WO2022168758A1 - 操作装置 - Google Patents
操作装置 Download PDFInfo
- Publication number
- WO2022168758A1 WO2022168758A1 PCT/JP2022/003364 JP2022003364W WO2022168758A1 WO 2022168758 A1 WO2022168758 A1 WO 2022168758A1 JP 2022003364 W JP2022003364 W JP 2022003364W WO 2022168758 A1 WO2022168758 A1 WO 2022168758A1
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- WO
- WIPO (PCT)
- Prior art keywords
- magnetic field
- detection device
- shaft member
- spherical body
- magnet
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 240
- 230000033001 locomotion Effects 0.000 claims abstract description 92
- 230000004044 response Effects 0.000 claims description 8
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- 238000012937 correction Methods 0.000 description 32
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- 238000005259 measurement Methods 0.000 description 7
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- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000002411 adverse Effects 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/015—Arrangements for indicating the position of a controlling member
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G25/00—Other details or appurtenances of control mechanisms, e.g. supporting intermediate members elastically
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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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
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
- G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H25/00—Switches with compound movement of handle or other operating part
- H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick
Definitions
- the present invention relates to a detection device that detects the motion of a shaft member that operates in response to an external operation, and an operating device that includes such a detection device.
- a control device called a joystick is widely used as a control device for operating various devices such as computer games, various toys, and industrial robots.
- an operation device in the form of a joystick by tilting the stick in various directions, an operation target moves in the tilting direction, enabling intuitive operation.
- Patent Document 1 proposes a variable resistance pointing device that detects tilt with variable resistances arranged on each of the XY axes.
- variable resistance pointing device described in Patent Document 1 has a problem of low reliability because the sliding portion of the variable resistance is easily deteriorated due to friction.
- the present invention has been made in view of such circumstances, and its main purpose is to provide a detection device capable of improving reliability.
- Another object of the present invention is to provide an operating device equipped with such a detection device.
- the detection device described in the present application is a detection device for detecting the motion of a shaft member that operates in response to an operation from the outside, the shaft member is inserted, and the outer shape is formed in a substantially spherical shape.
- the detection device described in the present application includes a hollow spherical body having a substantially spherical outer shape through which the shaft member is inserted, and a hollow spherical body having an outer shape formed in a substantially spherical shape, and a fixed position inside the spherical body interlocking with the operation of the shaft member. It is characterized by comprising a magnet and a magnetic field detection unit fixed at a position near the center of the spherical body and detecting a magnetic field generated by the magnet.
- the shaft member is parallel to the longitudinal direction and operates with respect to a virtual central axis passing through the center of the spherical body
- the spherical body includes first The magnet is divided into a magnetic field chamber and a second magnetic field chamber, and the magnets are a first magnet fixed to the shaft member inserted in the first magnetic field chamber and a second magnet fixed in the second magnetic field chamber.
- the magnetic field detection unit includes a first magnetic field sensor for detecting the magnetic field in the first magnetic field chamber and a second magnetic field sensor for detecting the magnetic field in the second magnetic field chamber.
- the detection device is characterized by comprising a magnetic shielding plate arranged at a position serving as a boundary between the first magnetic field chamber and the second magnetic field chamber.
- a first separating member separating the magnetic shield plate and the first magnetic field sensor and a second separating member separating the magnetic shield plate and the second magnetic field sensor , at least one of
- the first magnet is arranged such that its magnetic pole is oriented in a direction orthogonal to the central axis
- the second magnet is arranged so that its magnetic pole is oriented in a direction parallel to the central axis. is arranged so as to face
- the operation of the shaft member includes an operation of tilting the central axis about the center of the spherical body as a fulcrum, an operation of rotating about the central axis in a circumferential direction, and a movement in an extending direction of the central axis. It is characterized by being at least one motion among motions to perform.
- the shaft member can move at least in the extension direction of the central axis, and in conjunction with the motion of the shaft member in the extension direction, the spherical body can move in the extension direction, and the spherical surface can move in the extension direction.
- a movable member that moves in conjunction with the movement of the body in the stretching direction, a fixed member that operably holds the movable member, and a pressure sensor that is fixed to the fixed member and detects pressure based on the movement of the movable member.
- the detection device is characterized by comprising a tactile switch that receives pressure based on the movement of the movable member as the pressure sensor or separately from the pressure sensor.
- the shaft member can move at least in the extension direction of the central axis, and in conjunction with the motion of the shaft member in the extension direction, the spherical body can move in the extension direction, and the spherical surface can move in the extension direction.
- a movable member that moves in conjunction with an axial motion of the body; a fixed member that operably holds the movable member; a third magnet that is fixed to the movable member; and a third magnet that is fixed to the fixed member. and a magnetic field sensor.
- connection wire attached to the magnetic field detection unit is provided, and an opening is formed in the spherical body for passing the connection wire inside and outside. It is characterized by being elongated along a great circle passing through the intersection of the central axes.
- the operation device described in the present application is characterized by comprising the detection device and an operation unit that receives an operation to operate the spherical body provided in the detection device.
- the motion of the shaft member includes tilting motion of the central shaft about the center of the spherical body as a fulcrum and rotating motion in the circumferential direction about the central shaft. means for correcting the detected value of the rotating motion based on
- the motion of the shaft member includes tilting motion of the central shaft about the center of the spherical body as a fulcrum and rotating motion in the circumferential direction about the central shaft. means for correcting the detected value of the tilting motion based on the above.
- the detection device and operation device described in this application detect the motion of the shaft member with the magnet and magnetic field detection unit.
- the detection device and the operation device according to the present invention use the magnet and magnetic field detection unit to detect the motion of the shaft member that operates in response to the operation from the outside. Therefore, for example, there is no need to use a sliding variable resistor to detect motion. Therefore, excellent effects such as suppression of frictional deterioration and improvement of reliability can be achieved.
- FIG. 1 is a schematic perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic exploded perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. It is a schematic perspective view which shows an example of the magnetic field detection unit with which the detection apparatus as described in this application is provided.
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application; FIG. It is a schematic explanatory drawing which shows notionally an example of the assembly method of the detection apparatus as described in this application. It is a schematic explanatory drawing which shows notionally an example of the assembly method of the detection apparatus as described in this application.
- 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic exploded perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic exploded perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross
- FIG. 1 is a schematic exploded perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic exploded perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic exploded perspective view of an example of a portion of a detection device described herein;
- FIG. 1 is a schematic perspective view of an example of a detection device described herein;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of a detection device described in the present application;
- FIG. 1 is a schematic exploded perspective view of
- FIG. 4 is an explanatory diagram conceptually showing an example of a magnetic field formed by a first magnet
- FIG. 4 is an explanatory diagram conceptually showing an example of a magnetic field formed by a first magnet
- FIG. 4 is an explanatory diagram conceptually showing an example of a magnetic field formed by a first magnet
- FIG. 4 is an explanatory diagram conceptually showing an example of a magnetic field formed by a first magnet
- It is a schematic perspective view which shows an example of the magnetic field detection unit with which the detection apparatus as described in this application is provided.
- FIG. 4 is a schematic explanatory diagram schematically showing an example of the relationship between the first magnet, the first magnetic field sensor, and the magnetic field generated by the first magnet provided in the detection device according to the present application;
- FIG. 4 is a schematic explanatory diagram schematically showing an example of the relationship between the first magnet, the first magnetic field sensor, and the magnetic field generated by the first magnet provided in the detection device according to the present application;
- FIG. 4 is a schematic explanatory diagram schematically showing an example of the relationship between the first magnet, the first magnetic field sensor, and the magnetic field generated by the first magnet provided in the detection device according to the present application;
- FIG. 4 is an explanatory diagram showing virtual coordinate axes used for explaining the operation of the detection device described in the present application;
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- FIG. 4 is an explanatory diagram showing virtual coordinate axes used for explaining the operation of the detection device described in the present application;
- FIG. 4 is an explanatory diagram showing virtual coordinate axes used for explaining the operation of the detection device described in the present application;
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 2 is a model showing the directions of shaft members and the like of the detection device described in the present application on virtual coordinate axes.
- 4 is a chart showing a comparison of an example of a difference due to inclination of the detected value of the angle of the magnetic line of force (magnetic pole vector) detected by the first magnetic field sensor included in the detection device according to the present application.
- It is a block diagram which shows the functional structural example of the operating device of this-application description. It is a schematic explanatory drawing which shows typically an example of the magnetic force line of the 1st magnet and 2nd magnet which the 1st magnetic field sensor and the 2nd magnetic field sensor with which the detection apparatus of this application is provided detect.
- FIG. 4 is a model showing directions of magnetic lines of force generated by a first magnet and a second magnet provided in the detection device according to the present application; It is a model which shows the direction of the magnetic flux density resulting from the 1st magnet detected by the 1st magnetic field sensor with which the detection apparatus of this application is provided on a virtual coordinate axis. It is a model which shows the direction of the magnetic flux density resulting from the 1st magnet detected by the 1st magnetic field sensor with which the detection apparatus of this application is provided on a virtual coordinate axis. It is a model which shows the direction of the magnetic flux density resulting from the 2nd magnet detected by the 2nd magnetic field sensor with which the detection apparatus of this application is provided on a virtual coordinate axis.
- the operating device described in the present application is used, for example, as a joystick controller that operates an operation target.
- the detection device described in the present application is incorporated in an operation device, which is a joystick type controller, and detects the movement of a member based on the operation.
- the operation device described in the present application can be used as an operation device such as a joystick type controller, and can be used as an operation device for computer games, various toys, various mobile objects, various measuring devices, industrial robots, and various other objects to be operated. It can be used for manipulation.
- an operating device 1 in which the operating device described in the present application is applied to a joystick controller and a detecting device 2 incorporated in the operating device 1 will be described with reference to the drawings.
- FIG. 1 is a schematic perspective view showing an example of the appearance of the operating device 1 described in the present application.
- the operation device 1 includes a housing 10, and the housing 10 is formed at both ends with grip portions 11 to be gripped with the right hand and the left hand, respectively. When the gripping portions 11 at both ends are gripped, the positions on the upper surface where the fingers touch are opened in a substantially circular shape. Protruding.
- the operation unit 12 is attached to a shaft member 20 (see FIG. 3 and the like) provided in the detection device 2 incorporated inside the operation device 1 . Furthermore, on the upper surface side, a plurality of operation buttons 13 are arranged at positions that can be pressed by the operator's fingers.
- two detection devices 2 a detection device 2 for detecting an operation based on a right hand operation and a detection device 2 for detecting an operation based on a left hand operation, are installed in one housing.
- a detection device 2 for detecting an operation based on a right hand operation and a detection device 2 for detecting an operation based on a left hand operation, are installed in one housing.
- the side positioned upward when the operator operates in a general posture, that is, the side where the operation button 13 is arranged and the operation section 12 protrudes will be described as the upper side. .
- FIG. 2 is a schematic perspective view showing an example of the appearance of the operating device 1 described in the present application.
- FIG. 2 shows another form of the operating device 1.
- the operation device 1 illustrated in FIG. 2 incorporates various mechanisms such as one detection device 2 in one housing 10, and is formed as a controller for one-handed operation.
- one detection device 2 in one housing 10
- the operation device 1 according to the present invention when applied to a controller of an industrial robot, it is possible to operate the operation device 1 according to the present invention with one hand and perform other work with the other hand, so such a configuration is particularly effective. be. It is also effective as a game controller in which different operation devices 1 are held by the left and right hands.
- FIG. 3 is a schematic perspective view showing an example of the detection device 2 described in the present application.
- FIG. 3 shows a detection device 2 integrated in the operating device 1 according to the present application.
- the detection device 2 includes a shaft member 20 to which the operation unit 12 is attached, and the shaft member 20 operates upon receiving an operation by an operator.
- the shaft member 20 is inserted through a hollow spherical body 21 having a substantially spherical outer shape.
- a substantially cylindrical insertion portion 210 through which the shaft member 20 is inserted is formed at the upper end of the spherical body 21 . It is inserted to the inside of the spherical body 21 through the hole 210a.
- the spherical body 21 is operably held by the holding member 22 .
- the inner surface of the holding member 22 is formed in a spherical shape matching the outer shape of the spherical body 21, and a protective portion 220 (see FIG. 6, etc.), which will be described later, extends inward.
- the protection part 220 protects the first connection line 230 .
- the motion of the shaft member 20 based on the operator's operation is a motion about a virtual central axis parallel to the longitudinal direction and passing through the center of the spherical body 21 .
- the movement of the shaft member 20 includes tilting of the central axis about the center of the spherical body 21 as a fulcrum, rotational movement around the central axis in the circumferential direction, and vertical movement (extending direction of the central axis). It is an action to do.
- the spherical body 21 performs a tilting motion with the center as a fulcrum in conjunction with the motion of the shaft member 20 .
- the spherical body 21 moves up and down in conjunction with the motion of the shaft member 20 .
- the spherical body 21 does not interlock with the rotation of the shaft member 20 .
- movement which rotates the shaft member 20 is performed, the operation
- the operation of moving up and down refer to other embodiments such as the third embodiment.
- FIG. 4 is a schematic perspective view showing an example of the detection device 2 described in this application.
- FIG. 4 shows a state in which the holding member 22 is removed from the detection device 2 illustrated in FIG.
- a magnetic field detection unit 23, which will be described later, is arranged inside the spherical body 21, and a first connection line 230 serving as a medium for conducting electricity is connected to the magnetic field detection unit 23.
- FIG. The side surface of the spherical body 21 is provided with an opening 21a through which the first connection line 230 is passed, and the first connection line 230 extends outside through the opening 21a.
- the opening 21a is elongated and extends in the vertical direction along a great circle passing through the top and bottom intersections of the spherical body 21 and the central axis.
- the first connection line 230 is covered with a protective portion 220 (not shown in FIG. 4/see FIG. 6, etc.) formed on the inner surface of the holding member 22 and extends from the inside to the outside of the spherical body 21 . ing. Although the position of the first connection line 230 covered by the protective portion 220 is fixed, the opening 21a formed in the spherical body 21 allows the spherical body 21 to tilt or move up and down. , the spherical body 21 does not interfere with the first connection line 230 .
- the spherical body 21 interlocking with the shaft member 20 that tilts in various directions performs tilting motions in various directions (all directions of 360 degrees in a plan view). The spherical body 21 never interferes with the first connection line 230 .
- FIG. 5 is a schematic exploded perspective view showing an example of the detection device 2 described in the present application.
- FIG. 6 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- FIG. 5 shows the spherical body 21 provided in the detection device 2 and various members accommodated inside the spherical body 21 .
- FIG. 6 shows a cross-section of the internal structure of the detection device 2 along a vertical plane passing through AB shown in FIG. 4 as a schematic cross-section.
- the inside of the spherical body 21 included in the detection device 2 is hollow.
- the spherical body 21 is assembled by fixing an upper half body 21b and a lower half body 21c by screwing or the like.
- the inside of the spherical body 21 is divided into a first magnetic field chamber 21d, which is the space within the upper half body 21b, and a second magnetic field chamber 21e, which is the space within the lower half body 21c, by the magnetic field detection unit 23 and the central magnetic shielding plate 231. divided into top and bottom.
- a magnetic field detection unit 23 is fixed at a fixed position near the center of the spherical body 21 .
- a first connection line 230 is connected to the magnetic field detection unit 23 , and the first connection line 230 extends to the outside of the spherical body 21 .
- the shaft member 20 inserted through the insertion portion 210 of the spherical body 21 has a long rod shape and is inserted through the insertion portion 210 so that the longitudinal direction thereof is the vertical direction.
- An upper portion of the shaft member 20 is a mounting portion 20a processed into a shape to which the operating portion 12 can be mounted.
- the edge of the lower end of the shaft member 20 is positioned near the inner surface of the spherical body 21 as a flange portion 20b projecting in the radial direction.
- a flange portion 20b at the lower end of the shaft member 20 is loosely fitted into a cylindrical concave portion formed on the top surface of the spherical body 21 with some play.
- a fitting groove 20c is formed in the circumferential direction near the center of the shaft member 20, and a substantially U-shaped metallic fastener 200 is fitted in the fitting groove 20c.
- a flange portion 20b at the lower end of the shaft member 20 is loosely fitted into a recess in the spherical body 21 to restrict upward movement, and a fastener 200 near the center abuts the upper end of the insertion portion 210 of the spherical body 21. It touches and is restricted from moving downward. Since the shaft member 20 is inserted through the spherical body 21 , when the shaft member 20 tilts, the spherical body 21 also tilts in conjunction with the tilting of the shaft member 20 . Since the protective portion 220 of the holding member 22 is inserted through the opening 21a of the spherical body 21, the spherical body 21 does not interlock even if the shaft member 20 rotates in the circumferential direction.
- a first magnet 24 using a substantially cylindrical permanent magnet is fixed to the lower end of the shaft member 20 located near the inner surface of the first magnetic field chamber 21d of the spherical body 21 .
- the first magnet 24 is arranged so that the magnetic poles are oriented in a direction perpendicular to the central axis.
- a second magnet 25 using a substantially cylindrical permanent magnet is fixed near the inner surface of the second magnetic field chamber 21e of the spherical body 21 at a position intersecting the central axis.
- the second magnet 25 is arranged so that the magnetic poles are oriented parallel to the central axis.
- the direction of the magnetic poles means the direction connecting the two magnetic poles.
- the orientation of the first magnet 24 is such that the north pole faces in a first horizontal direction, such as left, and the south pole faces in a second horizontal direction, such as right, opposite the second direction.
- the arrangement of the second magnet 25 can be exemplified by a fixed form in which the N pole faces upward and the S pole faces downward.
- a side magnetic shielding plate 211 for shielding the magnetic field is arranged so as to surround the side of the magnetic field detection unit 23.
- the inside of the spherical body 21 is divided into a first magnetic field chamber 21d and a second magnetic field chamber 21e by a side magnetic shielding plate 211.
- the side magnetic shielding plate 211 has a substantially disk-like outer shape that matches the shape of the inside of the spherical body 21, and has a cutout formed therein for arranging the magnetic field detection unit 23 therein.
- FIG. 7 is a schematic perspective view showing an example of the magnetic field detection unit 23 included in the detection device 2 described in the present application.
- the magnetic field detection unit 23 will be further explained.
- the magnetic field detection unit 23 is fixed at a fixed position near the center inside the spherical body 21 .
- the magnetic field detection unit 23 is arranged at a boundary between the first magnetic field chamber 21d and the second magnetic field chamber 21e of the spherical body 21, and has a central magnetic shielding plate 231 that shields the magnetic field.
- the central magnetic shielding plate 231 has a flat plate shape, and has an upper surface facing the first magnetic field chamber 21d and a lower surface facing the second magnetic field chamber 21e.
- the first connection line 230 extending inside the spherical body 21 through the opening 21 a is fixed to the upper surface of the central magnetic shielding plate 231 , and the tip side wraps around and is fixed to the lower surface of the central magnetic shielding plate 231 .
- a first magnetic field sensor 232 is arranged on the upper surface of the central magnetic shielding plate 231 with the first connection line 230 interposed therebetween.
- a second magnetic field sensor 233 is arranged on the lower surface of the central magnetic shield plate 231 with the first connection line 230 interposed therebetween.
- the first magnetic field sensor 232 and the second magnetic field sensor 233 are wired to be electrically connected to the first connection line 230 .
- the first magnetic field sensor 232 and the second magnetic field sensor 233 are electronic elements such as Hall ICs that detect magnetic fields and output electrical signals based on the detected magnetic fields.
- the first magnetic field sensor 232 detects the magnetic field generated by the first magnet 24 on the side of the first magnetic field chamber 21d.
- the second magnetic field sensor 233 detects the magnetic field generated by the second magnet 25 on the side of the second magnetic field chamber 21e.
- the magnetic fields detected by the first magnetic field sensor 232 and the second magnetic field sensor 233 are output as electrical signals to the outside via the first connection line 230 .
- FIG. 8 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- FIG. 8 shows a cross-section of the internal structure taken along a horizontal plane through CD shown in FIG. 4 as a schematic cross-sectional view from above.
- the side magnetic shielding plate 211 and the central magnetic shielding plate 231 form a horizontal plane separating the first magnetic field chamber 21d and the second magnetic field chamber 21e.
- the magnetic field of the first magnetic field chamber 21d generated by the first magnet 24 and the magnetic field generated by the second magnet 25 This prevents adverse effects due to interference with the generated magnetic field of the second magnetic field chamber 21e.
- the side magnetic shielding plate 211 and the central magnetic shielding plate 231 as different members respectively, effects such as improved assembly and improved magnetic shielding can be achieved compared to the case of forming them as a single member.
- FIG. 9 shows, as a perspective view, the relative positional relationship of the spherical body 21, the holding member 22, and the magnetic field detection unit 23 among the members constituting the detection device 2 described in the present application.
- FIG. 10 is a perspective view showing the relative positional relationship between the spherical body 21, part of the holding member 22, and the magnetic field detection unit 23.
- the holding member 22 is shown in a pre-assembled state in which it is divided into two parts.
- the first connection line 230 of the magnetic field detection unit 23 is inserted into the protection portion 220 of the holding member 22 from the inside.
- the first magnetic field sensor 232 and the second magnetic field sensor 233 of the magnetic field detection unit 23 are inserted through the opening 21a of the spherical body 21, and fixed at a fixed position near the center of the spherical body 21. fixed to Then, the divided holding members 22 are combined to operably hold the spherical body 21, and the operation portion 12 (not shown) is attached to the attachment portion 20a of the shaft member 20, thereby completing the detection device 2. .
- FIG. 11 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- FIG. 11 shows a state in which the shaft member 20 of the detection device 2 is at the reference position.
- the reference position of the shaft member 20 is a position where the operating device 1 is not operated by the operator and the longitudinal direction of the shaft member 20 is the vertical direction.
- arrows passing through the first magnet 24 and the second magnet 25 conceptually indicate magnetic fields generated by the first magnet 24 and the second magnet 25, respectively.
- FIG. 12 is a schematic cross-sectional view showing an example of the detection device 2 described in this application.
- FIG. 12 shows a state in which the shaft member 20 and the spherical body 21 of the detection device 2 are tilted from the reference positions illustrated in FIG. 11 in response to the tilting operation of the operator.
- the operation unit 12 receives a tilting operation
- the shaft member 20 and the spherical body 21 of the detection device 2 tilt with the center of the spherical body 21 as a fulcrum.
- the magnetic field generated by the first magnet 24 detected by the first magnetic field sensor 232 and the magnetic field generated by the second magnet 25 detected by the second magnetic field sensor 233 change.
- This application exemplifies a form in which the second magnetic field sensor 233 detects a change in the magnetic field due to tilting.
- FIG. 13 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- FIG. 13 shows a state in which the shaft member 20 of the detection device 2 has rotated 180° in the circumferential direction about the central axis from the reference position illustrated in FIG. 11 in response to the operator's rotation operation.
- the shaft member 20 of the detecting device 2 rotates around the central axis in the circumferential direction.
- the spherical body 21 does not interlock with the rotation of the shaft member 20 .
- the shaft member 20 rotates, the magnetic field generated by the first magnet 24 detected by the first magnetic field sensor 232 changes.
- the first magnetic field sensor 232 detects that the direction of the magnetic field is reversed.
- This application exemplifies a form in which the first magnetic field sensor 232 detects changes in the magnetic field due to rotation.
- the operating device 1 and the detecting device 2 accept the operation on the operating section 12 as the operation on the shaft member 20 .
- the tilting motion and rotating motion with respect to the shaft member 20 are detected as changes in magnetic fields generated by the first magnet 24 and the second magnet 25, transmitted through the first connection line 230, and output as an electrical signal.
- 2nd Embodiment is a form which added the function which returns automatically to a reference position the shaft member 20 which tilted from the reference position in 1st Embodiment.
- the same components as in the first embodiment are denoted by the same reference numerals as in the first embodiment, and detailed description thereof will be omitted.
- FIG. 14 is a schematic cross-sectional view showing an example of the detection device 2 described in this application.
- FIG. 15 is a schematic exploded perspective view showing an example of the detection device 2 described in the present application.
- the configuration of various members such as the shaft member 20, the spherical body 21, the inside of the spherical body 21, and the holding member 22 provided in the detection device 2 according to the second embodiment is substantially the same as in the first embodiment.
- the detecting device 2 according to the second embodiment includes a pressed member 212 at the lower end of the spherical body 21 and a lower mechanism 26 below the holding member 22 .
- the member to be pressed 212 attached to the lower end of the spherical body 21 has a substantially disk shape, and is formed so that the vicinity of the center is flat and the peripheral edge is curved toward the spherical body 21 side.
- the lower mechanism 26 attached to the lower part of the holding member 22 has a pressing member 260 that presses the pressed member 212 at the lower end of the spherical body 21 from below to above.
- the pressing member 260 has a disk-shaped upper portion and a cylindrical lower portion extending downward.
- the lower mechanism 26 is formed with a loose fit groove 261 in which the pressing member 260 is loosely fitted with some play.
- the pressing member 260 is loosely fitted in the loose fitting groove 261 and moves up and down.
- a first biasing member 262 using a return spring such as a compression coil spring is arranged in the loose fitting groove 261 .
- the lower end of the first biasing member 262 is fixed to the inner bottom surface of the loose fitting groove 261, and the upper end abuts against the pressing member 260 to bias the pressing member 260 upward.
- the pressing member 260 comes into contact with the pressed member 212 attached to the lower end of the spherical body 21 on the upper surface, and pushes the pressed member 212 upward. press to.
- 16 and 17 are schematic cross-sectional views showing an example of the detection device 2 described in the present application.
- 16 shows a state in which the shaft member 20 of the detection device 2 is at the reference position
- FIG. 17 shows a state in which the shaft member 20 and the spherical body 21 are tilted from the reference position in response to the operator's tilting operation. ing.
- the pressing member 260 presses the vicinity of the flat center of the pressed member 212 upward where the center of the spherical body 21 is located. Therefore, the shaft member 20 and the spherical body 21 are in a stable posture. As illustrated in FIG.
- the pressed member 212 presses the pressing member 260 downward at the periphery.
- the pressing member 260 presses the periphery of the pressed member 212 upward where the center of the spherical body 21 is located, so that the spherical body 21 rotates to return to the reference position.
- force acts in the direction As illustrated in FIG. 16, when the shaft member 20 and the spherical body 21 are positioned at the reference position, the shaft member 20 and the spherical body 21 are stable. As illustrated in FIG.
- the detection device 2 and the like according to the second embodiment described in the present application attach the member 212 to be pressed to the lower end of the spherical body 21, and press the member 212 to be pressed upward by the lower mechanism 26 below. do.
- the spherical body 21 and the shaft member 20 interlocking with the tilting motion of the spherical body 21 are tilted from the reference position, it is possible to realize the detecting device 2 or the like that exerts a force in the direction of returning the spherical body 21 or the like. and the like.
- 3rd Embodiment is a form which adds the function corresponding to operation which pushes down the operation part 12 in 1st Embodiment, and performs the operation
- the same reference numerals as in the first and second embodiments are assigned to the same configurations as those in the first and second embodiments, and detailed description thereof will be omitted.
- FIG. 18 is a schematic cross-sectional view showing an example of the detection device 2 described in this application.
- FIG. 19 is a schematic exploded perspective view showing an example of the detection device 2 described in the present application.
- FIG. 19 shows an exploded lower mechanism 26 included in the detection device 2 .
- the detection device 2 according to the third embodiment when the operation part 12 is pressed down, the shaft member 20 moves downward in the extension direction of the central axis, and the spherical body 21 to which the shaft member 20 is attached and the A holding member 22 that holds the spherical body 21 moves downward in conjunction with the shaft member 20 . That is, the detection device 2 according to the third embodiment has a function corresponding to so-called click operations.
- the configurations of various members such as the shaft member 20, the spherical body 21, the inside of the spherical body 21, and the holding member 22 provided in the detection device 2 according to the third embodiment are substantially the same as those of the first embodiment and the like.
- the lower mechanism 26 provided in the detection device 2 includes a movable member 263 fixed to the lower end of the holding member 22 , a fixed member 264 holding the movable member 263 so as to be able to move up and down, and between the movable member 263 and the fixed member 264 . , and a tactile switch 265 that is fixed to a fixed member 264 and receives pressure based on the downward movement of the movable member 263 .
- a second connection line 266 is connected to the tactile switch 265 to transmit an electrical signal based on the pressure detected by the tactile switch 265 .
- the movable member 263 is guided by the fixed member 264 and moved downward in conjunction with the downward movement of the shaft member 20 based on the pressing operation on the operation unit 12, and is tactile.
- Switch 265 is pressed.
- the tactile switch 265 detects pressing by the movable member 263 and outputs the detected pressing through the second connection line 266 as an electrical signal indicating the downward movement of the shaft member 20 .
- the tactile switch 265 generates an operation feeling based on a pressing operation, a so-called click feeling.
- the lower mechanism 26 includes the movable member 263, the fixed member 264, and the tactile switch 265. Accordingly, it is possible to realize the detection device 2 or the like that detects the downward movement of the shaft member 20 based on the pressing operation.
- ⁇ Fourth Embodiment> 4th Embodiment is a form which adds the function corresponding to operation which pushes down the operation part 12 in 2nd Embodiment, and performs the operation
- the same reference numerals as in the first to third embodiments are assigned to the same configurations as those in the first to third embodiments, and detailed description thereof is omitted.
- FIG. 20 is a schematic cross-sectional view showing an example of the detection device 2 described in this application.
- the configurations of various members such as the shaft member 20, the spherical body 21, the inside of the spherical body 21, and the holding member 22 provided in the detection device 2 according to the fourth embodiment are substantially the same as those of the first embodiment and the like.
- the detection device 2 according to the fourth embodiment includes a pressed member 212 at the lower end of the spherical body 21 and a lower mechanism 26 at the lower end of the holding member 22 .
- the lower mechanism 26 includes a movable member 263, a fixed member 264, a tactile switch 265, and a second connection line 266.
- the movable member 263 includes a pressing member 260 and a first biasing member 262. .
- the fourth embodiment is a combination of the second and third embodiments, the operations and functions of various members based on the operator's operation refer to the second and third embodiments. and the explanation is omitted.
- the fifth embodiment is a form in which a function corresponding to the operation of pressing down the operation unit 12 is added to the first embodiment, and the operation of the shaft member 20 is detected with a structure different from that of the third embodiment. form.
- FIG. 21 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- FIG. 22 is a schematic exploded perspective view showing an example of the detection device 2 described in the present application.
- FIG. 21 shows an exploded lower mechanism 26 included in the detection device 2 .
- the detection device 2 according to the fifth embodiment when the operation unit 12 is pressed down, the shaft member 20 moves downward in the extension direction of the central axis, and the spherical body 21 to which the shaft member 20 is attached and the A holding member 22 that holds the spherical body 21 moves downward in conjunction with the shaft member 20 . That is, the detection device 2 according to the third embodiment has a function corresponding to so-called click operations.
- the configurations of various members such as the shaft member 20, the spherical body 21, the inside of the spherical body 21, and the holding member 22 provided in the detection device 2 according to the fifth embodiment are substantially the same as those of the first embodiment and the like.
- the lower mechanism 26 included in the detection device 2 includes a movable member 263 fixed to the lower end of the holding member 22, a fixed member 264 that holds the movable member 263 so as to swing, and is arranged between the movable member 263 and the fixed member 264. and a tactile switch 265 and a pressure sensor 267 that receive pressure based on the downward movement of the movable member 263 .
- the pressure sensor 267 is connected to a second connection line 266 that transmits an electrical signal based on pressure detected by the pressure sensor 267 .
- the fixed member 264 includes a pivot pin 2640 that pivotally supports the movable member 263 and two second biasing members that use a return spring such as a compression coil spring that biases the movable member 263 upward. 2641.
- the movable member 263 swings downward around the pivot pin 2640 in conjunction with the downward movement of the shaft member 20 based on the pressing operation on the operation unit 12. , and presses the tactile switch 265 and the pressure sensor 267 .
- the movement of the shaft member 20 can be regarded as substantially the same as minute up-and-down movement. can.
- the pressure sensor 267 detects pressure by the movable member 263 and outputs it via the second connection line 266 as an electrical signal indicating the downward movement of the shaft member 20 .
- the tactile switch 265 receives pressure from the movable member 263 and generates an operation feeling based on the pressing operation, a so-called click feeling.
- the second biasing member 2641 biases the members such as the shaft member 20, the spherical body 21, and the movable member 263 to return to the reference position. If a click feeling is not required, or if a mechanism for generating an operation feeling other than the tactile switch 265 is provided, the detection device 2 according to the fifth embodiment can be configured without the tactile switch 265. .
- the lower mechanism 26 includes the pressure sensor 267 in the detection device 2 and the like according to the fifth embodiment described in the present application. Accordingly, it is possible to realize the detection device 2 or the like that detects the downward movement of the shaft member 20 based on the pressing operation.
- the sixth embodiment is a form in which a function corresponding to the operation of pressing down the operation unit 12 is added to the second embodiment, and the operation of the shaft member 20 is detected with a structure different from that of the fourth embodiment. form.
- the same reference numerals as in the first to fifth embodiments are assigned to the same configurations as in any one of the first to fifth embodiments, and detailed description thereof will be omitted.
- FIG. 23 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- the configurations of various members such as the shaft member 20, the spherical body 21, the inside of the spherical body 21, and the holding member 22 provided in the detection device 2 according to the sixth embodiment are substantially the same as those of the first embodiment and the like.
- the detection device 2 according to the sixth embodiment includes a pressed member 212 at the lower end of the spherical body 21 and a lower mechanism 26 at the lower end of the holding member 22 .
- the lower mechanism 26 has a movable member 263 , a fixed member 264 , a tactile switch 265 , a pressure sensor 267 and a second connection line 266 .
- the fixed member 264 has a pivot pin 2640 and two second biasing members 2641 .
- the sixth embodiment is a combination of the second embodiment and the fifth embodiment, the operations and functions of various members based on the operator's operation refer to the second embodiment and the fifth embodiment. and the explanation is omitted.
- ⁇ Seventh Embodiment> 7th Embodiment is a form which added the function to pull up the operation part 12 in addition to the function to push down the operation part 12 in 4th Embodiment.
- the same reference numerals as in the first to sixth embodiments are assigned to the same configurations as in any one of the first to sixth embodiments, and detailed description thereof will be omitted.
- FIG. 24 is a schematic cross-sectional view showing an example of the detection device 2 described in the present application.
- FIG. 25 is a schematic exploded perspective view showing an example of the detection device 2 described in the present application.
- the structures of various members such as the shaft member 20, the spherical body 21, the inside of the spherical body 21, and the holding member 22 provided in the detection device 2 according to the seventh embodiment are substantially the same as those of the first embodiment and the like.
- the detecting device 2 according to the seventh embodiment has a lower mechanism 26 at the lower end of the holding member 22 .
- the lower mechanism 26 includes a movable member 263 fixed to the lower end of the holding member 22, a fixed member 264 holding the movable member 263 so as to be vertically movable, and a third magnet 268 positioned between the movable member 263 and the fixed member 264. and a third magnetic field sensor 269 .
- a third magnet 268 is fixed to the lower surface of the movable member 263 .
- the third magnetic field sensor 269 is fixed to the fixing member 264 so as to face the third magnet 268 .
- a second connection line 266 that transmits an electrical signal based on the magnetic field detected by the third magnetic field sensor 269 is connected to the third magnetic field sensor 269 .
- a third magnetic field sensor 269 detects the magnetic field generated by the third magnet 268 in the space between the movable member 263 and the fixed member 264 .
- the movable member 263 has a substantially rectangular parallelepiped outer shape, and out of the four side surfaces, two opposing side surfaces thereof are formed with disk-shaped projecting portions 2630 projecting outward.
- the projecting portion 2630 moves up and down as the movable member 263 moves up and down.
- the fixed member 264 is formed with a cylindrical guide portion 2642 that accommodates the projecting portion 2630 of the movable member 263 so as to be vertically movable.
- a third biasing member 2643 using a return spring such as a compression coil spring is arranged above the accommodated projecting portion 2630, and compresses the projecting portion 2630 downward.
- a fourth biasing member 2644 using a return spring such as a coil spring is arranged.
- An upper bottom portion of the guide portion 2642 is a removable lid portion 2645 .
- the movable member 263 moves downward in conjunction with the shaft member 20 and the spherical body 21 .
- the fourth biasing member 2644 arranged below the projecting portion 2630 of the movable member 263 biases the projecting portion 2630 upward, and the movable member 263 returns to its original position.
- the movable member 263 moves upward in conjunction with the shaft member 20 and the spherical body 21 .
- the third biasing member 2643 arranged above the projecting portion 2630 of the movable member 263 biases the projecting portion 2630 downward, and the movable member 263 returns to its original position. . Since the guide portion 2642 guides the vertical movement of the projecting portion 2630, the operation of the movable member 263 is stabilized. As the movable member 263 moves up and down, the distance between the third magnet 268 and the third magnetic field sensor 269 changes. The third magnetic field sensor 269 detects the magnetic field generated by the third magnet 268 and outputs an electrical signal indicating the detected magnetic field through the third connection line. The vertical movement of the movable member 263 is detected by the magnetic field detected by the third magnetic field sensor 269 .
- the detection device 2 and the like according to the seventh embodiment described in this application include the third magnet 268 and the third magnetic field sensor 269 in the lower mechanism 26 . This makes it possible to realize the detecting device 2 or the like that detects not only the downward movement of the shaft member 20 but also the upward movement thereof.
- the eighth embodiment has a configuration different from that of the seventh embodiment, and implements a function of detecting up and down operations of the operation unit 12 .
- the same reference numerals as in the first to seventh embodiments are assigned to the same configurations as those in the first to seventh embodiments, and detailed description thereof is omitted.
- FIG. 26 is a schematic cross-sectional view showing an example of the detection device 2 described in this application.
- FIG. 27 is a schematic exploded perspective view showing an example of part of the detection device 2 described herein.
- FIG. 27 is an exploded perspective view of the upper half 21b of the spherical body 21 provided in the detection device 2, the shaft member 20, and peripheral members. Members other than the upper half 21b of the spherical body 21 illustrated in FIG. 27, the shaft member 20, and the peripheral members are the same as those in the fourth embodiment, so the fourth embodiment will be referred to and the description thereof will be omitted. do.
- a substantially cylindrical insertion portion 210 formed at the upper end of the spherical body 21 has an upper annular groove 210b and a lower annular groove 210c formed around an insertion hole 210a passing through the center.
- the upper annular groove 210b and the lower annular groove 210c are annular grooves that are centered on the insertion hole 210a and have a larger radius than the insertion hole 210a.
- the upper annular groove 210b is engraved to a depth from the upper end of the insertion portion 210 to near the center, and the lower annular groove 210c is engraved to a depth from the lower end of the insertion portion 210 to near the center.
- the lower end of the upper annular groove 210b has a depth close to the upper end of the lower annular groove 210c, but the upper annular groove 210b and the lower annular groove 210c are not connected and are separated from each other.
- a fifth biasing member 2100 using a return spring such as a compression coil spring is inserted into the upper annular groove 210b.
- An annular plate 201 is arranged at the opening of the upper end of the upper annular groove 210b, and is in contact with the fastener 200 of the shaft member 20 via the annular plate 201 from below.
- the fifth biasing member 2100 has its lower end attached to the bottom of the upper annular groove 210b and biases the shaft member 20 upward via the annular plate 201 and the fastener 200 at its upper end.
- a sixth biasing member 2101 using a return spring such as a compression coil spring is inserted into the lower annular groove 210c.
- the upper end of the sixth biasing member 2101 is attached to the bottom of the lower annular groove 210c, and the lower end of the sixth biasing member 2101 biases the shaft member 20 downward via the flange portion 20b.
- the length from the lower surface of the annular plate 201 of the shaft member 20 to the upper surface of the flange portion 20b is greater than the length from the upper end to the lower end of the insertion portion 210 of the spherical body 21. formed a little longer. In the detection device 2 thus formed, the shaft member 20 moves up and down independently of the spherical body 21 .
- the shaft member 20 moves downward.
- the fifth biasing member 2100 biases the shaft member 20 upward via the annular plate 201 and the fastener 200, and the shaft member 20 returns to the reference position.
- the operating portion 12 is pulled up, the shaft member 20 moves upward.
- the sixth biasing member 2101 biases the shaft member 20 downward via the flange portion 20b, and the shaft member 20 returns to the reference position.
- the shaft member 20 moves up and down, the distance between the first magnet 24 fixed to the lower end of the shaft member 20 and the first magnetic field sensor 232 changes.
- the first magnetic field sensor 232 detects the magnetic field generated by the first magnet 24 and outputs an electrical signal indicating the detected magnetic field via the first connection line 230 .
- the vertical movement of the shaft member 20 is detected by the magnetic field detected by the first magnetic field sensor 232 . That is, the detecting device 2 according to the eighth embodiment detects not only the rotation of the shaft member 20 but also the vertical movement thereof by the magnetic field detected by the first magnetic field sensor 232 .
- the detecting device 2 or the like accommodates the fifth biasing member 2100 and the sixth biasing member 2101 in the insertion portion 210 of the spherical body 21, and furthermore, the shaft member 20 is configured to move up and down independently of the spherical body 21. - ⁇ Thereby, the detection device 2 or the like that detects the movement of the shaft member 20 in the vertical direction can be realized.
- the ninth embodiment has a configuration different from the other embodiments in the fourth embodiment, and has a function of holding the spherical body 21 so as to be tiltable in various directions.
- the same reference numerals as in the first to eighth embodiments are assigned to the same configurations as those in the first to eighth embodiments, and detailed description thereof will be omitted.
- FIG. 28 is a schematic perspective view showing an example of the detection device 2 described in the present application.
- an arc-shaped frame 27 is attached to a holding member 22 by bending a long plate into an arc.
- the arcuate frame 27 is arcuately curved along the outer surface of the substantially spherical holding member 22 .
- Both ends of an arc-shaped frame 27 having an elongated plate shape are pivotally supported on the outer surface of the holding member 22 so as to be swingable.
- the rocking axes of both ends are positioned on an imaginary line passing through the center of the spherical body 21 in the horizontal direction.
- An oblong guide hole 270 is formed near the center of the arc-shaped frame 27 , and the insertion portion 210 of the spherical body 21 passes through the guide hole 270 .
- the insertion portion 210 When the spherical body 21 tilts in the longitudinal direction of the arc-shaped frame 27, the insertion portion 210 is guided by the guide hole 270 and tilts. When the spherical body 21 tilts in a direction orthogonal to the longitudinal direction of the arc-shaped frame 27, the insertion portion 210 tilts together with the arc-shaped frame 27 swinging around the swing axis. When the spherical body 21 tilts in a direction other than the longitudinal direction of the arc-shaped frame 27 and a direction orthogonal to the longitudinal direction, the tilting motion in the longitudinal direction and the tilting motion in the orthogonal direction are combined.
- the spherical body 21 does not rotate because the insertion portion 210 of the spherical body 21 and the guide hole 270 of the arc-shaped frame 27 are in contact with each other at the planar portion. Therefore, in the ninth embodiment, the protection portion 220 of the holding member 22 is not required.
- the detection device 2 and the like according to the ninth embodiment described in the present application are supported by the arc-shaped frame 27 so as to be tiltable in various directions.
- the tenth embodiment is a form in which the shape of the magnetic field detection unit 23 is changed in the first to ninth embodiments.
- the same reference numerals as in the first to ninth embodiments are assigned to the same configurations as in any one of the first to ninth embodiments, and detailed description thereof will be omitted.
- FIG. 29 is a schematic perspective view showing an example of the magnetic field detection unit 23 included in the detection device 2 described in the present application.
- a first spacing member 234 functioning as a spacer is arranged between the upper surface of the central magnetic shielding plate 231 and the first connection line 230.
- a first magnetic field sensor 232 is arranged on the upper surface of the .
- a second spacing member 235 is arranged between the lower surface of the central magnetic shield plate 231 and the first connection line 230 , and a second magnetic field sensor 233 is arranged on the lower surface of the first connection line 230 .
- the first spacing member 234 and the second spacing member 235 are made of a material such as an insulator that does not affect the lines of magnetic force.
- the first spacing member 234 prevents the central magnetic shielding plate 231 from affecting the magnetic field detected by the first magnetic field sensor 232 .
- the second spacing member 235 prevents the central magnetic shield plate 231 from affecting the magnetic field detected by the second magnetic field sensor 233 .
- FIG. 30 is an explanatory diagram conceptually showing an example of the magnetic field formed by the first magnet 24.
- FIG. FIG. 30 conceptually shows a virtual model in which the central magnetic shielding plate 231 is absent and the first magnetic field sensor 232 is arranged on the upper surface of the first connection line 230 .
- the magnetic field formed by the first magnet 24 is not greatly affected by other members.
- FIG. 31 is an explanatory diagram conceptually showing an example of the magnetic field formed by the first magnet 24.
- FIG. FIG. 31 conceptually shows a virtual model in which the first connection line 230 is arranged directly on the upper surface of the central magnetic shield plate 231, and the first magnetic field sensor 232 is arranged on the upper surface of the first connection line 230.
- the magnetic field formed by the first magnet 24 may be distorted by the central magnetic shielding plate 231 as shown in the virtual model shown in FIG. If the magnetic field is distorted in the vicinity of the central magnetic shield plate 231, it may affect the magnetic field detected by the first magnetic field sensor 232 located in the vicinity of the central magnetic shield plate 231, and it becomes a disturbance factor that lowers the detection accuracy. obtain.
- FIG. 32 is an explanatory diagram conceptually showing an example of the magnetic field formed by the first magnet 24.
- FIG. FIG. 32 conceptually shows a virtual model in which the central magnetic shielding plate 231 is separated from the first connection line 230 and the first magnetic field sensor 232 .
- the central magnetic shielding plate 231 it is possible to suppress the influence exerted on the magnetic field detected by the first magnetic field sensor 232 separated from.
- the detection device 2 and the like according to the tenth embodiment described in the present application are arranged such that the central magnetic shielding plate 231 and the first magnetic field sensor 232 and the second magnetic field sensor 233 are separated by the first spacing member 234 and the second spacing member 235. separate from As a result, the detection device 2 and the like described in the present application can suppress the influence of the distortion of the magnetic field caused by the central magnetic shielding plate 231 .
- FIG. 33 is a schematic perspective view showing an example of the magnetic field detection unit 23 included in the detection device 2 described in the present application.
- FIG. 33 shows a modification of the detection device 2 according to the tenth embodiment.
- a second spacing member 235 is arranged on the lower surface of the central shielding plate 231 .
- an auxiliary shielding plate 236 is arranged on the lower surface of the second spacing member 235, a third separating member 237 is arranged on the lower surface of the auxiliary shielding plate 236, and a first connection is arranged on the lower surface of the third spacing member 237.
- a second magnetic field sensor 233 is arranged via line 230 .
- the detection device 2 and the like according to the tenth embodiment described in the present application can be deformed into various forms, and can suppress the influence of the distortion of the magnetic field caused by the central magnetic shield plate 231. It works great.
- FIGS. 34 and 35 are schematic explanatory diagrams schematically showing an example of the relationship between the first magnet 24 provided in the detection device 2 described in the present application, the first magnetic field sensor 232, and the magnetic field generated by the first magnet 24.
- FIG. 34 shows a state in which the shaft member 20 is at the reference position and the central axis is vertical
- FIG. 35 shows a state in which the shaft member 20 is tilted from the reference position and the central axis is not vertical.
- Arrows in FIGS. 34 and 35 indicate directions of magnetic lines of force forming the magnetic field. As illustrated in FIG.
- the first magnetic field sensor 232 detects The rotation angle of the shaft member 20 can be accurately detected from the magnetic field.
- FIG. 35 when the shaft member 20 tilts, the magnetic pole direction of the first magnet 24 tilts, and if the generated magnetic field tilts, an error may occur in detecting the rotation angle of the shaft member 20 . Therefore, correction is required when detecting the rotation angle with the shaft member 20 tilted.
- FIG. 36 is an explanatory diagram showing virtual coordinate axes used for explaining the detection device 2 described in the present application and its operation.
- 37 and 38 are models showing the directions of the shaft member 20 and the like of the detection device 2 described in the present application on virtual coordinate axes.
- FIG. 36 shows a state in which the shaft member 20 and the spherical body 21 of the detection device 2 are positioned at the reference position, superimposed on the virtual coordinate axes indicated by the X, Y and Z axes.
- FIG. 37 shows the coordinate axes with the detector 2 removed from FIG.
- FIG. 38 shows the tilting of the shaft member 20 and the spherical body 21 as vectors.
- a vector directed from the tilt center of the shaft member 20 toward the operation unit 12 side (upper side) is superimposed as an axis vector on the virtual coordinate axes shown in FIG. It shows the state in which the
- FIG. 38 As illustrated in FIGS. 36 and 37, in the following description, the horizontal plane is defined as the plane defined by the X-axis and the Y-axis, and the vertical direction is defined as the Z-axis direction.
- the tilting angle indicated by the axis vector is an angle ⁇ counterclockwise from the X-axis projected onto the XY plane and an angle ⁇ from the Z-axis projected onto the XY plane. and the angle .theta.
- 39 and 40 are explanatory diagrams showing virtual coordinate axes used for explaining the operation of the detection device 2 described in the present application.
- 39 and 40 show the virtual coordinate system defined in the present application from the viewpoint from the positive direction (above) of the Z-axis, and show the magnetic poles of the first magnet 24 superimposed on the coordinate axes.
- 39 shows a state in which the shaft member 20 of the detection device 2 is positioned at the reference position
- FIG. 40 shows a state in which the shaft member 20 is rotated from the reference position.
- the angle of the rotational position of the shaft member 20 is defined as an angle Di based on the counterclockwise rotation.
- the angle related to the rotation is defined by the change in the direction of the normal vector (hereinafter referred to as the magnetic pole vector) of the first magnet 24 on the N pole side, which can be approximated to the emission direction of the magnetic lines of force.
- 41 and 42 are models showing the directions of the shaft member 20 and the like of the detection device 2 described in the present application on virtual coordinate axes.
- 41 and 42 are generalized models of the motions of the shaft member 20 and the spherical body 21.
- FIG. 41 shows the initial state in which the shaft member 20 and the like are not tilted
- FIG. 42 shows the tilted state. ing.
- the axis vector in the tilted state is tilted counterclockwise from the X-axis projected onto the XY plane at an angle ⁇ and tilted at an angle ⁇ from the Z-axis.
- the solid-line arrows are axial vectors
- the dashed-dotted arrows are magnetic pole vectors.
- the coordinates of the initial state of the magnetic pole vectors shown in FIG. 41 are defined as (Xi, Yi, Zi), and the coordinates of the tilted state of the magnetic pole vectors shown in FIG. 42 are defined as (Xo, Yo, Zo).
- the tilt angle of the shaft member 20 and the like is indicated by an angle ⁇ of the counterclockwise rotation from the X-axis projected onto the XY plane and an angle ⁇ indicating the tilt from the Z-axis.
- the angle of the magnetic pole vector detected by the first magnetic field sensor 232 is indicated as a counterclockwise angle Di from the X-axis on the XY plane, and in the tilted state shown in FIG.
- the angle of the magnetic pole vector detected by the magnetic field sensor 232 is indicated as the angle Do.
- FIG. 43 shows the initial state, where the axis vector is located at the reference position along the Z axis.
- FIG. 44 shows extracted components of the magnetic pole vector rotated clockwise on the XY plane by an angle ⁇ from the changes in the axial vector and the magnetic pole vector in the tilted state illustrated in FIG. 42 .
- the operation from the state of FIG. 43 to the state of FIG. 44 is hereinafter referred to as the first operation.
- FIG. 45 shows, of the changes in the axial vector and the magnetic pole vector in the tilted state illustrated in FIG. is shown as a change from By tilting the axis vector, the magnetic pole vector projected on the XY plane also rotates clockwise with respect to the Y axis.
- FIG. 45 is hereinafter referred to as a second operation.
- FIG. 46 shows, of the changes in the axial vector and the magnetic pole vector in the tilted state illustrated in FIG. showing. As the axis vector rotates around the Z axis, the magnetic pole vector projected onto the XY plane also rotates counterclockwise.
- the operation from the state of FIG. 45 to the state of FIG. 46 is hereinafter referred to as the third operation. As described above, the operation from FIGS. 41 to 42 can be decomposed into a combination of the first, second and third operations from FIGS. 43 to 46.
- FIG. 41 to 42 can be decomposed into a combination of the first, second and third operations from FIGS. 43 to 46.
- Equation 1 The conversion from the coordinates (Xi, Yi, Zi) of the magnetic pole vector in the initial state shown in FIG. 41 to the coordinates (Xo, Yo, Zo) of the magnetic pole vector in the tilted state shown in FIG. can be expressed as Equation 1 of
- the fourth matrix on the right side of Equation 1 below indicates coordinates in the initial state.
- the third matrix on the right side indicates a transformation matrix representing the first operation of rotating the image by an angle ⁇ clockwise about the Z axis.
- the second matrix on the right side of Equation 1 indicates a transformation matrix representing the second operation of rotating the image by an angle ⁇ clockwise about the Y axis.
- Equation 1 The first matrix on the right side of Equation 1 indicates a transformation matrix representing the third operation of rotating the image counterclockwise by an angle ⁇ with respect to the Z axis. As described above, Equation 1 converts the coordinates (Xi, Yi, Zi) of the magnetic pole vector in the initial state to the coordinates (Xo , Yo, Zo).
- the angle of the magnetic pole vector projected onto the XY plane detected by the first magnetic field sensor 232 can be determined by the following equations 2 and 3 using an inverse trigonometric function.
- a measurement error occurs due to the difference between the angle Di of the magnetic pole vector in the initial state determined by Equation 2 above and the angle Do of the magnetic pole vector in the tilted state determined by Equation 3.
- FIG. 47 is a table showing a comparison of an example of the difference in the detected value of the angle of the magnetic line of force (magnetic pole vector) detected by the first magnetic field sensor 232 included in the detection device 2 described in the present application.
- FIG. 47 shows the angle Di, which is the calculated value of the magnetic pole vector detected in the initial state where the axis vector indicating the longitudinal direction of the shaft member 20 etc. coincides with the Z axis, and the magnetic pole detected when the axis vector is tilted.
- the relationship with the angle Do which is the calculated value of the vector, is shown in comparison.
- FIG. 47 shows the relationship between the angle Di and the angle Do when the tilted shaft member 20 has an angle ⁇ of 30° from the X-axis and an angle ⁇ of 45° from the Z-axis.
- the angle Di of the magnetic pole vector detected by the first magnetic field sensor 232 is shown in the upper part, and the angle Do is shown in the lower part.
- there is a difference between the values of Di and Do so processing for correcting the difference is required.
- FIG. 48 is a block diagram showing a functional configuration example of the operating device 1 described in the present application.
- the operation device 1 includes a control section 3 configured using electronic components such as various electronic elements, various electric circuits, and a microcomputer.
- the control unit 3 includes a first input unit 31 that receives an input from the first magnetic field sensor 232 and a second input unit 32 that receives an input from the second magnetic field sensor 233, and a correction unit that corrects the rotation angle. 30.
- the first input unit 31 receives an input of the rotation angle measurement value (Do) from the first magnetic field sensor 232 that detects changes in the magnetic field based on the magnetic force vector as the rotation angle of the shaft member 20 .
- the second input unit 32 receives an input of the tilt angle measurement values ( ⁇ , ⁇ ) from the second magnetic field sensor 233 that detects the change in the magnetic field based on the axis vector as the tilt angle of the shaft member 20 .
- the correction unit 30 derives the rotation angle correction value (Di) from the rotation angle measurement value (Do) and the tilt angle measurement values ( ⁇ , ⁇ ) based on the determinant and the calculation formula described above. Derivation of the rotation angle correction value (Di) from the rotation angle measurement value (Do) and the tilt angle measurement value ( ⁇ , ⁇ ) is calculated, for example, by performing reverse calculation of the determinant shown as Equation 1. be. Equation 4 is an inverse formula for the determinant shown as Equation 1.
- the correction unit 30 outputs the rotation angle correction value (Di) derived using Equation 4 to the output unit 4, for example.
- the correction unit 30 outputs an operation signal based on the correction value from the output unit 4 to a device to be operated such as a game machine, a personal computer, an industrial robot, or the like.
- the correction in the correction unit 30 may be corrected by calculation based on the determinant and the calculation formula, and a table showing a chart as illustrated in FIG. You may make it correct
- the control unit 3 itself may be incorporated in the detection device 2 or may be incorporated in the operation device 1 .
- FIG. 49 is a schematic explanatory diagram schematically showing an example of magnetic force lines of the first magnet 24 and the second magnet 25 detected by the first magnetic field sensor 232 and the second magnetic field sensor 233 provided in the detection device 2 described in the present application.
- FIG. 50 is a model showing the directions of magnetic force lines by the first magnet 24 and the second magnet 25 provided in the detection device 2 described in the present application. 49 and 50, among the magnetic force lines detected by the first magnetic field sensor 232 and the second magnetic field sensor 233, the magnetic force lines caused by the first magnet 24 are indicated by solid lines, and the magnetic force lines caused by the second magnet 25 are indicated by dashed lines. showing.
- FIG. 49 and 50 among the magnetic force lines detected by the first magnetic field sensor 232 and the second magnetic field sensor 233, the magnetic force lines caused by the first magnet 24 are indicated by solid lines, and the magnetic force lines caused by the second magnet 25 are indicated by dashed lines. showing.
- FIG. 49 and 50 among the magnetic force lines detected by the first magnetic field sensor 232 and the second magnetic field
- FIG. 49 shows a state in which the shaft member 20 and the spherical body 21 are tilted.
- FIG. 50 shows, from the state shown in FIG. 49, the magnetic flux density Br based on the lines of magnetic force caused by the first magnet 24 used for detecting the rotation motion of the shaft member 20 and the like, and the second magnet used for detecting the tilting motion of the shaft member 20 and the like.
- 25 shows a model showing the magnetic flux density Bt based on the magnetic lines of force caused by 25.
- FIG. 50 since the magnetic flux density Br caused by the first magnet 24 detected by the first magnetic field sensor 232 is affected by the tilt angle ⁇ , the magnetic flux density also requires correction processing.
- FIGS. 51 and 52 are models showing, on virtual coordinate axes, directions of magnetic flux density caused by the first magnet 24 detected by the first magnetic field sensor 232 included in the detection device 2 described in the present application.
- FIG. 51 shows the initial state in which the shaft member 20 and spherical body 21 of the detection device 2 are positioned at the reference position
- FIG. 52 shows the tilted state in which the shaft member 20 and the like are tilted.
- the X-axis component of the magnetic flux density detected by the first magnetic field sensor 232 the X-axis component of the magnetic flux density caused by the first magnet 24 used to detect the rotation of the shaft member 20 will be described.
- FIGS. 53 and 54 are models showing, on virtual coordinate axes, directions of magnetic flux density caused by the second magnet 25 detected by the second magnetic field sensor 233 included in the detection device 2 described in the present application.
- FIG. 53 shows the initial state
- FIG. 54 shows the tilted state.
- the X-axis component of the magnetic flux density detected by the second magnetic field sensor 233 the X-axis component of the magnetic flux density caused by the second magnet 25 used to detect the tilt of the shaft member 20 will be described.
- FIG. 55 and 56 show the magnetic flux density caused by the first magnet 24 detected by the first magnetic field sensor 232 included in the detection device 2 described in the present application and the magnetic flux density caused by the second magnet 25 detected by the second magnetic field sensor 233. It is a model that shows the direction of the virtual coordinate axis.
- FIG. 55 shows the initial state
- FIG. 56 shows the tilted state. 55 and 56, the overlap of the magnetic flux density caused by the first magnet 24 and the magnetic flux density caused by the second magnet 25 is detected by the first magnetic field sensor 232 and the second magnetic field sensor 233.
- FIG. 55 and 56 shows the magnetic flux density caused by the first magnet 24 detected by the first magnetic field sensor 232 included in the detection device 2 described in the present application and the magnetic flux density caused by the second magnet 25 detected by the second magnetic field sensor 233.
- FIG. 57 is a block diagram showing a functional configuration example of the operating device 1 described in the present application.
- the operating device 1 includes a control unit 3.
- the control unit 3 includes a first input unit 31 and a second input unit 32, a first correction unit 30a for correcting the rotation angle, and a second correction unit 30a for correcting the tilt angle. It functions as the corrector 30b.
- the first input unit 31 receives input of the magnetic flux density Br cos ⁇ cos ⁇ caused by the first magnet 24 from the first magnetic field sensor 232 used for detecting rotation.
- the second input unit 32 receives input of the magnetic flux density Bt sin ⁇ cos ⁇ caused by the second magnet 25 from the second magnetic field sensor 233 used for tilt detection.
- the first correction unit 30a calculates the X-axis direction related to the rotation. to derive the correction value Brx.
- the second correction unit 30b calculates the X-axis direction related to the tilt. to derive the correction value Btx.
- the first correction unit 30a and the second correction unit 30b output the derived correction value Brx related to rotation and the derived correction value Btx related to tilting to the output unit 4.
- the correction unit 30 outputs an operation signal based on the correction value from the output unit 4 to a device to be operated such as a game machine, a personal computer, an industrial robot, or the like.
- the correction by the correction unit 30 may be performed by calculation based on the above-described formula.
- a table recording the calculation results for each tilt angle is prepared in advance, and the correction is performed by converting using the table. can be
- the detection device 2 and the operation device 1 described in the present application include the magnets such as the first magnet 24 and the second magnet 25 and the magnetic field detection unit 23, and the lines of magnetic force generated by the magnetic field generated by the magnets are detected by the magnetic field detection unit. Detected by a magnetic field sensor provided in 23 . Then, based on the detected magnetic field, various motions of the shaft member 20 such as tilting, rotation, and vertical movement are detected. Since the detection device 2 or the like described in the present application detects motion based on a magnetic field, for example, it is not necessary to use a sliding variable resistor to detect motion, thereby suppressing frictional deterioration and improving reliability. and the like.
- the detecting device 2 and the like described in the present application arrange magnets such as the first magnet 24 and the second magnet 25 on the side of the spherical body 21 that operates, and the second magnet that requires wiring at a fixed position inside the spherical body 21 is arranged.
- Magnetic field sensors such as a first magnetic field sensor 232 and a second magnetic field sensor 233 are arranged. Therefore, the detecting device 2 and the like described in the present application are less likely to cause anomalies such as disconnection due to the movement of the spherical body 21, and have excellent effects such as being able to improve reliability.
- the embodiments exemplified as the first to tenth embodiments are not limited to being implemented independently, but can be combined as appropriate.
- the present invention is not limited to this, and can be used to operate various objects such as various toys, various moving bodies, various measuring devices, industrial robots, and the like. It is possible to use Furthermore, the detection device 2 described in the present application can be applied not only to the operation device 1 but also to various devices in which spherical joints such as joints of industrial robots can be incorporated.
- the first magnet 24 is fixed near the center of the spherical body 21 and the first magnetic field sensor 232 is fixed to the shaft member 20 .
- the present invention is not limited to this, and it is possible to change the fixing position as appropriate.
- the magnetic field detection unit 23 is fixed at a position affected by the motion of the shaft member 20, and the first magnet 24 is fixed at a fixed position not affected by the motion of the shaft member 20. is possible.
- the first magnetic field sensor 232 can be fixed near the center of the spherical body 21, and the first magnet 24 can be fixed to the shaft member 20.
- the magnetic field detection unit 23 is not limited to outputting an electric signal to the outside via the first connection line 230 as illustrated in the above embodiment, and an electric signal may be output wirelessly. , can be developed in various forms. The same is true for the second magnet 25 and the second magnetic field sensor 233, and various configurations are possible as long as the tilting motion of the shaft member 20 can be detected.
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Abstract
Description
<操作装置1>
図1は、本願記載の操作装置1の外観の一例を示す概略斜視図である。操作装置1は、筐体10を備え、筐体10には、右手及び左手でそれぞれ把持する把持部11が両端に形成されている。両端の把持部11をそれぞれ把持した場合において、上面の指が当たる位置は、略円形状に開口しており、開口を通って、操作対象を操作するための操作部12が筐体10内から突出している。操作部12は、操作装置1の内部に組み込まれた検出装置2が備える後述の軸部材20(図3等参照)に取り付けられている。更に、上面側には、操作者の指にて押下可能な位置に複数の操作ボタン13が配置されている。図1に例示する操作装置1内には、右手の操作に基づく動作を検出する検出装置2及び左手の操作に基づく動作を検出する検出装置2の2台の検出装置2が、一つの筐体10内に組み込まれている。なお、本願では、説明の便宜上、操作者が、一般的な姿勢で操作する場合に上方に位置する側、即ち、操作ボタン13が配置され、操作部12が突出している側を上側として説明する。
<構造>
図3は、本願記載の検出装置2の一例を示す概略斜視図である。図3は、本願記載の操作装置1に組み込まれた検出装置2を示している。検出装置2は、操作部12が取り付けられる軸部材20を備え、軸部材20は、操作者の操作を受けて動作する。軸部材20は、外形が略球状に形成された中空の球面体21に挿通されている。球面体21の上端には、軸部材20が挿通される略円筒状の挿通部210が形成されており、軸部材20は、長尺の棒状をなし、挿通部210の中心に開設された挿通孔210aを通って球面体21の内部まで挿通されている。球面体21は、保持部材22に動作可能に保持されている。保持部材22の内面は、球面体21の外形に合わせた球面状に形成されており、後述する保護部220(図6等参照)が内側へ延びている。保護部220は、第1接続線230を保護している。
次に、検出装置2の組立方法の概略について説明する。図9及び図10は、本願記載の検出装置2の組立方法の一例を概念的に示す概略説明図である。図9は、本願記載の検出装置2を構成する部材のうち、球面体21、保持部材22及び磁界検出ユニット23の相対的な位置の関係を斜視図として示している。図10は、球面体21、保持部材22の一部及び磁界検出ユニット23の相対的な位置の関係を斜視図として示している。図10において、保持部材22は、2分割された組立前の状態で示している。先ず、図9に例示するように、磁界検出ユニット23の第1接続線230を保持部材22の保護部220に内側から差し込む。次に、図10に例示するように、磁界検出ユニット23の第1磁界センサ232及び第2磁界センサ233を、球面体21の開口部21aから挿入し、球面体21内の中心近傍の固定位置に固定する。そして、分割されていた保持部材22を組み合わせて、球面体21を動作可能に保持し、軸部材20の取付部20aに操作部12(図示せず)を取り付けることで、検出装置2が完成する。
次に、検出装置2による軸部材20の動作の検出方法について説明する。図11は、本願記載の検出装置2の一例を示す概略断面図である。図11は、検出装置2の軸部材20が基準位置にある状態を示している。軸部材20の基準位置とは、操作装置1が操作者の操作を受けておらず、軸部材20の長手方向が上下方向となる位置である。図11中において、第1磁石24又は第2磁石25を通る矢印は、それぞれ第1磁石24又は第2磁石25により発生した磁界を概念的に示している。
第2実施形態は、第1実施形態において、基準位置から傾倒した軸部材20を基準位置に自動的に復帰させる機能を付加した形態である。第2実施形態において、第1実施形態と同様の構成については、第1実施形態と同様の符号を付し、詳細な説明を省略する。
第3実施形態は、第1実施形態において、操作部12を下方へ押下する操作に対応する機能を追加し、軸部材20が中心軸の延伸方向へ移動する動作を行う形態である。第3実施形態において、第1実施形態又は第2実施形態と同様の構成については、第1実施形態及び第2実施形態と同様の符号を付し、詳細な説明を省略する。
第4実施形態は、第2実施形態において、操作部12を下方へ押下する操作に対応する機能を追加し、軸部材20が中心軸の延伸方向へ移動する動作を行う形態である。第4実施形態において、第1実施形態乃至第3実施形態のいずれかと同様の構成については、第1実施形態乃至第3実施形態と同様の符号を付し、詳細な説明を省略する。
第5実施形態は、第1実施形態において、操作部12を下方へ押下する操作に対応する機能を追加した形態であって、第3実施形態と異なる構造で、軸部材20の動作を検出する形態である。
第6実施形態は、第2実施形態において、操作部12を下方へ押下する操作に対応する機能を追加した形態であって、第4実施形態と異なる構造で、軸部材20の動作を検出する形態である。第6実施形態において、第1実施形態乃至第5実施形態のいずれかと同様の構成については、第1実施形態乃至第5実施形態と同様の符号を付し、詳細な説明を省略する。
第7実施形態は、第4実施形態において、操作部12を下方へ押下する機能に加えて、上方へ引き上げる機能を追加した形態である。第7実施形態において、第1実施形態乃至第6実施形態のいずれかと同様の構成については、第1実施形態乃至第6実施形態と同様の符号を付し、詳細な説明を省略する。
第8実施形態は、第7実施形態と異なる構成で、操作部12の上下の操作を検出する機能を実現する形態である。第8実施形態において、第1実施形態乃至第7実施形態のいずれかと同様の構成については、第1実施形態乃至第7実施形態と同様の符号を付し、詳細な説明を省略する。
第9実施形態は、第4実施形態において、他の形態とは異なる構成で、球面体21を様々な方向へ傾倒可能に保持する機能を有する形態である。第9実施形態において、第1実施形態乃至第8実施形態のいずれかと同様の構成については、第1実施形態乃至第8実施形態と同様の符号を付し、詳細な説明を省略する。
第10実施形態は、第1実施形態乃至第9実施形態において、磁界検出ユニット23の形状を変更した形態である。第10実施形態において、第1実施形態乃至第9実施形態のいずれかと同様の構成については、第1実施形態乃至第9実施形態と同様の符号を付し、詳細な説明を省略する。
次に、本願記載の操作装置1及び検出装置2の補正処理の例について説明する。図34及び図35は、本願記載の検出装置2が備える第1磁石24と、第1磁界センサ232と、第1磁石24による磁界との関係の一例を模式的に示す概略説明図である。図34は、軸部材20が基準位置にあり、中心軸が垂直な状態を示しており、図35は、軸部材20が基準位置から傾倒して中心軸が垂直でない状態を示している。図34及び図35中で矢印は磁界を形成する磁力線の向きを示している。図34に例示しているように、軸部材20が基準位置にあり、第1磁石24の磁極の方向と、中心軸の方向とが直交している場合、第1磁界センサ232は、検出した磁界から、正確に軸部材20の回転角度を検出することができる。しかしながら、図35に例示するように、軸部材20の傾倒に伴い第1磁石24の磁極方向が傾倒し、発生した磁界が傾くと、軸部材20の回転角度の検出に誤差が生じ得る。従って、軸部材20が傾倒した状態で回転角度を検出する場合には、補正が必要となる。
Do=arctan(Yo/Xo) ・・・式3
12 操作部
2 検出装置
20 軸部材
21 球面体
21a 開口部
21d 第1磁界室
21e 第2磁界室
211 側部遮磁板
22 保持部材
220 保護部
23 磁界検出ユニット
231 中央遮磁板
232 第1磁界センサ
233 第2磁界センサ
234 第1離隔部材
235 第2離隔部材
236 補助遮磁板
237 第3離隔部材
24 第1磁石
25 第2磁石
26 下部機構
260 押圧部材
263 可動部材
264 固定部材
265 タクタイルスイッチ
267 感圧センサ
269 第3磁界センサ
27 弧状フレーム
270 案内孔
3 制御部
30 補正部
4 出力部
Claims (14)
- 外部からの操作を受けて動作する軸部材の動作を検出する検出装置であって、
前記軸部材が挿通され、外形が略球状に形成された球面体と、
磁石と、
前記磁石が形成した磁界を検出する磁界検出ユニットと
を備え、
前記磁石及び前記磁界検出ユニットのうちの一方は前記軸部材の動作の影響を受ける位置に固定され、他方は前記軸部材の動作の影響を受けない固定位置に固定されている
ことを特徴とする検出装置。 - 外部からの操作を受けて動作する軸部材の動作を検出する検出装置であって、
前記軸部材が挿通され、外形が略球状に形成された中空の球面体と、
前記球面体の内側で、前記軸部材の動作に連動する位置に固定された磁石と、
前記球面体の中心近傍の位置に固定され、前記磁石が形成した磁界を検出する磁界検出ユニットと
を備える
ことを特徴とする検出装置。 - 請求項2に記載の検出装置であって、
前記軸部材は、
長手方向に平行で、かつ前記球面体の中心を通る仮想上の中心軸に対して動作し、
前記球面体内は、
前記中心軸方向に並ぶ第1磁界室及び第2磁界室に区分されており、
前記磁石は、
前記第1磁界室内に挿通された前記軸部材に固定された第1磁石と、
前記第2磁界室内に固定された第2磁石と
を含み、
前記磁界検出ユニットは、
前記第1磁界室内の磁界を検出する第1磁界センサと、
前記第2磁界室内の磁界を検出する第2磁界センサと
を有する
ことを特徴とする検出装置。 - 請求項3に記載の検出装置であって、
前記第1磁界室及び前記第2磁界室の境界となる位置に配置された遮磁板を備える
ことを特徴とする検出装置。 - 請求項4に記載の検出装置であって、
前記遮磁板及び前記第1磁界センサの間を離隔する第1離隔部材と、前記遮磁板及び前記第2磁界センサの間を離隔する第2離隔部材とのうち、少なくとも一方を備える
ことを特徴とする検出装置。 - 請求項3乃至請求項5のいずれか1項に記載の検出装置であって、
前記第1磁石は、前記中心軸に対して直交する方向に磁極が向くように配置されており、
前記第2磁石は、前記中心軸に対して平行な方向に磁極が向くように配置されている
ことを特徴とする検出装置。 - 請求項3乃至請求項6のいずれか1項に記載の検出装置であって、
前記軸部材の動作は、前記球面体の中心を支点に中心軸が傾倒する動作、前記中心軸を中心に周方向へ回転する動作及び前記中心軸の延伸方向へ移動する動作のうち、少なくとも一の動作である
ことを特徴とする検出装置。 - 請求項3乃至請求項6のいずれか1項に記載の検出装置であって、
前記軸部材は、少なくとも前記中心軸の延伸方向に動作可能であり、
前記軸部材の延伸方向の動作に連動して、前記球面体は延伸方向に動作し、
前記球面体の延伸方向の動作に連動して移動する可動部材と、
前記可動部材を動作可能に保持する固定部材と、
前記固定部材に固定され、前記可動部材の移動に基づく押圧を検出する感圧センサと
を備える
ことを特徴とする検出装置。 - 請求項8に記載の検出装置であって、
前記感圧センサとして、又は前記感圧センサとは別に、前記可動部材の移動に基づく押圧を受けるタクタイルスイッチを備える
ことを特徴とする検出装置。 - 請求項3乃至請求項6のいずれか1項に記載の検出装置であって、
前記軸部材は、少なくとも前記中心軸の延伸方向に動作可能であり、
前記軸部材の延伸方向の動作に連動して、前記球面体は延伸方向に動作し、
前記球面体の軸方向の動作に連動して移動する可動部材と、
前記可動部材を動作可能に保持する固定部材と、
前記可動部材に固定された第3磁石と、
前記固定部材に固定された第3磁界センサと
を備える
ことを特徴とする検出装置。 - 請求項3乃至請求項10のいずれか1項に記載の検出装置であって、
前記磁界検出ユニットに取り付けられた接続線を備え、
前記球面体には、前記接続線を内外に通す開口部が開設されており、
前記開口部は、前記球面体及び前記中心軸の交点を通る大円に沿って長尺状に開設されている
ことを特徴とする検出装置。 - 請求項3乃至請求項11のいずれか1項に記載の検出装置と、
前記検出装置が備える前記球面体を動作させる操作を受け付ける操作部と
を備える
ことを特徴とする操作装置。 - 請求項12に記載の操作装置であって、
前記軸部材の動作は、前記球面体の中心を支点に中心軸が傾倒する動作及び前記中心軸を中心に周方向へ回転する動作を含み、
傾倒する動作の検出値に基づいて、回転する動作の検出値を補正する手段を備える
ことを特徴とする操作装置。 - 請求項12に記載の操作装置であって、
前記軸部材の動作は、前記球面体の中心を支点に中心軸が傾倒する動作及び前記中心軸を中心に周方向へ回転する動作を含み、
回転する動作の検出値に基づいて、傾倒する動作の検出値を補正する手段を備える
ことを特徴とする操作装置。
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Citations (2)
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JPS5865729U (ja) * | 1981-10-28 | 1983-05-04 | 日本電気ホームエレクトロニクス株式会社 | ジヨイステイツク |
WO2019169086A1 (en) * | 2018-02-28 | 2019-09-06 | Bourns, Inc. | Non-contact hall-effect joystick |
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2021
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2022
- 2022-01-28 CN CN202280009050.9A patent/CN116917832A/zh active Pending
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JPS5865729U (ja) * | 1981-10-28 | 1983-05-04 | 日本電気ホームエレクトロニクス株式会社 | ジヨイステイツク |
WO2019169086A1 (en) * | 2018-02-28 | 2019-09-06 | Bourns, Inc. | Non-contact hall-effect joystick |
Cited By (1)
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WO2024076547A1 (en) * | 2022-10-03 | 2024-04-11 | Panda Hardware LLC | Hall effect sensor assembly for use with game controller joysticks |
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