has touched the touch pad 140, a detection signal is obtained from each of the photo interrupters 170 (step S4). For example, when the output signal of the photo interrupter 170 is an analog signal, a signal after conversion into a digital signal is obtained.
次いで、フォトインタラプタ170の各検出信号から、平板部131のこれらによる検出位置でのZ軸方向の変位量を計算する(ステップS5)。
Next, from the detection signals of the photointerrupter 170, the displacement amount in the Z-axis direction at the detected position of the flat plate portion 131 is calculated (step S5).
その後、タッチパッド140の操作位置におけるZ軸方向の変位量Zを算出する(ステップS6)。すなわち、4つのフォトインタラプタ170のうちの全部又は一部の検出信号から計算したZ軸方向の変位量、並びにタッチパッド140により検出された操作位置のX座標及びY座標から、操作位置でのZ軸方向の変位量Zを算出する。
Then, the amount of displacement Z in the Z-axis direction at the operation position of the touch pad 140 is calculated (step S6). That is, from the displacement amount in the Z-axis direction calculated from the detection signals of all or some of the four photo interrupters 170, and the X coordinate and Y coordinate of the operation position detected by the touch pad 140, the Z at the operation position is determined. An axial displacement Z is calculated.
また、加えられた荷重とZ軸方向の変位量との関係を予め求め、これをROM182に記憶させておき、これを読み出して、操作位置でのZ軸方向の閾値(オン閾値)Zthを算出する(ステップS7)。
In addition, the relationship between the applied load and the displacement amount in the Z-axis direction is obtained in advance, this is stored in the ROM 182, and is read out to calculate the threshold value (on threshold value) Zth in the Z-axis direction at the operation position. (Step S7).
そして、変位量Zがオン閾値Zth超であるか判断し(ステップS8)、オン閾値Zth超であれば、加えられた荷重が基準値超であるとして、アクチュエータ160を駆動して触覚フィードバックを実施する(ステップS9)。このとき、制御装置180は、固定ヨーク10と可動ヨーク20との間に斥力が作用する方向の電流が励磁コイル30に流れるようにアクチュエータ160を駆動する。
Then, it is determined whether the displacement amount Z is greater than the ON threshold value Zth (step S8). If the displacement amount Z is greater than the ON threshold value Zth, it is determined that the applied load is greater than the reference value and the actuator 160 is driven to perform haptic feedback. (Step S9). At this time, the control device 180 drives the actuator 160 such that a current in a direction in which a repulsive force acts between the fixed yoke 10 and the movable yoke 20 flows through the exciting coil 30.
制御装置180は、このような動作を行う。
The control device 180 performs such an operation.
このように構成された操作装置100では、励磁コイル30に通電されていない初期状態で、永久磁石60の磁気吸引力により、Z方向で可動ヨーク20が固定ヨーク10に接近する向きに付勢されると共に、可動ヨーク20と固定ヨーク10との間でラバー40が圧縮されている。このため、Z方向における固定ヨーク10に対する可動ヨーク20の相対位置が安定する。
In the operating device 100 configured as described above, in the initial state where the excitation coil 30 is not energized, the movable yoke 20 is urged in the Z direction by the magnetic attraction of the permanent magnet 60 so as to approach the fixed yoke 10. In addition, the rubber 40 is compressed between the movable yoke 20 and the fixed yoke 10. Therefore, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the Z direction is stabilized.
また、タッチパッド140がユーザに押圧操作されると、可動ヨーク20にラバー40からの抗力が作用し、可動ヨーク20の位置は変化しにくい。従って、アクチュエータ160に押圧操作に伴うがたつきが生じにくい。この点でも、Z方向における固定ヨーク10に対する可動ヨーク20の相対位置が安定しやすい。ラバー40からの抗力の強さはラバー40の圧縮量に依存するところ、初期状態でのラバー40の圧縮量は、例えば、ラバー40及びプリテンションスプリング150の弾性力及び永久磁石60の磁力等に依存する。このため、これらの選択により、初期状態での圧縮量及び押圧操作時の抗力の強さを適切に調整することができる。
When the touch pad 140 is pressed by the user, a drag force from the rubber 40 acts on the movable yoke 20, and the position of the movable yoke 20 is unlikely to change. Therefore, the actuator 160 is less likely to rattle due to the pressing operation. Also at this point, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the Z direction is easily stabilized. Where the strength of the drag from the rubber 40 depends on the amount of compression of the rubber 40, the amount of compression of the rubber 40 in the initial state depends on, for example, the elastic force of the rubber 40 and the pretension spring 150 and the magnetic force of the permanent magnet 60. Dependent. Therefore, by these selections, the amount of compression in the initial state and the strength of the drag at the time of the pressing operation can be appropriately adjusted.
また、初期状態では、永久磁石60の磁気吸引力により、可動ヨーク20はX方向で所定の位置(第1の位置)に向けて付勢される。このため、X方向における固定ヨーク10に対する可動ヨーク20の相対位置が安定する。
In the initial state, the movable yoke 20 is urged toward a predetermined position (first position) in the X direction by the magnetic attraction of the permanent magnet 60. Therefore, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the X direction is stabilized.
更に、平面視で、可動ヨーク20は中央突出部12及び側方突出部13と重なり合っている。つまり、Z方向において、可動ヨーク20は中央突出部12及び側方突出部13と重なり合っている。従って、可動ヨーク20は、永久磁石60の磁気吸引力により、Y方向においても固定ヨーク10の中心で長手方向を揃えて静止しようとする。このため、Y方向においても固定ヨーク10に対する可動ヨーク20の相対位置が安定する。
可 動 Furthermore, the movable yoke 20 overlaps the central projecting portion 12 and the side projecting portion 13 in plan view. That is, the movable yoke 20 overlaps with the center projecting portion 12 and the side projecting portion 13 in the Z direction. Therefore, the movable yoke 20 tends to stop at the center of the fixed yoke 10 even in the Y direction by the magnetic attraction of the permanent magnet 60. Therefore, the relative position of the movable yoke 20 with respect to the fixed yoke 10 in the Y direction is also stabilized.
このように、操作装置100は、優れた自己位置決め性能を有し、X方向、Y方向及びZ方向において、固定ヨーク10に対する可動ヨーク20の相対位置が安定しやすい。つまり、固定ヨーク10から見て可動ヨーク20の姿勢が安定しやすい。従って、触覚フィードバックの際に、安定した振動を発生することができる。
As described above, the operating device 100 has excellent self-positioning performance, and the relative position of the movable yoke 20 with respect to the fixed yoke 10 is easily stabilized in the X, Y, and Z directions. That is, the posture of the movable yoke 20 is easily stabilized when viewed from the fixed yoke 10. Therefore, a stable vibration can be generated during tactile feedback.
その一方で、ユーザへの触覚フィードバックを行う際には、励磁コイル30に通電されて、可動ヨーク20は初期状態における所定の位置(第1の位置)を中立位置としてX方向に振動する。このとき、ラバー40のX方向における等価ばね定数がZ方向における等価ばね定数よりも小さいため、ラバー40は押圧操作に対しては変形しにくく、X方向には大きな振動量を得ることができる。
On the other hand, when performing tactile feedback to the user, the excitation coil 30 is energized, and the movable yoke 20 vibrates in the X direction with a predetermined position (first position) in the initial state as a neutral position. At this time, since the equivalent spring constant of the rubber 40 in the X direction is smaller than the equivalent spring constant in the Z direction, the rubber 40 is not easily deformed by the pressing operation, and a large vibration amount can be obtained in the X direction.
このように、操作装置100では、タッチパッド140が操作されると、その操作位置及び操作荷重に応じてアクチュエータ160がタッチパッド140の操作面に沿う方向(第1の方向)に振動する。ユーザは、操作面に振動を感じることで、操作装置100等に設けられる表示装置を視認せずとも、操作装置100に対して行った操作がどのように反映されたかを認識することができる。例えば、操作装置100が自動車の各種スイッチ用にセンターコンソールに設けられる場合、運転手は操作装置100に視線を移さずとも自身が行った操作がどのように反映されたかをアクチュエータ160の振動から認識することができる。また、振動方向が操作面に垂直な方向であると、空気が振動して振動音が発生しやすいが、このような振動音の発生を抑制することができる。
As described above, in the operation device 100, when the touch pad 140 is operated, the actuator 160 vibrates in the direction along the operation surface of the touch pad 140 (first direction) according to the operation position and the operation load. By feeling the vibration on the operation surface, the user can recognize how the operation performed on the operation device 100 is reflected without visually recognizing the display device provided on the operation device 100 or the like. For example, when the operation device 100 is provided on a center console for various switches of a vehicle, the driver recognizes from the vibration of the actuator 160 how the operation performed by the driver is reflected without moving his / her eyes to the operation device 100. can do. In addition, if the vibration direction is a direction perpendicular to the operation surface, the air is likely to vibrate to generate a vibration sound, but the generation of such a vibration sound can be suppressed.
ラバー40の上端及び下端がそれぞれ可動ヨーク20、側方突出部13に固着されていてもよい。また、ラバー40の上端が可動ヨーク20に固着され、下端が側方突出部13に固着されずに、密着しているだけでもよい。また、ラバー40の下端が側方突出部13に固着され、上端が可動ヨーク20に固着されずに、密着しているだけでもよい。ラバー40の上端又は下端の一方を可動ヨーク20又は側方突出部13に固着し、他方を固着せずに密着させるだけとすることで、組立作業性を向上することができる。
上端 The upper and lower ends of the rubber 40 may be fixed to the movable yoke 20 and the side protruding portions 13, respectively. Further, the upper end of the rubber 40 may be fixed to the movable yoke 20 and the lower end may not be fixed to the side protruding portion 13 but may be in close contact. Further, the lower end of the rubber 40 may be fixed to the side protruding portion 13 and the upper end may not be fixed to the movable yoke 20 but may be in close contact. Either the upper end or the lower end of the rubber 40 is fixed to the movable yoke 20 or the side protruding portion 13, and the other is not fixed, but is merely adhered, so that the assembling workability can be improved.
ラバー40の形状は特に限定されない。図9は、ラバーの変形例を示す図である。図9(a)に示すように、円柱状のラバー70が用いられてもよい。また、図9(b)に示すように、2つの円錐台がそれらの面積が小さい底面同士を重ね合されて積まれた形状のラバー80が用いられてもよい。つまり、円柱に高さ方向の中央にくびれが形成された鼓のような形状のラバー80が用いられてもよい。X方向の等価ばね定数に対するZ方向の等価ばね定数の比は、上面及び下面の直径並びに材質が同一であれば、ラバー80にてラバー70よりも大きくなる。つまり、ラバー80によれば、ラバー70よりも、押圧操作に伴うがたつきを抑制しながら、X方向に大きな振動量を得ることができる。
形状 The shape of the rubber 40 is not particularly limited. FIG. 9 is a diagram illustrating a modified example of the rubber. As shown in FIG. 9A, a columnar rubber 70 may be used. Further, as shown in FIG. 9B, a rubber 80 having a shape in which two truncated cones are stacked with their bottoms having small areas overlapping each other may be used. That is, a rubber-like rubber 80 in which a constriction is formed in the center of the cylinder in the height direction may be used. The ratio of the equivalent spring constant in the Z direction to the equivalent spring constant in the X direction is larger in the rubber 80 than in the rubber 70 if the diameters and materials of the upper surface and the lower surface are the same. That is, according to the rubber 80, it is possible to obtain a larger vibration amount in the X direction than the rubber 70, while suppressing the rattling caused by the pressing operation.
また、ラバーの数も限定されず、側方突出部13毎に2以上のラバーが設けられていてもよい。
Further, the number of rubbers is not limited, and two or more rubbers may be provided for each side projecting portion 13.
操作部材は、タッチパッド140のような操作パネル部材に限定されず、操作面を有する押ボタンであってもよい。
The operation member is not limited to the operation panel member such as the touch pad 140, and may be a push button having an operation surface.
なお、フォトインタラプタ170に代えて静電センサ等の非接触の位置検出センサを用いてもよい。また、感圧センサを用いてタッチパッド140に加えられた圧力を検出してもよい。
Note that a non-contact position detection sensor such as an electrostatic sensor may be used instead of the photo interrupter 170. Further, the pressure applied to the touch pad 140 may be detected using a pressure sensor.
本開示の操作装置は、特に自動車のセンターコンソールに設けられる操作装置に好適である。センターコンソールは運転席及び助手席の間に設けられるため、センターコンソールに設けられる操作装置の平面形状は複雑なものになることがある。本開示の操作装置においては、振動の大きさが操作面内で安定しているため、操作部材の平面形状が複雑なものであっても、適切な触覚フィードバックを行うことができる。
操作 The operating device of the present disclosure is particularly suitable for an operating device provided on a center console of an automobile. Since the center console is provided between the driver's seat and the passenger's seat, the planar shape of the operation device provided on the center console may be complicated. In the operation device according to the present disclosure, since the magnitude of the vibration is stable within the operation surface, appropriate tactile feedback can be performed even when the planar shape of the operation member is complicated.
以上、好ましい実施形態等について詳説したが、上述した実施形態等に制限されることはなく、請求の範囲に記載された範囲を逸脱することなく、上述した実施形態等に種々の変形及び置換を加えることができる。
As described above, the preferred embodiments and the like have been described in detail, but are not limited to the above-described embodiments and the like, and various modifications and substitutions may be made to the above-described embodiments and the like without departing from the scope described in the claims. Can be added.
本国際出願は、2018年8月29日に出願した日本国特許出願第2018-160751号に基づく優先権を主張するものであり、当該出願の全内容を本国際出願に援用する。
This international application claims priority based on Japanese Patent Application No. 2018-160751 filed on August 29, 2018, and the entire contents of the application are incorporated into this international application.
10 固定ヨーク
11 基部
12 中央突出部
13 側方突出部
20 可動ヨーク
30 励磁コイル
40 ラバー
60 永久磁石
70、80 ラバー
100 操作装置
110 固定ベース
120 ベゼル
130 可動ベース
140 タッチパッド
141 化粧パネル
142 静電センサ
150 プリテンションスプリング
160 アクチュエータ
170 フォトインタラプタ
180 制御装置 REFERENCE SIGNSLIST 10 fixed yoke 11 base 12 central projection 13 side projection 20 movable yoke 30 excitation coil 40 rubber 60 permanent magnet 70, 80 rubber 100 operating device 110 fixed base 120 bezel 130 movable base 140 touch pad 141 makeup panel 142 electrostatic sensor 150 Pretension spring 160 Actuator 170 Photointerrupter 180 Control device
11 基部
12 中央突出部
13 側方突出部
20 可動ヨーク
30 励磁コイル
40 ラバー
60 永久磁石
70、80 ラバー
100 操作装置
110 固定ベース
120 ベゼル
130 可動ベース
140 タッチパッド
141 化粧パネル
142 静電センサ
150 プリテンションスプリング
160 アクチュエータ
170 フォトインタラプタ
180 制御装置 REFERENCE SIGNS
Claims (7)
- 押圧操作される操作部材を有する可動部と、
前記可動部に対して前記操作部材の操作面に沿う第1の方向の振動を付与する振動発生部と、
前記可動部を振動可能に支持する固定部と、
前記操作部材が押圧操作されたことを検出する検出部と、
前記検出部の検出結果に応じて前記振動発生部を駆動する制御部と、
を有し、
前記振動発生部は、
前記可動部に取り付けられた可動ヨークと、
前記固定部に取り付けられ、前記可動ヨークに対して前記第1の方向と交差する第2の方向に対向配置された固定ヨークと、
前記可動ヨークに取り付けられた永久磁石と、
前記固定ヨークに取り付けられ、通電により磁束を生じさせる励磁コイルと、
前記可動ヨークと前記固定ヨークとの間に配置され、前記可動ヨークを前記固定ヨークに対して振動可能に保持する弾性支持部と、
を有し、
前記固定ヨークは、
基部と、
前記基部から前記可動ヨークに向けて突出する第1の突出部と、
前記基部から前記可動ヨークに向けて突出し、前記第1の方向において前記第1の突出部を間に挟む位置に設けられた2つの第2の突出部と、
を有し、
前記永久磁石は、前記第1の方向の両端が異なる磁極となるように着磁され、
前記磁極の境界と前記第1の突出部とが前記第2の方向で重なり合い、
前記励磁コイルに通電されていない初期状態で、前記永久磁石の磁気吸引力により、前記第2の方向で前記可動ヨークが前記固定ヨークに接近する向き付勢されると共に、前記可動ヨークと前記固定ヨークとの間で前記弾性支持部が圧縮されており、前記第1の方向で前記可動ヨークが第1の位置へ向けて付勢され、
前記励磁コイルへの通電により、前記可動ヨークは、前記第1の位置を中立位置として前記第1の方向に振動することを特徴とする操作装置。 A movable portion having an operation member to be pressed,
A vibration generation unit that applies vibration in a first direction along the operation surface of the operation member to the movable unit;
A fixed portion that supports the movable portion so that it can vibrate,
A detection unit that detects that the operation member has been pressed,
A control unit that drives the vibration generation unit according to a detection result of the detection unit;
Has,
The vibration generator,
A movable yoke attached to the movable portion,
A fixed yoke attached to the fixed portion and opposed to the movable yoke in a second direction intersecting the first direction;
A permanent magnet attached to the movable yoke,
An excitation coil attached to the fixed yoke and generating a magnetic flux when energized;
An elastic support portion disposed between the movable yoke and the fixed yoke, for holding the movable yoke oscillatable with respect to the fixed yoke;
Has,
The fixed yoke,
The base,
A first protrusion protruding from the base toward the movable yoke;
Two second protrusions projecting from the base toward the movable yoke and provided at positions sandwiching the first protrusion in the first direction;
Has,
The permanent magnet is magnetized such that both ends in the first direction have different magnetic poles,
A boundary of the magnetic pole and the first protrusion overlap in the second direction;
In the initial state in which the excitation coil is not energized, the movable yoke is biased in the second direction to approach the fixed yoke by the magnetic attraction of the permanent magnet, and the movable yoke is fixed to the fixed yoke. The elastic support portion is compressed between the yoke and the yoke, and the movable yoke is urged toward the first position in the first direction;
The operating device according to claim 1, wherein the movable yoke vibrates in the first direction with the first position being a neutral position by energizing the excitation coil. - 前記操作部材が押圧操作されたときに、前記弾性支持部が初期状態から更に圧縮されることを特徴とする請求項1に記載の操作装置。 The operation device according to claim 1, wherein the elastic support portion is further compressed from an initial state when the operation member is pressed.
- 前記弾性支持部の一端は前記可動ヨーク又は前記固定ヨークの一方に固着され、他端は前記可動ヨーク又は前記固定ヨークの他方から離間可能であることを特徴とする請求項1又は2に記載の操作装置。 The one end of the elastic support part is fixed to one of the movable yoke or the fixed yoke, and the other end is separable from the other of the movable yoke or the fixed yoke. Operating device.
- 前記弾性支持部の前記第1の方向における等価ばね定数は、前記第2の方向における等価ばね定数よりも小さいことを特徴とする請求項1乃至3のいずれか1項に記載の操作装置。 4. The operating device according to claim 1, wherein an equivalent spring constant of the elastic support in the first direction is smaller than an equivalent spring constant of the elastic support in the second direction. 5.
- 可動ヨークと、
前記可動ヨークに対して第2の方向に対向配置された固定ヨークと、
前記可動ヨークに取り付けられた永久磁石と、
前記固定ヨークに取り付けられ、通電により磁束を生じさせる励磁コイルと、
前記可動ヨークと前記固定ヨークとの間に配置され、前記可動ヨークを前記固定ヨークに対して振動可能に保持する弾性支持部と、
を有し、
前記固定ヨークは、
基部と、
前記基部から前記可動ヨークに向けて突出する第1の突出部と、
前記基部から前記可動ヨークに向けて突出し、前記第2の方向と交差する第1の方向において前記第1の突出部を間に挟む位置に設けられた2つの第2の突出部と、
を有し、
前記永久磁石は、前記第1の方向の両端が異なる磁極となるように着磁され、
前記磁極の境界と前記第1の突出部とが前記第2の方向で重なり合い、
前記励磁コイルに通電されていない初期状態で、前記永久磁石の磁気吸引力により、前記第2の方向で前記可動ヨークが前記固定ヨークに接近する向き付勢されると共に、前記可動ヨークと前記固定ヨークとの間で前記弾性支持部が圧縮され、前記第1の方向で前記可動ヨークが第1の位置へ向けて付勢され、
前記励磁コイルへの通電により、前記可動ヨークは、前記第1の位置を中立位置として前記第1の方向に振動することを特徴とする振動発生装置。 With a movable yoke,
A fixed yoke opposed to the movable yoke in a second direction;
A permanent magnet attached to the movable yoke,
An excitation coil attached to the fixed yoke and generating a magnetic flux when energized;
An elastic support portion disposed between the movable yoke and the fixed yoke, for holding the movable yoke oscillatable with respect to the fixed yoke;
Has,
The fixed yoke,
The base,
A first protrusion protruding from the base toward the movable yoke;
Two second protrusions projecting from the base toward the movable yoke and provided at positions sandwiching the first protrusion in a first direction intersecting the second direction;
Has,
The permanent magnet is magnetized such that both ends in the first direction have different magnetic poles,
A boundary of the magnetic pole and the first protrusion overlap in the second direction;
In the initial state in which the excitation coil is not energized, the movable yoke is biased in the second direction to approach the fixed yoke by the magnetic attraction of the permanent magnet, and the movable yoke is fixed to the fixed yoke. The elastic support portion is compressed between the yoke and the yoke, and the movable yoke is urged toward the first position in the first direction;
The vibration generator according to claim 1, wherein the movable yoke vibrates in the first direction with the first position being a neutral position by energizing the excitation coil. - 前記弾性支持部の一端は前記可動ヨーク又は前記固定ヨークの一方に固着され、他端は前記可動ヨーク又は前記固定ヨークの他方から離間可能であることを特徴とする請求項5に記載の振動発生装置。 The vibration generator according to claim 5, wherein one end of the elastic support portion is fixed to one of the movable yoke and the fixed yoke, and the other end is separable from the other of the movable yoke and the fixed yoke. apparatus.
- 前記弾性支持部の前記第1の方向における等価ばね定数は、前記第2の方向における等価ばね定数よりも小さいことを特徴とする請求項5又は6に記載の振動発生装置。 7. The vibration generator according to claim 5, wherein an equivalent spring constant of the elastic support portion in the first direction is smaller than an equivalent spring constant in the second direction. 8.
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CN111486779A (en) * | 2020-04-14 | 2020-08-04 | 瑞声科技(新加坡)有限公司 | Signal processing method and device and electronic equipment |
CN111486779B (en) * | 2020-04-14 | 2022-08-16 | 瑞声科技(新加坡)有限公司 | Signal processing method and device and electronic equipment |
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