WO2022270055A1 - 被操作装置及び操作用装置 - Google Patents
被操作装置及び操作用装置 Download PDFInfo
- Publication number
- WO2022270055A1 WO2022270055A1 PCT/JP2022/012136 JP2022012136W WO2022270055A1 WO 2022270055 A1 WO2022270055 A1 WO 2022270055A1 JP 2022012136 W JP2022012136 W JP 2022012136W WO 2022270055 A1 WO2022270055 A1 WO 2022270055A1
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- WO
- WIPO (PCT)
- Prior art keywords
- operated device
- spherical body
- sliding portion
- spherical
- holding member
- Prior art date
Links
- 239000011347 resin Substances 0.000 claims description 9
- 229920005989 resin Polymers 0.000 claims description 9
- 229920006122 polyamide resin Polymers 0.000 claims description 6
- 229920006324 polyoxymethylene Polymers 0.000 claims description 6
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 6
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
- 229930182556 Polyacetal Natural products 0.000 claims description 3
- -1 polytetrafluoroethylene Polymers 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 3
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- 239000002184 metal Substances 0.000 description 1
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Images
Classifications
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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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- 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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- 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
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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
- H01H25/041—Operating part movable angularly in more than one plane, e.g. joystick having a generally flat operating member depressible at different locations to operate different controls
-
- 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
- G05G2009/04703—Mounting of controlling member
- G05G2009/04707—Mounting of controlling member with ball joint
-
- 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
-
- 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
- G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
Definitions
- the present invention relates to an operated device provided with a spherical body that operates upon receiving an operation from the outside, and an operating device provided with such an operated device.
- An operated device called a joystick is widely used as an operated device that operates various devices such as computer games, various toys, and industrial robots.
- an operated 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.
- an operated device that has a spherical body that operates upon receiving an operation and that detects the movement of the spherical body and outputs an operation signal is being studied.
- An operated device using such a spherical body may have a problem that friction between the spherical body and a holding member that holds the spherical body reduces operability.
- the present invention has been made in view of such circumstances, and a main object of the present invention is to provide an operated device capable of preventing deterioration in operability by providing a sliding portion on a holding member.
- Another object of the present invention is to provide an operating device including such an operated device.
- an operated device disclosed in the present application includes a spherical body that operates in response to an external operation, and a holding member that operably holds the spherical body from the outside.
- the holding member has a sliding portion that abuts on the outer surface of the spherical body, and includes a pressing member that presses the spherical body to abut against the sliding portion, and the spherical body has the sliding portion. It is characterized in that it operates while in contact with the part.
- the pressing member presses from the first hemispherical surface side of the spherical body, and the sliding portion presses from the second hemispherical surface side opposite to the first hemispherical surface side. It is characterized in that it is arranged so as to abut only on the
- the inner surface of the holding member is formed in a concave spherical shape along the outer surface of the spherical body, and the inner surface of the holding member is configured to receive pressure from the pressing member. From the radius of the first concave spherical side facing the first hemispherical side, the radius of the second concave spherical side facing the second hemispherical side opposite to the first hemispherical side of the spherical body is shorter.
- the sliding portion is formed of a spherical band-shaped member cut along two planes perpendicular to the pressing direction of the pressing member.
- the sliding portion is formed using a material having a smaller coefficient of friction than other portions of the holding member.
- the sliding portion is formed using polyacetal resin (POM), polyamide resin (PA), or polytetrafluoroethylene resin (PTFE).
- POM polyacetal resin
- PA polyamide resin
- PTFE polytetrafluoroethylene resin
- the motion of the spherical body is a tilting motion in which a central axis parallel to the pressing direction of the pressing member is tilted, and the sliding portion is arranged on a plane orthogonal to the pressing direction of the pressing member.
- the elevation angle from the center of the spherical body is arranged to be the first angle, and the central axis is tilted to the second angle with respect to the plane orthogonal to the pressing direction of the pressing member by the tilting operation. It is possible, and the first angle is less than or equal to 1/2 of the second angle.
- the sliding portion is formed as a rolling bearing.
- the operating device described in the present application is characterized by comprising the operated device and an output unit that outputs an operation signal based on the motion of a spherical body provided in the operated device to the outside.
- the operated device and the operating device disclosed in the present application slide on the spherical body at the sliding portion of the holding member.
- the holding member that operably holds the spherical body has a sliding portion that abuts on the outer surface of the spherical body, and the spherical body slides while being in contact with the sliding portion. works like this. Further, by suppressing the frictional resistance of the sliding portion, it is possible to reduce the friction between the spherical body and the sliding portion, and to prevent deterioration of operability.
- FIG. 1 is a schematic perspective view showing an example of the appearance of an operating device incorporating an operated device disclosed in the present application;
- FIG. 1 is a schematic perspective view showing an example of the appearance of an operating device according to the present application;
- FIG. 1 is a schematic perspective view showing an example of an operated device disclosed in the present application;
- FIG. 1 is a schematic exploded perspective view showing an example of an operated device disclosed in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application;
- FIG. 4 is a schematic perspective view showing an example of a sliding member included in the operated device disclosed in the present application;
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application;
- FIG. 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. 1 is a schematic perspective view showing an example of an operated device disclosed in the present application
- FIG. 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. 4 is a schematic perspective view showing an example of a sliding member included in the operated device disclosed in the present application
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. FIG. 4 is a schematic perspective view showing an example of a sliding member included in the operated device disclosed in the present application
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. FIG. 4 is a schematic perspective view showing an example of a holding member included in the operated device disclosed in the present application
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. FIG. 4 is a schematic perspective view showing an example of a holding member included in the operated device disclosed in the present application
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. FIG. 4 is a schematic perspective view showing an example of a sliding member included in the operated device disclosed in the present application
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. FIG. 4 is a schematic perspective view showing an example of a holding member included in the operated device disclosed in the present application
- 1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application
- FIG. FIG. 4 is a
- the operated device described in the present application is a device that operates in response to an operator's operation.
- the operated device is incorporated in an operation device such as a joystick controller that outputs an operation signal for operating an operation target.
- the operation device described in the present application can be used, for example, as a joystick controller to operate various objects to be operated, such as computer games, various toys, various moving bodies, various measuring devices, and industrial robots. It is possible.
- an operating device 1 applied to a joystick controller and an operated device 2 incorporated as an operating mechanism 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 an operating device 1 incorporating an operated device 2 disclosed 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 operating unit 12 is attached to a shaft member 20 (see FIG. 3 and the like) provided in the operated device 2 incorporated in the operating 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. In the operation device 1 illustrated in FIG.
- an operated device 2 that detects an operation based on a right hand operation and an operated device 2 that detects an operation based on a left hand operation. It is built into one housing 10 .
- 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 disclosed in the present application.
- FIG. 2 shows another form of the operating device 1 .
- the operating device 1 illustrated in FIG. 2 incorporates various mechanisms such as one operated device 2 in one housing 10, and is formed as a controller for one-handed operation.
- one operated device 2 in one housing 10
- It is also effective as a game controller in which different operating devices 1 are held with the left and right hands.
- the operated device 2 can be realized in various forms. Various forms of the operated device 2 will be described below.
- FIG. 3 is a schematic perspective view showing an example of the operated device 2 disclosed in the present application.
- FIG. 4 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application.
- FIG. 5 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application. 3 to 5 illustrate the operated device 2 incorporated in the operating device 1 disclosed in the present application.
- FIG. 5 shows a cross-section of the internal structure of the operated device 2 along a vertical plane passing through AB shown in FIG. 3 as a schematic cross-sectional view.
- the operated device 2 includes various members such as a shaft member 20, a spherical body 21, a holding member 22, a sliding member 23 (sliding portion), a lower mechanism 24, a detection unit 25, and the like.
- Various members such as a pressing member 26 and an urging member 27 are incorporated in the lower mechanism 24 .
- a state in which an imaginary central axis parallel to the longitudinal direction of the shaft member 20 and passing through the center of the spherical body 21 is oriented in the vertical direction is assumed to be the reference posture. defined as
- the shaft member 20 has a long rod shape, and the operating part 12 is attached to the upper end.
- a lower portion of the shaft member 20 is inserted into a substantially cylindrical insertion portion 210 formed in the spherical body 21 and formed to protrude from the upper end of the spherical body 21 .
- the upper portion of the shaft member 20 is processed into a shape to which the operating portion 12 can be attached.
- the edge of the lower end of the shaft member 20 protrudes in the radial direction in a flange shape and is positioned near the inner surface of the spherical body 21 .
- the overhanging edge portion of the lower end of the shaft member 20 is loosely fitted with a slight play in a cylindrical concave portion formed on the top surface of the spherical body 21 .
- a substantially U-shaped metal stopper such as a C-ring or an E-ring is fitted.
- a flange-like overhang 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 stopper 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.
- the spherical body 21 is a substantially spherical hollow member, and is formed in a shape in which a substantially cylindrical insertion portion 210 through which the shaft member 20 is inserted is attached to a substantially spherical spherical body portion 211 .
- An opening 212 through which the connection line 250 of the detection unit 25 is passed is formed in the side surface of the spherical portion 211 , and the connection line 250 extends outside through the opening 212 .
- the opening 212 has an oblong shape extending in the vertical direction.
- a pressed portion 213 having a substantially disc shape is formed.
- the spherical body 21 receives an operation from the outside (operator) via the operation part 12 and the shaft member 20, and operates according to the operation.
- the motion of the spherical body 21 in response to the operator's operation is a motion with respect to a virtual central axis parallel to the longitudinal direction of the shaft member 20 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 When the shaft member 20 performs a tilting motion, the spherical body 21 performs a tilting motion with the center as a fulcrum in conjunction with the motion of the shaft member 20 . When the shaft member 20 moves up and down, 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 .
- the holding member 22 is a member arranged to cover the spherical body 21, and has a substantially spherical outer shape.
- the inner surface of the holding member 22 is formed in a substantially concave spherical shape along the outer surface of the spherical body 21, and holds the spherical body 21 operably from the outside.
- the retaining member 22 is assembled by joining two laterally separable halves 22a.
- FIG. 6 is a schematic perspective view showing an example of the sliding member 23 included in the operated device 2 disclosed in the present application.
- the sliding member 23 will be described with reference to FIGS. 4 to 6.
- FIG. The sliding member 23 is formed in a substantially annular shape in plan view. More specifically, it has a substantially spherical zone shape cut by two horizontal planes, and an arc-shaped notch is formed along the opening 212 of the spherical body 21 at a position corresponding to the opening 212 .
- the sliding member 23 is made of resin having a low coefficient of friction, such as polyacetal resin (POM), polyamide resin (PA), polytetrafluoroethylene resin (PTFE).
- POM polyacetal resin
- PA polyamide resin
- PTFE polytetrafluoroethylene resin
- the distance is less than the distance from the center of the inner sphere to the inner surface of the lower hemisphere. That is, the radius of the upper hemispherical surface side (second hemispherical surface side) where the sliding member 23 is located is shorter than the radius of the lower hemispherical surface side (first hemispherical surface side). Further, the spherical body 21 is pressed upward from below by the pressing member 26 .
- the spherical body 21 pressed from below contacts only the upper hemispherical surface side of the inner surface of the holding member 22 .
- the spherical body 21 operates while being in contact with the sliding member 23 fitted on the upper hemispherical surface side of the holding member 22 . That is, the sliding member 23 is fitted in the holding member 22 as a sliding portion that contacts the outer surface of the spherical body 21, and the spherical body 21 is in contact with the sliding member 23 functioning as a sliding portion.
- the lower mechanism 24 attached to the lower portion of the holding member 22 incorporates a pressing member 26 that presses the pressed portion 213 at the lower end of the spherical body 21 from below to above.
- the pressing member 26 has a disk-shaped upper portion and a cylindrical lower portion extending downward.
- the lower mechanism 24 is formed with an annular groove in plan view into which the pressing member 26 is loosely fitted with some play. The lower part of the pressing member 26 is loosely fitted in the groove and moves up and down.
- a biasing member 27 using a return spring such as a compression coil spring is arranged in the groove.
- the biasing member 27 has its lower end fixed to the inner bottom surface of the groove, and its upper end abuts against the pressing member 26 to bias the pressing member 26 upward.
- the pressing member 27 urges the pressing member 26 upward, the pressing member 26 comes into contact with the pressed portion 213 formed at the lower end of the spherical body 21 on the upper surface, and presses the pressed portion 213 upward. do. As a result, even when the spherical body 21 receives an operation and performs a tilting motion, it operates so as to return to the reference posture.
- the detection unit 25 detects the above-described connection line 250, a first magnet 251 fixed to the lower end of the shaft member 20, a second magnet 252 fixed to the inner bottom that is the lower end of the spherical body 21, and a magnetic field.
- a member such as a magnetic field sensor 253 is provided.
- the first magnet 251 is arranged so as to be positioned near the top inside the spherical body 21 .
- the first magnet 251 is formed of a flat, substantially cylindrical permanent magnet, and is arranged so that the magnetic poles are oriented in a direction perpendicular to the central axis.
- the second magnet 252 is formed of a flat, substantially cylindrical permanent magnet, and 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. Therefore, for example, the placement of the first magnet 251 in the reference posture is such that the N pole is oriented in a first horizontal direction, such as leftward, and the S pole is directed in a second horizontal direction, such as rightward, which is the opposite side of the first direction. can be exemplified. Also, for example, the arrangement of the second magnet 252 can be exemplified by a form in which the N pole is directed upward and the S pole is directed downward.
- the magnetic field sensor 253 is configured using an electronic element such as a Hall IC that detects a magnetic field and outputs an electric signal based on the detected magnetic field.
- the magnetic field sensor 253 includes a first magnetic field sensor 253a that detects the magnetic field formed by the first magnet 251 in the upper hemisphere of the spherical body 21, and a second magnet 252 in the lower hemisphere of the spherical body 21. It is formed in combination with a second magnetic field sensor 253b that detects the formed magnetic field.
- a shield that divides the inside of the spherical body 21 into upper and lower parts is provided near the center of the spherical body 21 . A magnetic plate is placed.
- the arranged magnetic shielding plate allows the first magnetic field sensor 253a to detect the magnetic field formed by the first magnet 251 while suppressing the influence of the magnetic field formed by the second magnet 252 . Also, the second magnetic field sensor 253b can detect the magnetic field formed by the second magnet 252 while suppressing the influence of the magnetic field formed by the first magnet 251 .
- the magnetic field detected by the magnetic field sensor 253 is output to the outside via the connection line 250 as an electrical signal.
- FIG. 7 and 8 are schematic cross-sectional views showing an example of the operated device 2 disclosed in the present application.
- FIG. 7 shows a state in which the shaft member 20 of the operated device 2 is in the reference posture.
- the reference posture of the shaft member 20 indicates a state in which the operating device 1 is not operated by the operator and the longitudinal direction of the shaft member 20 is the vertical direction.
- FIG. 8 shows a state in which the shaft member 20 and the spherical body 21 of the operated device 2 are tilted from the reference posture illustrated in FIG. 7 in response to the tilting operation of the operator.
- the shaft member 20 and the spherical body 21 of the operated device 2 tilt with the center of the spherical body 21 as a fulcrum.
- the shaft member 20 and the spherical body 21 are in the reference posture as illustrated in FIG. Since the shaft member 20 and the spherical body 21 are pressed toward each other, they assume a stable posture.
- the pressed portion 213 presses the pressing member 26 downward at the periphery. In the state illustrated in FIG.
- the pressing member 26 presses the periphery of the pressed portion 213 upward where the center of the spherical body 21 is located, so that the spherical body 21 rotates to return to the reference posture.
- force acts in the direction As illustrated in FIG. 8, when the shaft member 20 and the spherical body 21 are tilted from the reference posture, a force acts in the direction of returning to the reference posture, resulting in an unstable state. Therefore, when the tilting force applied by the operator is released, the shaft member 20 and the spherical body 21 return to their reference positions.
- the spherical body 21 of the operated device 2 is pressed against the pressing member 26 when performing a tilting motion in response to a tilting operation from the reference posture, and when performing a motion of returning to the reference posture from the tilted state. is in a state of being pressed upward. Therefore, the spherical body 21 operates with its outer surface in contact with the upper hemispherical surface of the inner surface of the holding member 22 which is formed in a substantially concave spherical shape.
- a sliding member 23 is fitted in the upper hemispherical surface of the holding member 22 . The distance from the center of spherical body 21 to sliding member 23 is formed to be shorter than the distance from the center of spherical body 21 to other portions of holding member 22 .
- the spherical body 21 is pressed upward. Therefore, the spherical body 21 performs a tilting motion and a returning motion while maintaining a contact state with the sliding member 23 fitted in the holding member 22 . Since the sliding member 23 is made of resin having a low coefficient of friction, it is possible to reduce the frictional resistance between the spherical body 21 and the holding member 22 against the movement of the spherical body 21 .
- the sliding member 23 fitted on the upper side of the inner surface of the holding member 22 contacts the spherical body 21 with respect to the tilting motion of the spherical body 21 or the like. It functions as a contact sliding part, and has excellent effects such as reducing frictional resistance with the spherical body 21 . As a result, the operator who operates the operating device 1 can operate it with a small force.
- FIG. 9 is a schematic perspective view showing an example of the operated device 2 disclosed in the present application.
- FIG. 10 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 11 is a schematic perspective view showing an example of the sliding member 23 included in the operated device 2 disclosed in the present application. In the schematic cross-sectional view illustrated in FIG.
- the opening 212 of the holding member 22 is not opened, and the spherical shape is cut.
- the insides of the body 21 and the shaft member 20 are shown with oblique lines that are omitted.
- the holding member 22 of the operated device 2 has a substantially rectangular parallelepiped outer shape and a substantially concave spherical inner surface.
- a sliding member 23 is fitted in the inner surface of the holding member 22 which is formed in a substantially concave spherical shape.
- the sliding member 23 has a substantially annular shape in a plan view, and is formed in a substantially spherical belt shape cut by two planes perpendicular to the central axis.
- the sliding member 23 covers the entire upper hemispherical surface of the inner surface of the holding member 22 .
- the distance from the center of spherical body 21 to holding member 22 or sliding member 23 is shorter in the upper hemisphere than in the lower hemisphere.
- the sliding member 23 functions as a sliding portion of the holding member 22 with which the spherical body 21 abuts, and the spherical body 21 performs various operations such as tilting while abutting on the sliding member 23 with a short distance. I do.
- the sliding member 23 is made of resin with a low coefficient of friction. This makes it possible to reduce the frictional resistance compared to the case where the spherical body 21 and the holding member 22 are in direct contact with each other.
- the sliding member 23 fitted on the upper side of the inner surface of the holding member 22 contacts the spherical body 21 with respect to the tilting motion of the spherical body 21 or the like. It functions as a contact sliding part, and has excellent effects such as reducing frictional resistance with the spherical body 21 . As a result, the operator who operates the operating device 1 can operate it with a small force.
- FIG. 12 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 13 is a schematic perspective view showing an example of the sliding member 23 included in the operated device 2 disclosed in the present application.
- the schematic cross-sectional view illustrated in FIG. 12 is cut along a cross-section in which the opening 212 of the holding member 22 is not formed, and shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- the sliding member 23 has a substantially annular shape in a plan view, and is formed in a substantially spherical belt shape cut by two planes perpendicular to the central axis.
- the sliding member 23 of the operated device 2 according to the third embodiment has a reduced height so as to cover only the lower portion of the upper hemispherical surface of the inner surface of the holding member 22 formed in a substantially concave spherical shape. .
- FIG. 14 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 14 shows the relationship between the arrangement of the sliding member 23 and the inclination angle of the central axis of the spherical body 21 in the operated device 2 .
- the arrangement position of the sliding member 23 is defined as an elevation angle from a horizontal plane passing through the center of the spherical body 21 as a first angle ⁇ 1.
- the arrangement position is the angle of the middle position in the range from the horizontal plane, which is the lower end of the range where the sliding member 23 contacts the spherical body 21, to the upper end.
- the maximum tilt angle of the shaft member 20 at which the central axis of the spherical body 21 tilts is defined as a second angle ⁇ 1+ ⁇ 2 from the horizontal plane passing through the center of the spherical body 21 .
- the first angle ⁇ 1 and the second angle ⁇ 1+ ⁇ 2 are defined in this way, the first angle ⁇ 1 is arranged to be less than or equal to 1/2 of the second angle ⁇ 1+ ⁇ 2. That is, ⁇ 2 ⁇ 1.
- Frictional force ⁇ F ⁇ cos (90°- ⁇ 1) Formula 1
- Rotational moment R ⁇ F ⁇ cos ⁇ 1 Equation 2
- Equation 1 the smaller the first angle ⁇ 1, the smaller the frictional force between the spherical body 21 and the sliding member 23.
- Equation 2 the smaller the first angle ⁇ 1, the smaller the rotational moment.
- the sliding member 23 fitted on the upper side of the inner surface of the holding member 22 functions as a sliding portion that abuts against the spherical body 21 .
- Reduce the frictional resistance between the operated device 2 according to the third embodiment can reduce frictional resistance and facilitate rotation by arranging the sliding member 23 at a low position.
- FIG. 15 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 16 is a schematic perspective view showing an example of the holding member 22 included in the operated device 2 disclosed in the present application. The schematic cross-sectional view illustrated in FIG.
- FIG. 15 is cut along a cross-section in which the opening 212 of the holding member 22 is not formed, and shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- FIG. 16 shows the appearance of the half body 22a with the holding member 22 separated.
- the inner surface of the holding member 22 is formed in a substantially concave spherical shape, and an annular sliding portion 220 projecting inward (toward the spherical body 21) is formed on the upper hemispherical surface side.
- An annular support portion 221 projecting inward is formed on the lower hemispherical surface side of the inner surface of the holding member 22 .
- the elevation angle (first angle) of the arrangement position of the sliding portion 220 is set to be less than or equal to half the elevation angle (second angle) of the maximum tilt angle of the central axis of the spherical body 21 .
- a sliding portion 220 formed on the upper hemispherical surface side of the holding member 22 is a portion with which the spherical body 21 abuts, and operates in a state in which the spherical body 21 abuts.
- a support portion 221 formed on the lower hemispherical surface of the holding member 22 is formed to hold the spherical body 21 stably.
- the distance from the center of the spherical body 21 to the sliding portion 220 is formed to be shorter than the distance from the center to the support portion 221 .
- the sliding portion 220 is formed in the holding member 22 . Since the sliding portion 220 of the holding member 22 is arranged at a low position, it is possible to reduce frictional resistance.
- FIG. 17 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 18 is a schematic perspective view showing an example of the holding member 22 included in the operated device 2 disclosed in the present application. The schematic cross-sectional view illustrated in FIG.
- FIG. 17 is cut along a cross-section in which the opening 212 of the holding member 22 is not formed, and shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- FIG. 18 shows the appearance of the half body 22a with the holding member 22 separated.
- the inner surface of the holding member 22 is formed in a substantially concave spherical shape, and a sliding portion 220 that contacts the spherical body 21 is formed on the upper hemispherical surface.
- the sliding portion 220 according to the fifth embodiment is formed as a rolling bearing using rollers.
- the rollers as the sliding portion 220 are formed at three locations, for example, at intervals of 120°. Since the spherical body 21 slides in contact with the rollers of the sliding portion 220, the frictional resistance between the spherical body 21 and the holding member 22 can be reduced.
- the sliding portion 220 using rollers is formed in the holding member 22, so that the frictional resistance between the holding member 22 and the spherical body 21 can be reduced. is possible.
- the sliding portion 220 according to the fifth embodiment can also be formed as a rolling bearing using balls.
- FIG. 19 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 20 is a schematic perspective view showing an example of the sliding member 23 included in the operated device 2 disclosed in the present application.
- the schematic cross-sectional view illustrated in FIG. 19 is cut along a cross-section in which the opening 212 of the holding member 22 is not formed, and shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- the sliding member 23 has a substantially annular shape in a plan view, and is formed in a substantially spherical belt shape cut by two planes perpendicular to the central axis. Three sliding portions 230 are formed on the inner surface of the sliding member 23 at intervals of 120°.
- the sliding portion 230 is formed as a substantially semi-cylindrical projection so that the generatrix direction is substantially the vertical direction along the tangential line of the sliding member 23 .
- FIG. 21 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 22 is a schematic perspective view showing an example of the sliding member 23 included in the operated device 2 disclosed in the present application.
- the schematic cross-sectional view illustrated in FIG. 21 is cut along a cross-section in which the opening 212 of the holding member 22 is not formed, and shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- the sliding member 23 has a substantially annular shape in a plan view, and is formed in a substantially spherical belt shape cut by two planes perpendicular to the central axis. Three sliding portions 230 are formed on the inner surface of the sliding member 23 at intervals of 120°. The sliding portion 230 is formed as a substantially hemispherical projection.
- FIG. 23 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 23 shows the relationship between the arrangement of the sliding portion 230 of the sliding member 23 and the tilt angle of the central axis of the spherical body 21 .
- the position of the sliding portion 230 formed as a protrusion is defined as a first angle A1 as an elevation angle from a horizontal plane passing through the center of the spherical body 21 .
- the maximum value of the tilt angle of the shaft member 20, which is the tilt angle of the central axis of the spherical body 21, is defined as a second angle A1+A2, which is an elevation angle from a horizontal plane passing through the center of the spherical body 21.
- FIG. When the first angle A1 and the second angle A1+A2 are defined in this way, the first angle A1 is arranged to be less than or equal to 1/2 of the second angle A1+A2. That is, A2 ⁇ A1.
- the dynamic model when the tilted spherical body 21 is pressed by the pressing member 26 and returns to the reference posture is the same as the equations 1 and 2 of the third embodiment. That is, the smaller the first angle A1, the smaller the frictional force between the spherical body 21 and the sliding member 23, and the smaller the first angle A1, the smaller the rotational moment. Further, the lower the position where the sliding portion 230 abuts on the spherical body 21, the smaller the friction, and the more easily the tilted spherical body 21 rotates to return.
- the operated device 2 according to the seventh embodiment such that the first angle A1 is less than or equal to half the second angle A1+A2, the frictional resistance is reduced and the rotational moment is also reduced.
- the sliding portion 230 is formed on the sliding member 23 as a hemispherical protrusion, so the contact area between the sliding member 23 and the spherical body 21 can be reduced. , to reduce frictional resistance.
- the operated device 2 disclosed in the present application has excellent effects, such as being able to reduce the frictional resistance and the rotational moment by lowering the arrangement position of the sliding portion 230 .
- FIG. 24 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 25 is a schematic perspective view showing an example of the sliding member 23 included in the operated device 2 disclosed in the present application.
- the schematic cross-sectional view illustrated in FIG. 24 is cut along a cross-section in which the opening 212 of the holding member 22 is not formed, and shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- the sliding member 23 has a substantially annular shape in a plan view, and is formed in a substantially spherical belt shape cut by two planes perpendicular to the central axis.
- a sliding portion 230 having a substantially semicircular cross section in the radial direction is formed on the inner surface side of the sliding member 23 so as to protrude inward.
- the sliding portion 230 formed on the inner surface side of the sliding member 23 goes around along the inner surface of the sliding member 23 and is formed to have a substantially annular shape in a plan view. That is, the sliding portion 230 is formed as a projection on the inner surface side of the sliding member 23 .
- FIG. 26 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
- FIG. 26 shows the relationship between the arrangement of the sliding portion 230 of the sliding member 23 and the tilt angle of the central axis of the spherical body 21 .
- the position of the sliding portion 230 formed as a protrusion is defined as a first angle B1 of elevation from a horizontal plane passing through the center of the spherical body 21 .
- the maximum value of the tilt angle of the shaft member 20, which is the tilt angle of the central axis of the spherical body 21, is defined as a second angle B1+B2, which is the elevation angle from the horizontal plane passing through the center of the spherical body 21.
- FIG. When the first angle B1 and the second angle B1+B2 are defined in this way, the first angle B1 is arranged to be 1/2 or less of the second angle B1+B2. That is, B2 ⁇ B1.
- the dynamic model when the tilted spherical body 21 is pressed by the pressing member 26 and returns to the reference posture is the same as the equations 1 and 2 of the third embodiment. That is, the smaller the first angle B1, the smaller the frictional force between the spherical body 21 and the sliding member 23, and the smaller the first angle B1, the smaller the rotational moment. Further, the lower the position where the sliding portion 230 abuts on the spherical body 21, the smaller the friction, and the more easily the tilted spherical body 21 rotates to return.
- the operated device 2 according to the eighth embodiment is arranged such that the first angle B1 is less than or equal to 1/2 of the second angle B1+B2, thereby reducing the frictional resistance and the rotational moment.
- the sliding portion 230 is formed on the sliding member 23 as a protrusion having a substantially semicircular cross section in the radial direction.
- the contact area with 21 is reduced to reduce frictional resistance.
- the operated device 2 disclosed in the present application has excellent effects, such as being able to reduce the frictional resistance and the rotational moment by lowering the arrangement position of the sliding portion 230 .
- FIG. 27 is a schematic perspective view showing an example of the operated device 2 disclosed in the present application.
- FIG. 28 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application.
- FIG. 29 is a schematic cross-sectional perspective view showing an example of the operated device 2 disclosed in the present application. The schematic cross-sectional perspective view illustrated in FIG. 29 shows the inside of the spherical body 21 and the shaft member 20 with oblique lines.
- the holding member 22 of the operated device 2 has a substantially rectangular outer diameter.
- the holding member 22 is assembled by connecting an upper half body 22b and a lower half body 22c that can be separated vertically.
- the upper half 22b of the holding member 22 covers the upper hemispherical surface of the spherical body 21 from above, and the lower half 22c covers the lower hemispherical surface of the spherical body 21 from below.
- the radius of curvature of the concave spherical surface of the upper half 22b is formed to be larger than the radius of curvature of the concave spherical surface of the lower half 22c.
- the distance from the center of the spherical body 21 to the concave spherical surface of the upper half 22b is shorter than the distance from the center of the spherical body 21 to the concave spherical surface of the lower half 22c.
- the upper half body 22b and the lower half body 22c are assembled as the holding member 22 in a state in which movement in directions other than the vertical direction is restricted by rod-shaped restricting shafts 222 arranged at the four corners of the opposing horizontal planes.
- a substantially circular through-hole is formed in one side surface of the holding member 22 , and the through-hole is closed with a lid 28 .
- the lid body 28 is formed with a tubular portion 280 extending into the holding member 22 and having a substantially cylindrical shape. The tip of the tubular portion 280 enters the inside from the opening 212 of the spherical body 21 and is formed so that the connection line 250 of the detection unit 25 is inserted therethrough.
- the operated device 2 disclosed in the present application can be developed in various forms, such as by configuring the holding member 22 to be vertically separable.
- FIG. 30 is a block diagram showing a functional configuration example of the operating device 1 disclosed in the present application.
- the operation device 1 includes a control section 14 configured using electronic components such as various electronic elements, various electric circuits, and a microcomputer.
- the control unit 14 has an input unit 140 and an output unit 141 .
- the input section 140 receives an electrical signal input based on the movement of the spherical body 21 from the connection line 250 of the detection unit 25 of the operated device 2 .
- the control unit 14 generates operation signals by performing various calculations on the electrical signals input from the input unit 140 .
- the output unit 141 transmits the generated operation signal to a device to be operated, such as a game machine, a personal computer, an industrial robot, or the like. By transmitting the operation signal to the operation target, the operator can operate the operation target with the operation device 1 .
- the operating device 1 and the operated device 2 disclosed in the present application can reduce the frictional resistance generated when the spherical body 21 moves due to the sliding portion 230 that contacts the spherical body 21 . There is an excellent effect.
- the embodiments exemplified as the first to ninth embodiments are not limited to being implemented independently, but can be combined as appropriate.
- a form applied to a game controller was described, but the embodiment is not limited to this, and can be applied to various operation objects such as various toys, various moving bodies, various measuring devices, industrial robots, and the like. It can be used for manipulation.
- the operated device 2 described in the present application can be applied not only to the operating device 1 but also to various devices in which spherical joints such as joints of industrial robots can be incorporated.
- the form in which the spherical body 21 does not interlock with the rotational movement of the shaft member 20 was illustrated, but the embodiment is not limited to this, and various forms such as the form in which the spherical body 21 interlocks are possible. It is possible to develop into a form. Friction between the spherical body 21 and the holding member 22 that occurs when the spherical body 21 is interlocked with the rotation of the shaft member 20 is also reduced by the structure of the sliding portion such as the sliding member 23 disclosed in the present application. It is possible to
- the magnetic field sensor 253 is used to detect the motion of the spherical body 21, but the present invention is not limited to this, and can be developed into various modes for detecting the motion of the spherical body 21. It is possible to
- the contact position is appropriately designed. It is possible to For example, the elevation angle from the horizontal plane passing through the center of the spherical body 21 is in the range of 0 to 30 degrees, 5 to 15 degrees, 30 to 45 degrees, etc. Various designs are possible, such as designing to contact the moving part 220 .
- control unit 140 input unit 141 output unit 2 operated device 20 shaft member 21 spherical body 213 pressed portion 22 holding member 22a half body 22b upper half body 22c lower half body 220 sliding part 23 sliding member ( sliding part) 230 sliding portion 25 detection unit 26 pressing member
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Abstract
Description
図1は、本願開示の被操作装置2を組み込んだ操作用装置1の外観の一例を示す概略斜視図である。操作用装置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、操作用装置1の内部に組み込まれた被操作装置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に例示する操作用装置1内には、右手の操作に基づく動作を検出する被操作装置2及び左手の操作に基づく動作を検出する被操作装置2の2台の被操作装置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。
次に、被操作装置2について説明する。被操作装置2は、様々な形態で実現することが可能である。以降では、被操作装置2の様々な形態について説明する。
<構造>
図3は、本願開示の被操作装置2の一例を示す概略斜視図である。図4は、本願開示の被操作装置2の一例を示す概略分解斜視図である。図5は、本願開示の被操作装置2の一例を示す概略断面図である。図3乃至図5は、本願開示の操作用装置1に組み込まれた被操作装置2を例示している。図5は、図3に示すA-Bを通る垂直面で切断した被操作装置2の内部構造の断面を概略断面図として示している。被操作装置2は、軸部材20、球状体21、保持部材22、摺動部材23(摺動部)、下部機構24、検出ユニット25等の各種部材を備えている。下部機構24には、押圧部材26、付勢部材27等の各種部材が組み込まれている。以降の説明では、図3乃至図5に示すように、軸部材20の長手方向に平行で、球状体21の中心を通る仮想的な中心軸の向きが垂直方向となっている状態を基準姿勢と定義する。
次に、本願開示の被操作装置2の動作について説明する。図7及び図8は、本願開示の被操作装置2の一例を示す概略断面図である。図7は、被操作装置2の軸部材20が基準姿勢にある状態を示している。軸部材20の基準姿勢とは、操作用装置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姿勢に位置する状態を示す。図8は、操作者の傾倒操作を受けて、被操作装置2の軸部材20及び球状体21が、図7に例示する基準姿勢から傾倒した状態を示している。
被操作装置2の第2実施形態は、第1実施形態において、摺動部材23が当接する部位を大きくした形態である。以降の説明において、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。図9は、本願開示の被操作装置2の一例を示す概略斜視図である。図10は、本願開示の被操作装置2の一例を示す概略断面図である。図11は、本願開示の被操作装置2が備える摺動部材23の一例を示す概略斜視図である。図10に例示する概略断面図は、球状体21、保持部材22及び摺動部材23の形状を視認し易くするため、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。
被操作装置2の第3実施形態は、第2実施形態において、摺動部材23が摺動部として球状体21に当接する部位を小さくした形態である。以降の説明において、第2実施形態等と同様の構成については、第2実施形態等と同様の符号を付し、詳細な説明を省略する。図12は、本願開示の被操作装置2の一例を示す概略断面図である。図13は、本願開示の被操作装置2が備える摺動部材23の一例を示す概略斜視図である。図12に例示する概略断面図は、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。
回転モーメント:R・μ・F・cosθ1 ・・・式2
被操作装置2の第4実施形態は、第3実施形態において、摺動部材23を用いず、保持部材22の一部を摺動部220とする形態である。以降の説明において、第3実施形態等と同様の構成については、第3実施形態等と同様の符号を付し、詳細な説明を省略する。図15は、本願開示の被操作装置2の一例を示す概略断面図である。図16は、本願開示の被操作装置2が備える保持部材22の一例を示す概略斜視図である。図15に例示する概略断面図は、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。図16は、保持部材22を分離した半体22aの外観を示している。
被操作装置2の第5実施形態は、第4実施形態において、摺動部220として転がり軸受を用いた形態である。以降の説明において、第4実施形態等と同様の構成については、第4実施形態等と同様の符号を付し、詳細な説明を省略する。図17は、本願開示の被操作装置2の一例を示す概略断面図である。図18は、本願開示の被操作装置2が備える保持部材22の一例を示す概略斜視図である。図17に例示する概略断面図は、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。図18は、保持部材22を分離した半体22aの外観を示している。
被操作装置2の第6実施形態は、第3実施形態において、摺動部材23の内面全体を摺動部とするのではなく、摺動部材23に摺動部230として機能する突起を形成した形態である。以降の説明において、第3実施形態等と同様の構成については、第3実施形態等と同様の符号を付し、詳細な説明を省略する。図19は、本願開示の被操作装置2の一例を示す概略断面図である。図20は、本願開示の被操作装置2が備える摺動部材23の一例を示す概略斜視図である。図19に例示する概略断面図は、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。
被操作装置2の第7実施形態は、第6実施形態において、摺動部230の形状を略半球状とした形態である。以降の説明において、第6実施形態等と同様の構成については、第6実施形態等と同様の符号を付し、詳細な説明を省略する。図21は、本願開示の被操作装置2の一例を示す概略断面図である。図22は、本願開示の被操作装置2が備える摺動部材23の一例を示す概略斜視図である。図21に例示する概略断面図は、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。
被操作装置2の第8実施形態は、第7実施形態において、摺動部230の形状を略円環状とした形態である。以降の説明において、第7実施形態の同様の構成については、第7実施形態等と同様の符号を付し、詳細な説明を省略する。図24は、本願開示の被操作装置2の一例を示す概略断面図である。図25は、本願開示の被操作装置2が備える摺動部材23の一例を示す概略斜視図である。図24に例示する概略断面図は、保持部材22の開口部212が開設されていない断面で切断し、かつ球状体21及び軸部材20の内部の記載を省略した斜線で示している。
被操作装置2の第9実施形態は、第4実施形態において、保持部材22を上下分離可能な形状とした形態である。以降の説明において、第4実施形態等と同様の構成については、第4実施形態等と同様の符号を付し、詳細な説明を省略する。図27は、本願開示の被操作装置2の一例を示す概略斜視図である。図28は、本願開示の被操作装置2の一例を示す概略分解斜視図である。図29は、本願開示の被操作装置2の一例を示す概略断面斜視図である。図29に例示する概略断面斜視図は、球状体21及び軸部材20の内部の記載を省略した斜線で示している。
次に、本願開示の操作用装置1の機能構成例を説明する。図30は、本願開示の操作用装置1の機能構成例を示すブロック図である。操作用装置1は、各種電子素子、各種電気回路、マイクロコンピュータ等の電子部品を用いて構成された制御部14を備えている。制御部14は、入力部140及び出力部141を備えている。入力部140は、被操作装置2の検出ユニット25の接続線250から球状体21の動作に基づく電気信号の入力を受け付ける。制御部14は、入力部140から入力された電気信号に対して様々な演算を行うことで操作信号を生成する。出力部141は、生成した操作信号を、ゲーム機、パーソナルコンピュータ、産業用ロボット等の操作対象となる装置へ送信する。操作対象へ操作信号を送信することにより、操作者は、操作用装置1にて操作対象を操作することが可能となる。
14 制御部
140 入力部
141 出力部
2 被操作装置
20 軸部材
21 球状体
213 被押圧部
22 保持部材
22a 半体
22b 上半体
22c 下半体
220 摺動部
23 摺動部材(摺動部)
230 摺動部
25 検出ユニット
26 押圧部材
Claims (9)
- 外部からの操作を受けて動作する球状体と、前記球状体を動作可能に外側から保持する保持部材とを備える被操作装置であって、
前記保持部材は、前記球状体の外面に当接する摺動部を有し、
前記球状体を押圧して、前記摺動部に当接させる押圧部材を備え、
前記球状体は、前記摺動部に当接した状態で動作する
ことを特徴とする被操作装置。 - 請求項1に記載の被操作装置であって、
前記押圧部材は、前記球状体の第1の半球面側から押圧し、
前記摺動部は、第1の半球面側の反対となる第2の半球面側にのみ当接するように配置されている
ことを特徴とする被操作装置。 - 請求項2に記載の被操作装置であって、
前記保持部材の内面は、前記球状体の外面に沿った凹球面状に形成されており、
前記保持部材の内面は、前記押圧部材から押圧を受ける前記球状体の第1の半球面側に相対する第1の凹球面側の半径より、前記球状体の第1の半球面側の反対となる第2の半球面側に相対する第2の凹球面側の半径の方が短い
ことを特徴とする被操作装置。 - 請求項1乃至請求項3のいずれか1項に記載の被操作装置であって、
前記摺動部は、前記押圧部材の押圧方向に直交する2つの平面で切断した球帯状をなす部材で形成されている
ことを特徴とする被操作装置。 - 請求項4に記載の被操作装置であって、
前記摺動部は、
前記保持部材の他の部位より摩擦係数が小さい材料を用いて形成されている
ことを特徴とする被操作装置。 - 請求項4又は請求項5に記載の被操作装置であって、
前記摺動部は、
ポリアセタール樹脂(POM)、ポリアミド樹脂(PA)又はポリテトラフルオロエチレン樹脂(PTFE)を用いて形成されている
ことを特徴とする被操作装置。 - 請求項1乃至請求項6のいずれか1項に記載の被操作装置であって、
前記球状体の動作は、前記押圧部材の押圧方向と平行な中心軸が傾く傾倒動作であり、
前記摺動部は、前記押圧部材の押圧方向に直交する面に対し、前記球状体の中心からの仰角が第1角度になるように配置されており、
前記中心軸は、傾倒動作により、前記押圧部材の押圧方向に直交する面に対する角度が第2角度まで傾倒可能であり、
前記第1角度は、前記第2角度の1/2以下である
ことを特徴とする被操作装置。 - 請求項1乃至請求項7のいずれか1項に記載の被操作装置であって、
前記摺動部は、転がり軸受として形成されている
ことを特徴とする被操作装置。 - 請求項1乃至請求項8のいずれか1項に記載の被操作装置と、
前記被操作装置が備える球状体の動作に基づく操作信号を外部へ出力する出力部と
を備えることを特徴とする操作用装置。
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Citations (4)
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JPH0537047Y2 (ja) * | 1989-10-16 | 1993-09-20 | ||
JP2007120746A (ja) * | 2005-09-28 | 2007-05-17 | Hiihaisuto Seiko Kk | 球面軸受 |
JP2021515320A (ja) * | 2018-02-28 | 2021-06-17 | ボーンズ、インコーポレイテッド | 非接触式ホール効果ジョイスティック |
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US20040017355A1 (en) * | 2002-07-24 | 2004-01-29 | Youngtack Shim | Cursor control systems and methods |
CN110559654A (zh) * | 2019-10-12 | 2019-12-13 | 深圳市七熊科技有限公司 | 轨迹球游戏手柄及其装置 |
US11204618B2 (en) * | 2019-11-27 | 2021-12-21 | Pixart Imaging Inc. | Joystick |
CN112755514A (zh) * | 2021-03-22 | 2021-05-07 | 彭庚申 | 一种轨迹球组件 |
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JPS587604Y2 (ja) * | 1977-11-04 | 1983-02-10 | 日本電気株式会社 | ポジシヨナ |
JPH0537047Y2 (ja) * | 1989-10-16 | 1993-09-20 | ||
JP2007120746A (ja) * | 2005-09-28 | 2007-05-17 | Hiihaisuto Seiko Kk | 球面軸受 |
JP2021515320A (ja) * | 2018-02-28 | 2021-06-17 | ボーンズ、インコーポレイテッド | 非接触式ホール効果ジョイスティック |
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