WO2023127342A1 - Operated device and device for operating - Google Patents

Operated device and device for operating Download PDF

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Publication number
WO2023127342A1
WO2023127342A1 PCT/JP2022/042780 JP2022042780W WO2023127342A1 WO 2023127342 A1 WO2023127342 A1 WO 2023127342A1 JP 2022042780 W JP2022042780 W JP 2022042780W WO 2023127342 A1 WO2023127342 A1 WO 2023127342A1
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WO
WIPO (PCT)
Prior art keywords
operated device
tilting
pressing
gear
tilting body
Prior art date
Application number
PCT/JP2022/042780
Other languages
French (fr)
Japanese (ja)
Inventor
智 高盛
光一 古澤
Original Assignee
オムロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2023127342A1 publication Critical patent/WO2023127342A1/en

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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
    • 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
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • 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
    • 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

Definitions

  • the present invention relates to an operated device provided with a tilting body that accepts 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 inclination by variable resistances arranged on each of the XY axes.
  • variable resistance pointing device proposed in Japanese Patent Laid-Open No. 2002-200000 is merely a device for inputting operations, and does not consider a mechanism for recognizing such operation situations.
  • the present invention has been made in view of such circumstances, and the main object thereof is to provide an operated device capable of varying the load associated with the operation in order to recognize the situation of the operation target.
  • Another object of the present invention is to provide an operating device including such an operated device.
  • the operated device disclosed in the present application includes a tilting body that receives an operation of tilting from a reference position about a tilt center, and an operated device that operates an operation target according to the tilting state of the tilting body.
  • the tilting body has a pressed portion extending in a direction perpendicular to a central axis passing through the tilting center at an end, and the tilting body is positioned at a reference position with respect to the pressed portion.
  • a pressing member that is parallel to the central axis when positioned and presses in a direction toward the tilting center; a biasing member that biases the pressing member toward the tilting center; and a drive mechanism that uses a gear to perform the operation of pressing toward the tilt center.
  • the driving mechanism includes a power section that performs a rotating motion, and the gear converts the rotating motion of the power section into a motion capable of pressing the pressing member.
  • the driving mechanism includes a power section that performs a rotating motion, a pinion gear that rotates in conjunction with the rotating motion of the power section as the gear, and a pinion gear that meshes with the pinion gear. and a rack gear capable of operating as a power unit, and the operation of pressing the pressing member is performed by the operation of the rack gear to which the rotational motion of the power unit is transmitted.
  • the rack gear is formed in an arc shape.
  • the tilting body is parallel to the central axis when positioned at the reference position, and receives a pressing operation in a direction opposite to the pressing direction of the pressing member, and is pressed in the operation direction. and a detection unit for detecting the movement of the tilting body.
  • the operation device includes the operated device and means for outputting a signal for driving a drive mechanism provided in the operated device to the operated device, and the tilting body provided in the operated device It is characterized by outputting an operation signal based on the operation of to the outside.
  • the tilting body is pressed by the driving mechanism operated by the gear, so that it is possible to vary the load related to the operation, and so on, and has excellent effects.
  • 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 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 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. 1 is a schematic exploded 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. FIG. 4 is a schematic perspective view showing an example of part of a drive mechanism included in the operated device disclosed in the present application
  • FIG. 4 is a schematic perspective view showing an example of part of a drive mechanism 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 exploded 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. 2 is a schematic block diagram conceptually showing an example of a control configuration of an operated device disclosed in the present application
  • FIG. 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
  • 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
  • 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
  • 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
  • 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
  • 4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
  • An operated device disclosed 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 disclosed 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 operating 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 operator can perform operations such as a tilting operation for tilting the shaft member 20 and a pressing operation for pushing the shaft member 20 toward the inside of the housing 10 on the operation unit 12 .
  • 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. 5 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application.
  • FIG. 6 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application. 3 to 6 illustrate the operated device 2 incorporated in the operating device 1 disclosed in the present application.
  • FIG. 6 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 section.
  • the operated device 2 includes various members related to operation, such as a shaft member 20, a tilting body 21, a holding member 22, a detection unit 23, and the like.
  • the operated device 2 includes a support mechanism 24 for supporting members such as the holding member 22 on a substrate (not shown) incorporated in the operating device 1, and a drive mechanism 25 for applying a power load to the operation. and other various members.
  • a support mechanism 24 for supporting members such as the holding member 22 on a substrate (not shown) incorporated in the operating device 1, and a drive mechanism 25 for applying a power load to the operation. and other various members.
  • FIGS. 3 to 6 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 tilting 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 can be attached to the upper end thereof as illustrated in FIGS. 1 and 2 .
  • a lower portion of the shaft member 20 is inserted into a substantially cylindrical insertion portion 210 formed in the tilting body 21 and formed to protrude from the upper end of the tilting 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 shaft member 20 is inserted through the insertion portion 210 of the tilting body 21 and held by the insertion portion 210 so as to be rotatable in the circumferential direction.
  • the tilting 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 portion 211 .
  • An opening 212 through which the connection line 230 of the detection unit 23 is passed is formed in the side surface of the spherical portion 211 , and the connection line 230 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 tilting body 21 receives an operation from the outside (operator) via the operation portion 12 and the shaft member 20, and operates according to the operation.
  • the motion of the tilting body 21 in response to the operator's operation is about a virtual central axis parallel to the longitudinal direction of the shaft member 20 and passing through the center of the tilting body 21 .
  • the operation of the shaft member 20 includes an operation of tilting the central axis about the center of the tilting body 21 as a fulcrum, an operation of rotating around the central axis in the circumferential direction, and a movement in the vertical direction (extending direction of the central axis). It is an action to do.
  • the tilting body 21 When the shaft member 20 performs a tilting motion, the tilting 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 tilting body 21 moves up and down in conjunction with the motion of the shaft member 20 . The tilting body 21 does not interlock with the rotation of the shaft member 20 .
  • the holding member 22 is a member arranged so as to cover the tilting 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 tilting body 21, and holds the tilting body 21 operably from the outside.
  • the holding member 22 is assembled by joining two laterally separable halves 22a, and a sliding ring 220 is incorporated so as to be sandwiched inside the halves 22a.
  • the slide ring 220 is formed in a substantially annular shape in plan view. More specifically, it has a substantially spherical shape cut by two horizontal planes.
  • the sliding ring 220 is made of resin such as polyacetal resin (POM), polyamide resin (PA), or polytetrafluoroethylene resin (PTFE), which has a low coefficient of friction.
  • the tilting body 21 held by the holding member 22 is operably held in contact with the sliding ring 220 . Since the tilting body 21 operates such as tilting while maintaining a state of contact with the sliding ring 220, the sliding ring 220 reduces the frictional force generated during the operation.
  • the support mechanism 24 attached to the lower portion of the holding member 22 includes a pressing member 240, a first biasing member 241, a movable member 242, a fixed member 243, a first shaft support portion 244, a second biasing member 245, and a depression detection portion.
  • Various members such as 246 are incorporated.
  • the pressing member 240 incorporated in the support mechanism 24 is a member that presses the pressed portion 213 at the lower end of the tilting body 21 from below to above.
  • the pressing member 240 has a disk portion 2400 having a disk shape at its upper portion, and a peripheral edge of the disk portion 2400 extends downward to form a cylindrical portion 2401 having a cylindrical shape.
  • a substantially cylindrical presser 2402 extending downward from the vicinity of the center of the lower surface of the disk portion 2400 of the pressing member 240 is arranged.
  • the support mechanism 24 is formed with an annular groove in plan view into which the cylindrical portion 2401 of the pressing member 240 is loosely fitted with some play.
  • the pusher 2402 passes through a through hole formed in the lower portion of the support mechanism 24 and protrudes downward.
  • the lower end of the pusher 2402 contacts the drive mechanism 25 and receives upward pressure from the drive mechanism 25 .
  • the pressing member 240 moves up and down while the cylindrical portion 2401 is loosely fitted in the groove.
  • a first biasing member 241 using a return spring such as a compression coil spring is arranged in the groove.
  • the lower end of the first biasing member 241 is fixed to the inner bottom surface of the groove, and the upper end of the first biasing member 241 contacts the pressing member 240 to bias the pressing member 240 upward.
  • the pressing member 240 comes into contact with the pressed portion 213 formed at the lower end of the tilting body 21 on the top surface, and pushes the pressed portion 213 upward. press to.
  • the tilting body 21 operates so as to return to the reference posture even when it receives an operation and performs a tilting motion.
  • the operated device 2 disclosed in the present application supports a pressing operation for pressing the operation unit 12 downward, that is, a so-called click operation.
  • the shaft member 20 moves downward in the extending direction of the central axis, and holds the tilting body 21 to which the shaft member 20 is attached and the tilting body 21.
  • the holding member 22 moves downward in conjunction with the shaft member 20 .
  • the support mechanism 24 includes various members such as the movable member 242, the fixed member 243, the first shaft support 244, the second biasing member 245, and the pressing detection section 246 described above.
  • the movable member 242 is fixed to the lower end of the holding member 22, and performs a swinging motion in response to a pressing operation.
  • the fixed member 243 swingably supports the movable member 242 .
  • the fixed member 243 swingably supports the movable member 242 with a first shaft support portion 244 using a shaft support pin, and the movable member 242 swings with the first shaft support portion 244 as a swing fulcrum.
  • a second biasing member 245 using a return spring such as a compression coil spring is arranged above the fixed member 243, and the second biasing member 245 biases the movable member 242 upward.
  • the press detection unit 246 is arranged between the movable member 242 and the fixed member 243, and is configured using members such as a tactile switch and a pressure sensor that receive pressure based on the downward movement of the movable member 242.
  • FIG. As a result, the pressing detection unit 246 has functions such as detecting a pressing operation and generating an operation feeling called a click feeling.
  • the movable member 242 swings downward with the first shaft support portion 244 as a swing axis, thereby turning the tactile switch into a tactile switch. , presses the press detection unit 246 such as a pressure sensor.
  • the angle at which the movable member 242 swings due to the pressing operation is minute, so the swinging motion of the shaft member 20 can be regarded as substantially the same as a minute vertical movement.
  • the movable member 242 and the tilting body 21 arranged on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the pressing operation, and move in the same direction as the pressing operation. Move downwards to become parallel.
  • the term "substantially parallel” as used herein means parallel (downward) or an angle slightly inclined from parallel considering the swing angle, and refers to an angle within a range that can be regarded as substantially parallel.
  • the press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 via the connection line 230 branched from the detection unit 23 .
  • the second biasing member 245 biases the shaft member 20, the tilting body 21, the holding member 22, the movable member 242, and other members to return to the reference position.
  • the detection unit 23 includes members such as a magnet 231 fixed to the inner bottom, which is the lower end of the tilting body 21, and a magnetic field sensor 232 for detecting a magnetic field, in addition to the connection line 230 described above.
  • the magnet 231 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 arrangement of the magnets 231 can be exemplified by a fixed configuration in which the north pole faces upward and the south pole faces downward.
  • the magnetic field sensor 232 is arranged near the center of the spherical portion 211 of the tilting body 21 .
  • the magnetic field sensor 232 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 detected by the magnetic field sensor 232 is output to the outside via the connection line 230 as an electrical signal.
  • FIG. 7 and 8 are schematic exploded perspective views showing an example of the operated device 2 disclosed in the present application.
  • 9 and 10 are schematic perspective views showing examples of part of the drive mechanism 25 included in the operated device 2 disclosed in the present application.
  • FIG. 7 shows a view from obliquely above
  • FIG. 8 shows a view from obliquely below.
  • the drive mechanism 25 is attached to the lower portion of the support mechanism 24 and performs an operation of pressing the pressing member 240 from below toward the center of tilting upward.
  • Various members such as a mounting base 250, a power unit 251, and a gear 252 are incorporated in the drive mechanism 25. As shown in FIG.
  • the gear 252 includes an operating body 2520 (rack gear) capable of rocking motion, and a first gear 2521, a second gear 2522 and a third gear 2523 (pinion gear) using spur gears.
  • FIG. 9 is a perspective view showing a plurality of members such as spur gears among the mounting base 250, the power section 251, and the gear 252 provided in the drive mechanism 25, and is viewed obliquely from above.
  • FIG. 10 shows an operating body 2520 included in the driving mechanism 25 and a part of the supporting mechanism 24 to which the operating body 2520 is pivotally attached, as viewed obliquely from below.
  • the mounting base 250 is a member to which various members such as a power unit 251 and spur gears of the drive mechanism 25 can be mounted.
  • the power section 251 is an electric motor attached to the mounting base 250, and when the power section 251 is energized, the shaft included in the power section 251 rotates. The rotation direction and rotation speed of the shaft can be controlled by the energizing direction and voltage.
  • the gear 252 has an operating body 2520 that functions as a rack gear.
  • the operating body 2520 has an elongated arm portion 2520a with one end serving as a free end and the other end serving as a fixed end.
  • One end side of the arm portion 2520a is a gear portion 2520b curved in an arc shape, and teeth meshing with the third gear 2523 are formed inside the arc shape.
  • the other end side of the arm portion 2520a is swingably supported by the support mechanism 24 by a second shaft support portion 2520c such as a shaft support pin.
  • the gear 252 includes a first gear 2521 and a second gear 2522 as spur gears, and a third gear 2523 functioning as a pinion gear.
  • the first gear 2521 is a spur gear with 10 teeth
  • the second gear 2522 is a spur gear with 20 teeth
  • the third gear 2523 is a spur gear with 10 teeth.
  • the first gear 2521 is supported by the shaft of the power section 251 .
  • the second gear 2522 and the third gear 2523 are configured as two-stage gears supported by one shaft.
  • the first gear 2521 meshes with the second gear 2522 , and rotation of the power section 251 is transmitted from the first gear 2521 to the second gear 2522 .
  • the third gear 2523 supported on the same shaft rotates.
  • the third gear 2523 meshes with the gear portion 2520b of the operating body 2520. As shown in FIG.
  • the gear portion 2520b and the third gear 2523 of the operating body 2520 transmit the rotational motion of the power portion 251 as a rack and pinion mechanism.
  • the operating body 2520 swings around the second shaft support portion 2520c as a swing fulcrum when the gear portion 2520b receives the rotational motion. By swinging, the operating body 2520 presses the pusher 2402 of the pressing member 240 upward with the arm portion 2520a.
  • the driving mechanism 25 includes the power section 251 and the gear 252 that perform rotational movement, and the gear 252 converts the rotational movement of the power section 251 into movement capable of pressing the pressing member 240 .
  • the gear 252 includes a first gear 2521, a second gear 2522, and a third gear 2523 using spur gears, and an operating body 2520.
  • the operating body 2520 has a gear portion 2520b as a power point and a second shaft support portion 2520c as a fulcrum. , and the arm portion 2520a functions as a point of action.
  • the pressing member 240 is pressed upward by the motion of the operating body 2520 to which the rotational motion of the power unit 251 is transmitted.
  • FIG. 11 and 12 are schematic cross-sectional views showing an example of the operated device 2 disclosed in the present application.
  • FIG. 11 shows a state 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. 12 shows a state in which the shaft member 20 and the tilting body 21 of the operated device 2 are tilted from the reference posture illustrated in FIG. 11 in response to the tilting operation of the operator.
  • the shaft member 20 and the tilting body 21 of the operated device 2 tilt with the center of the tilting body 21 as a fulcrum.
  • the shaft member 20 and the tilting body 21 are in the reference posture as illustrated in FIG. Since the shaft member 20 and the tilting body 21 are pressed toward each other, they assume a stable posture.
  • the pressed portion 213 presses the pressing member 240 downward at the peripheral edge portion.
  • the pressing member 240 presses the peripheral portion of the pressed portion 213 upward where the center of the tilting body 21 is located. force acts in the direction As illustrated in FIG.
  • the force associated with pressing against the pressing member 240 is the resultant force of the force urged by the first urging member 241 and the force pushed up by the swing of the operating body 2520 .
  • the force biased by the first biasing member 241 is determined by the spring constant and the length in the pressing direction.
  • the force due to the swinging motion of operating body 2520 is determined by the force transmitted from power section 251 .
  • the operated device 2 disclosed in the present application can press the pressing member 240 not only by pressing by the first biasing member 241 but also by the action of the operating body 2520 to which the power of the power section 251 is transmitted. Since the pressure due to the action of the action body 2520 is controlled by the power section 251, by controlling the power section 251, it is possible to control the load on the operation felt by the operator.
  • the magnetic field generated by the magnet 231 detected by the magnetic field sensor 232 changes, and the changed state is output to the outside as a signal indicating the tilting state.
  • FIG. 13 is a schematic perspective view showing an example of the operated device 2 disclosed in the present application.
  • FIG. 14 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application.
  • the operated device 2 illustrated in FIGS. 13 and 14 is illustrated with the operating portion 12 attached to the shaft member 20 .
  • the operated device 2 includes various members such as a shaft member 20, a tilting body 21, a holding member 22, a detection unit 23, a support mechanism 24, a drive mechanism 25, and the like. Since the configurations of the detection unit 23 and the driving mechanism 25 are the same as those of the first embodiment, the first embodiment will be referred to, and the drawings and detailed description thereof will be omitted.
  • the support mechanism 24 incorporates various members such as a movable member 242, a fixed member 243, a depression detector 246, an elastic body 247, and the like.
  • a movable member 242 according to the second embodiment has a substantially rectangular shape in a plan view, and claw portions 2420 projecting outward are formed on four sides thereof.
  • a fixing member 243 according to the second embodiment is formed using a substantially rectangular metal plate in plan view.
  • guide portions 2430 are formed at positions corresponding to the claw portions 2420 of the movable member 242, and the guide portions 2430 are directed upward along the four sides. folded.
  • the guide portion 2430 has an opening into which the claw portion 2420 of the movable member 242 is loosely fitted.
  • the claw portion 2420 is fitted with play into the opening of the guide portion 2430, and the guide portion 2430 stabilizes the vertical movement of the movable member 242 by guiding the vertical movement of the loosely fitted claw portion 2420.
  • a press detection unit 246 is arranged using a member such as a tactile switch, a pressure sensor, or the like, which detects press based on the downward movement of the movable member 242. As shown in FIG. Further, a substantially circular opening for inserting the pressing member 240 is formed near the center of the fixing member 243 .
  • An elastic body 247 made of a resin material is arranged between the movable member 242 and the fixed member 243 .
  • the elastic body 247 has a substantially rectangular surface shape in a plan view, and has a substantially circular opening through which the pressing member 240 is inserted. Further, the elastic body 247 is also formed with an opening at a position corresponding to the arrangement position of the depression detection section 246 .
  • the elastic body 247 is sandwiched between the movable member 242 and the fixed member 243, and elastically relaxes the movement of the movable member 242 based on the pressing operation. As a result, the elastic body 247 reduces the detection sensitivity of the press detection unit 246 to the press operation, and prevents the operation from being detected more sharply than necessary.
  • the movable member 242 moves downward in conjunction with the downward movement of the shaft member 20 based on the pressing operation on the operation unit 12, and presses the depression detection unit 246. do.
  • the movable member 242 is guided by four claw portions 2420 loosely fitted in guide portions 2430 positioned on four sides of the fixed member 243 to move downward in the direction of the pressing operation. That is, the movable member 242 and the tilting body 21 disposed on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the depression operation, and are substantially parallel to the operation direction of the depression operation. and move downwards.
  • the press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 .
  • the members such as the shaft member 20, the tilting body 21, and the movable member 242 return to their reference positions.
  • the operated device 2 disclosed in the present application can be implemented in various forms.
  • the third embodiment differs from the second embodiment in the structure related to the pressing operation.
  • the same reference numerals as in the first embodiment or the second embodiment are attached to the same configurations as in the first embodiment or the second embodiment, and the first embodiment or the second embodiment is referred to. and detailed description is omitted.
  • FIG. 15 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application.
  • FIG. 16 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application.
  • the operated device 2 illustrated in FIGS. 15 and 16 is illustrated with the operating portion 12 attached to the shaft member 20 .
  • the operated device 2 includes various members such as a shaft member 20, a tilting body 21, a holding member 22, a detection unit 23, a support mechanism 24, a drive mechanism 25, and the like. Since the configuration of the drive mechanism 25 is the same as that of the first embodiment, the first embodiment will be referred to, and the drawings and detailed description thereof will be omitted.
  • the support mechanism 24 incorporates various members such as a movable member 242, a fixed member 243, a depression detector 246, an elastic body 247, and the like.
  • a movable member 242 according to the third embodiment has a projecting portion 2421 projecting downward from the lower surface, and the lower end of the projecting portion 2421 abuts the upper surface of the fixed member 243 .
  • An elastic body 247 is arranged between the movable member 242 and the fixed member 243 .
  • the elastic body 247 has a substantially rectangular surface shape in a plan view, and has a substantially circular opening for inserting the pressing member 240 , an opening at a position corresponding to the arrangement position of the pressing detection part 246 , and an opening for the movable member 242 .
  • An opening is formed at a position corresponding to the protrusion 2421 .
  • the movable member 242 moves downward in conjunction with the downward movement of the shaft member 20 based on the depression operation on the operation section 12, and presses the depression detection section 246. .
  • the movable member 242 is guided by the guide portion 2430 and moves downward in the direction of the pressing operation. Since the projecting portion 2421 of the movable member 242 abuts on the upper surface of the fixed member 243, strictly speaking, the movable member 242 swings downward with the projecting position of the projecting portion 2421 serving as a swing fulcrum. .
  • the swinging motion of the movable member 242 can be regarded as substantially the same as a minute up-and-down motion. That is, the movable member 242 and the tilting body 21 arranged on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the pressing operation, and move in the same direction as the pressing operation. Move downwards to become parallel.
  • the press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 .
  • the operated device 2 disclosed in the present application can be implemented in various forms.
  • FIG. 17 is a schematic block diagram conceptually showing an example of the control configuration of the operated device 2 disclosed in the present application.
  • the operated device 2 includes various control chips such as LSI (Large Scale Integration) and VLSI (Very Large Scale Integration), various recording chips such as ROM (Read Only Memory) and RAM (Random Access Memory), and various It has a control circuit 26 in which the element is mounted.
  • the control circuit 26 includes a control section 260 such as a CPU (Central Processing Unit) that controls the entire apparatus. controls the various configurations of The control circuit 26 also receives various commands from the pattern selection means 27 outside.
  • LSI Large Scale Integration
  • VLSI Very Large Scale Integration
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control circuit 26 includes a control section 260 such as a CPU (Central Processing Unit) that controls the entire apparatus. controls the various configurations of The control circuit 26 also receives various commands from the pattern selection means 27 outside.
  • CPU Central Processing Unit
  • the AD conversion unit 261 receives an input of an analog signal indicating displacement of the tilting angle of the tilting body 21 on the X axis and the Y axis from the magnetic field detected by the detection unit 23 and pressing of the tilting body 21, converts it into a digital signal, This circuit outputs to the control unit 260 .
  • the pattern recording unit 263 is a memory in which the energization pattern to the driving mechanism 25 is recorded in advance.
  • the control unit 260 selects an energization pattern recorded in the pattern recording unit 263 based on the selection signal received from the pattern selection unit 27, and an operation signal for operating the drive mechanism 25 based on the selected energization pattern. is output via the motor driver 262 .
  • the pattern selection means 27 is, for example, processing based on software executed by a game machine connected to the operating device 1, and outputs a selection signal according to the progress of the game. Further, when the operation device 1 receives a specific operation, the process based on the program executed in the operation device 1 may serve as the pattern selection means 27 to output a selection signal.
  • the motor driver 262 that receives the operation signal from the control unit 260 changes the format of the signal as appropriate and outputs the operation signal to the drive mechanism 25 .
  • 18 to 20 are graphs showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application.
  • 18 to 20 show the relationship between the horizontal axis representing the displacement relative to the tilting angle of the tilting body 21 and the vertical axis representing the force required for tilting.
  • the displacement related to the tilt angle is the tilt angle itself or the distance by which the pressing member 240 is pushed downward by the pressed portion 213 tilted according to the tilt angle.
  • the thin line indicates the force relationship by the first biasing member 241
  • the dashed line indicates the force relationship by the operating body 2520 of the drive mechanism 25
  • the thick line indicates the first biasing member 241 and the operating force. The resultant force of body 2520 is shown.
  • FIG. 18 shows a state in which the power section 251 of the drive mechanism 25 is not energized.
  • the driving mechanism 25 When the driving mechanism 25 is not energized, the operating body 2520 does not press the pressing member 240, so the force required to tilt the tilting body 21 is equal to the force of the first biasing member 241, and the first Depending on the spring constant of the biasing member 241, the length increases at a constant rate. Since the pressing member 240 is preloaded, the relationship is not perfectly proportional.
  • FIGS. 19 and 20 show a state in which the drive mechanism 25 is energized
  • FIG. 20 shows a state in which a larger current flows than in FIG.
  • the operating body 2520 used in the drive mechanism 25 has a greater pressing force against the pressing member 240 in accordance with the magnitude of the electric current. Accordingly, the resultant force of the first urging member 241 and the operating body 2520 also changes according to the current applied to the drive mechanism 25 . That is, the force necessary for tilting the tilting body 21 corresponding to the resultant force of the first biasing member 241 and the operating body 2520 can be controlled by energizing the driving mechanism 25 .
  • a control circuit 26 controls the force required to tilt the tilting body 21 .
  • 21 to 23 are graphs showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application.
  • 21 to 23 show the relationship between the horizontal axis representing the displacement corresponding to the tilting angle of the tilting body 21 and the vertical axis representing the force required for tilting.
  • the thin line indicates the force relationship by the first biasing member 241
  • the dashed line indicates the force relationship by the operating body 2520 of the drive mechanism 25
  • the thick line indicates the first biasing member 241 and the operating force.
  • the resultant force of body 2520 is shown.
  • 21 to 23 show examples of energization patterns for controlling energization to the drive mechanism 25 according to the tilting angle of the tilting body 21 and for controlling the force pressing the pressing member 240.
  • FIG. 21 shows an example of an energization pattern that controls energization of the drive mechanism 25 so that the force of the operating body 2520 increases according to the tilt angle.
  • the gradient of the force pressing the pressing member 240 is larger than the gradient of the force due to the first biasing member 241 alone. Accordingly, the operator feels as if the spring constant of the compression coil spring used as the first biasing member 241 has increased, that is, the feel of the spring becoming stronger.
  • FIG. 22 shows an example of an energization pattern for controlling energization to the drive mechanism 25 so that the resultant force of the force pressing the pressing member 240 is constant regardless of the tilt angle.
  • the operator can feel the sensation of tilting with a constant force regardless of the tilting angle.
  • FIG. 23 shows an example of an energization pattern for controlling energization of the drive mechanism 25 so that the resultant force of the force pressing the pressing member 240 becomes smaller according to the tilt angle.
  • FIG. 24 is a graph showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application.
  • the horizontal axis indicates the displacement corresponding to the tilting angle of the tilting body 21, and the vertical axis indicates the force required for tilting, showing the relationship between them.
  • the thin line indicates the force relationship of the first biasing member 241
  • the broken line indicates the force relationship of the operating body 2520 of the drive mechanism 25
  • the thick line indicates the force relationship between the first biasing member 241 and the operating body 2520 of the drive mechanism 25.
  • the resultant force of body 2520 is shown.
  • FIG. 24 shows an example of an energization pattern for controlling energization of the drive mechanism 25 according to the progress of the game.
  • FIG. 24 shows an example of an energization pattern for controlling energization to the drive mechanism 25 so that the drive mechanism 25 operates when the tilt angle reaches a predetermined angle.
  • the operator feels a force such as a click feeling when the tilting angle of the tilting body 21 reaches a certain angle.
  • Such control can give the operator a sense of exhilaration by implementing it in a computer game, such as a flight simulator, in which an impact occurs when the operation angle exceeds a certain angle. Become.
  • FIG. 25 is a graph showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application.
  • FIG. 25 shows the relationship between the time on the horizontal axis and the force required for tilting on the vertical axis.
  • the thin line indicates the force relationship by the first biasing member 241
  • the dashed line indicates the force relationship by the operating body 2520 of the drive mechanism 25
  • the thick line indicates the first biasing member 241 and the operating force.
  • the resultant force of body 2520 is shown.
  • FIG. 25 shows an example of an energization pattern for controlling the energization of the drive mechanism 25 in accordance with the progress of the game in which the operation target is operated.
  • FIG. 25 is implemented in, for example, a fishing game, where the bite of the fish is expressed by the increase in pressing force due to temporary energization in the first half, and the bite is expressed by the increase in pressing force due to continuous energization in the latter half. It expresses the pull of the fish.
  • the operation device 1 disclosed in the present application can implement various controls according to the game in which the operation target is operated.
  • the operated device 2 and the operating device 1 disclosed in the present application are applied to the operating device 1 such as a joystick controller, and can control the force for returning the tilted body 21 to the reference position. It is possible. Therefore, it is possible to control the operation load with respect to the tilting operation of the tilting body 21, and the operator can feel the operation load and recognize changes in the operation load. Play.
  • the operation device 1 disclosed in the present application is applied to a game controller, it is possible to extend the operation load so as to change according to the progress of the game.
  • a form applied to a game controller has been described, but the present invention is not limited to this, and can be used to operate various objects to be operated, such as various toys, various moving bodies, various measuring devices, and industrial robots. It is possible to use For example, when applied to a controller of an industrial robot, it is possible to perform control according to the operation situation, such as increasing the operation load when operating a heavy load.
  • the operating body 2520 is formed as a member that is formed in an arc shape and performs a swinging motion, but the present invention is not limited to this, and it is sufficient that the pressing member 240 has a function of pressing.
  • the operating body 2520 can be developed into various forms, such as forming it as a linear rack gear that moves up and down.
  • the gear 252 of the drive mechanism 25 presses the pressing member 240 of the support mechanism 24 from below, but the present invention is not limited to this. It can be developed in various forms such as a form in which the force member 241 is pressed from below.
  • the presser 2402 of the support mechanism 24 is fixed to the lower surface of the disc portion 2400 of the pressing member 240, but the present invention is not limited to this. It may be configured such that it is held below so as to be movable up and down. Furthermore, it is possible to develop various forms, such as a configuration in which the lower end of the pusher 2402 is pivotally supported by the arm 2520a of the operating body 2520 by a mechanism such as a link mechanism.
  • the magnetic field sensor 232 using the Hall IC is used as a method for detecting the state of the tilting body 21 such as the tilting angle.
  • Various sensors can be used. For example, sensors using various elements such as variable resistors, other capacitors, and optical sensors can be used.

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Abstract

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

Description

被操作装置及び操作用装置Operated device and operating device
　本発明は、外部からの操作を受け付ける傾倒体を備える被操作装置、及びそのような被操作装置を備える操作用装置に関する。 The present invention relates to an operated device provided with a tilting body that accepts operation from the outside, and an operating device provided with such an operated device.
　コンピュータゲーム、各種玩具、産業用ロボット等の各種装置を操作すべく動作させる被操作装置として、ジョイスティックと呼ばれる被操作装置が普及している。ジョイスティックと呼ばれる形態の被操作装置では、様々な方向にスティックを傾倒することにより、傾倒方向へ操作対象が動作するので、直感的な操作を可能としている。このような被操作装置として、例えば、特許文献１では、ＸＹ各軸に配置した可変抵抗で傾きを検知する可変抵抗式ポインティングデバイスが提案されている。 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. In 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. As such a device to be operated, for example, Patent Document 1 proposes a variable resistance pointing device that detects inclination by variable resistances arranged on each of the XY axes.
台湾実用新案第３７１５０３号公報Taiwan Utility Model No. 371503
　例えば、コンピュータゲームに対しては、状況を認識するための仕組みについて、常に新たなエンターテインメント性が求められる。また、産業用ロボット等の機械を操作対象とする場合であっても、操作の状況を様々な方法で認識するための仕組みが求められる。特許文献１にて提案された可変抵抗式ポインティングデバイスは、あくまでも操作用の入力のための装置であり、このような操作の状況を認識する仕組みについては考慮されていない。 For example, for computer games, there is always a demand for new entertainment aspects in terms of the mechanism for recognizing the situation. In addition, even when a machine such as an industrial robot is to be operated, there is a demand for a mechanism for recognizing the operation status by various methods. The variable resistance pointing device proposed in Japanese Patent Laid-Open No. 2002-200000 is merely a device for inputting operations, and does not consider a mechanism for recognizing such operation situations.
　本発明は斯かる事情に鑑みてなされたものであり、操作対象の状況の認識のために操作に係る負荷を変動させることが可能な被操作装置の提供を主たる目的とする。 The present invention has been made in view of such circumstances, and the main object thereof is to provide an operated device capable of varying the load associated with the operation in order to recognize the situation of the operation target.
　また、本発明は、そのような被操作装置を備える操作用装置の提供を他の目的とする。 Another object of the present invention is to provide an operating device including such an operated device.
　上記課題を解決するため、本願開示の被操作装置は、基準位置から傾倒中心を中心として傾倒させる操作を受け付ける傾倒体を備え、前記傾倒体の傾倒状況に応じて、操作対象を操作する被操作装置であって、前記傾倒体は、前記傾倒中心を通る中心軸に直交する方向への広がりを有する被押圧部を端部に有し、前記被押圧部に対し、前記傾倒体が基準位置に位置する場合の前記中心軸に平行で、かつ前記傾倒中心に向かう方向へ押圧する押圧部材と、前記押圧部材に対し、前記傾倒中心に向けて付勢する付勢部材と、前記押圧部材に対し、前記傾倒中心に向けて押圧する動作を、ギアを用いて行う駆動機構とを備えることを特徴とする。 In order to solve the above-described problems, the operated device disclosed in the present application includes a tilting body that receives an operation of tilting from a reference position about a tilt center, and an operated device that operates an operation target according to the tilting state of the tilting body. In the device, the tilting body has a pressed portion extending in a direction perpendicular to a central axis passing through the tilting center at an end, and the tilting body is positioned at a reference position with respect to the pressed portion. a pressing member that is parallel to the central axis when positioned and presses in a direction toward the tilting center; a biasing member that biases the pressing member toward the tilting center; and a drive mechanism that uses a gear to perform the operation of pressing toward the tilt center.
　また、前記被操作装置において、前記駆動機構は、回動運動を行う動力部を備え、前記ギアは、前記動力部の回動運動を、前記押圧部材を押圧可能な運動に変換することを特徴とする。 Further, in the operated device, the driving mechanism includes a power section that performs a rotating motion, and the gear converts the rotating motion of the power section into a motion capable of pressing the pressing member. and
　また、前記被操作装置において、前記駆動機構は、回動運動を行う動力部と、前記ギアとして、前記動力部の回動運動に連動して回動するピニオンギア、及び前記ピニオンギアと歯合して動作可能なラックギアとを備え、前記動力部の回動運動を伝達された前記ラックギアの動作により、前記押圧部材を押圧する動作を行うことを特徴とする。 Further, in the operated device, the driving mechanism includes a power section that performs a rotating motion, a pinion gear that rotates in conjunction with the rotating motion of the power section as the gear, and a pinion gear that meshes with the pinion gear. and a rack gear capable of operating as a power unit, and the operation of pressing the pressing member is performed by the operation of the rack gear to which the rotational motion of the power unit is transmitted.
　また、前記被操作装置において、前記ラックギアは、円弧状に形成されていることを特徴とする。 Further, in the operated device, the rack gear is formed in an arc shape.
　また、前記被操作装置において、前記傾倒体は、基準位置に位置する場合の前記中心軸に平行で、前記押圧部材が押圧する方向と反対方向へ押圧する操作を受けて、押圧された操作方向と略平行な方向へ移動するようにしてあり、前記傾倒体の移動を検出する検出部を備えることを特徴とする。 Further, in the operated device, the tilting body is parallel to the central axis when positioned at the reference position, and receives a pressing operation in a direction opposite to the pressing direction of the pressing member, and is pressed in the operation direction. and a detection unit for detecting the movement of the tilting body.
　更に、本願記載の操作用装置は、前記被操作装置と、前記被操作装置が備える駆動機構を駆動させる信号を、前記被操作装置へ出力する手段とを備え、前記被操作装置が備える傾倒体の動作に基づく操作信号を外部へ出力することを特徴とする。 Further, the operation device according to the present application includes the operated device and means for outputting a signal for driving a drive mechanism provided in the operated device to the operated device, and the tilting body provided in the operated device It is characterized by outputting an operation signal based on the operation of to the outside.
　本発明に係る被操作装置及び操作用装置は、ギアにて動作させる駆動機構により傾倒体が押圧されるので、操作に係る負荷を変動させることが可能である等、優れた効果を奏する。 In the operated device and the operating device according to the present invention, the tilting body is pressed by the driving mechanism operated by the gear, so that it is possible to vary the load related to the operation, and so on, and has excellent effects.
本願開示の被操作装置を組み込んだ操作用装置の外観の一例を示す概略斜視図である。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. 本願開示の操作用装置の外観の一例を示す概略斜視図である。1 is a schematic perspective view showing an example of the appearance of an operating device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略斜視図である。1 is a schematic perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略斜視図である。1 is a schematic perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略分解斜視図である。1 is a schematic exploded perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略断面図である。1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略分解斜視図である。1 is a schematic exploded perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略分解斜視図である。1 is a schematic exploded perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置が備える駆動機構の一部の例を示す概略斜視図である。FIG. 4 is a schematic perspective view showing an example of part of a drive mechanism included in the operated device disclosed in the present application; 本願開示の被操作装置が備える駆動機構の一部の例を示す概略斜視図である。FIG. 4 is a schematic perspective view showing an example of part of a drive mechanism included in the operated device disclosed in the present application; 本願開示の被操作装置の一例を示す概略断面図である。1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略断面図である。1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略斜視図である。1 is a schematic perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略分解斜視図である。1 is a schematic exploded perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略分解斜視図である。1 is a schematic exploded perspective view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の一例を示す概略断面図である。1 is a schematic cross-sectional view showing an example of an operated device disclosed in the present application; FIG. 本願開示の被操作装置の制御構成の一例を概念的に示す概略ブロック図である。2 is a schematic block diagram conceptually showing an example of a control configuration of an operated device disclosed in the present application; FIG. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application. 本願開示の操作用装置において、押圧部材を下方から押圧する力の一例を示すグラフである。4 is a graph showing an example of a force that presses the pressing member from below in the operation device disclosed in the present application.
　＜適用例＞
　以下、実施形態について図面を参照しながら説明する。本願開示の被操作装置は、操作者の操作を受けて動作する装置である。被操作装置は、操作対象を操作する操作信号を出力するジョイスティック型のコントローラ等の操作用装置に組み込まれている。本願開示の操作用装置は、例えば、ジョイスティック型のコントローラとして用いることにより、コンピュータゲーム、その他、各種玩具、各種移動体、各種測定装置、産業用ロボット等の様々な操作対象の操作に用いることが可能である。以下では、図面を参照し、ジョイスティック型のコントローラに適用した操作用装置１及び操作用装置１に操作機構として組み込まれた被操作装置２を例示して説明する。 <Application example>
Hereinafter, embodiments will be described with reference to the drawings. An operated device disclosed 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 disclosed 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. Hereinafter, 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.
　＜操作用装置＞
　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。操作者は、操作部１２に対し、軸部材２０を傾倒させる傾倒操作、筐体１０の内側へ向かって押し込む押下操作等の操作を行うことができる。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。 <Operating device>
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 operating device 1 illustrated in FIG. 1, there are two operated devices 2: 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 operator can perform operations such as a tilting operation for tilting the shaft member 20 and a pressing operation for pushing the shaft member 20 toward the inside of the housing 10 on the operation unit 12 . In the present application, for convenience of explanation, 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. .
　図２は、本願開示の操作用装置１の外観の一例を示す概略斜視図である。図２は、操作用装置１の他の形態を示している。図２に例示する操作用装置１は、一つの筐体１０内に一つの被操作装置２等の各種機構が組み込まれており、片手操作用のコントローラとして形成されている。例えば、産業用ロボットのコントローラに適用する場合、一方の手で本発明に係る操作用装置１を操作し、他方の手で他の作業をする形態も考えられるため、このような形態は特に有効である。また、左右の手で異なる操作用装置１を把持するゲームのコントローラとしても有効である。 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. For example, 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. is. It is also effective as a game controller in which different operating devices 1 are held with the left and right hands.
　＜被操作装置＞
　　＜第１実施形態＞
　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。 <Device to be operated>
<First Embodiment>
Next, the operated device 2 will be described. The operated device 2 can be realized in various forms. Various forms of the operated device 2 will be described below.
　　＜構造＞
　図３及び図４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５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６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６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６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、傾倒体２１、保持部材２２、検出ユニット２３等の操作に係る各種部材を備えている。更に、被操作装置２は、保持部材２２等の部材を操作用装置１内に組み込まれた基板（図示せず）上に支持する支持機構２４、操作に対して動力により負荷を加える駆動機構２５等の各種部材を備えている。以降の説明では、図３乃至図６に示すように、軸部材２０の長手方向に平行で、傾倒体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。 <Structure>
3 and 4 are schematic perspective views showing an example of the operated device 2 disclosed in the present application. FIG. 5 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application. FIG. 6 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application. 3 to 6 illustrate the operated device 2 incorporated in the operating device 1 disclosed in the present application. FIG. 6 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 section. The operated device 2 includes various members related to operation, such as a shaft member 20, a tilting body 21, a holding member 22, a detection unit 23, and the like. Further, the operated device 2 includes a support mechanism 24 for supporting members such as the holding member 22 on a substrate (not shown) incorporated in the operating device 1, and a drive mechanism 25 for applying a power load to the operation. and other various members. In the following description, as shown in FIGS. 3 to 6, 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 tilting body 21 is oriented in the vertical direction is assumed to be the reference posture. defined as
　軸部材２０は、長尺の棒状をなし、上端には図１及び図２で例示したように操作部１２が取り付け可能である。軸部材２０の下部は、傾倒体２１に形成された略円筒状の挿通部２１０に挿通され、傾倒体２１の上端から突出するように形成されている。軸部材２０の上部は、操作部１２が取り付け可能な形状に加工されている。軸部材２０は、傾倒体２１の挿通部２１０に挿通され、挿通部２１０により、周方向に回転可能に保持されている。 The shaft member 20 has a long rod shape, and the operating part 12 can be attached to the upper end thereof as illustrated in FIGS. 1 and 2 . A lower portion of the shaft member 20 is inserted into a substantially cylindrical insertion portion 210 formed in the tilting body 21 and formed to protrude from the upper end of the tilting 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 shaft member 20 is inserted through the insertion portion 210 of the tilting body 21 and held by the insertion portion 210 so as to be rotatable in the circumferential direction.
　傾倒体２１は、略球形状なす中空の部材であり、軸部材２０が挿通される略円筒状の挿通部２１０を、略球形状の球体部２１１に取り付けた形状に形成されている。球体部２１１の側面には、検出ユニット２３の接続線２３０を通す開口部２１２が開設されており、接続線２３０は、開口部２１２を通って外部に延伸されている。開口部２１２は、縦方向に延びる長円状に開設されている。傾倒体２１の下端には、略円板状をなす被押圧部２１３が形成されている。 The tilting 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 portion 211 . An opening 212 through which the connection line 230 of the detection unit 23 is passed is formed in the side surface of the spherical portion 211 , and the connection line 230 extends outside through the opening 212 . The opening 212 has an oblong shape extending in the vertical direction. At the lower end of the tilting body 21, a pressed portion 213 having a substantially disc shape is formed.
　傾倒体２１は、操作部１２及び軸部材２０を介して外部（操作者）からの操作を受け付け、操作に応じて動作する。操作者の操作に応じた傾倒体２１の動作は、軸部材２０の長手方向に平行で傾倒体２１の中心を通る仮想上の中心軸に対する動作である。軸部材２０の動作は、具体的には、傾倒体２１の中心を支点に中心軸が傾倒する動作、中心軸を中心に周方向へ回転する動作及び上下方向（中心軸の延伸方向）へ移動する動作である。軸部材２０が傾倒する動作を行った場合、傾倒体２１は、軸部材２０の動作に連動して、中心を支点に傾倒する動作を行う。軸部材２０が上下に移動する動作を行った場合、傾倒体２１は、軸部材２０の動作に連動して、上下に移動する動作を行う。軸部材２０が回転する動作に対しては、傾倒体２１は連動しない。 The tilting body 21 receives an operation from the outside (operator) via the operation portion 12 and the shaft member 20, and operates according to the operation. The motion of the tilting body 21 in response to the operator's operation is about a virtual central axis parallel to the longitudinal direction of the shaft member 20 and passing through the center of the tilting body 21 . Specifically, the operation of the shaft member 20 includes an operation of tilting the central axis about the center of the tilting body 21 as a fulcrum, an operation of rotating around the central axis in the circumferential direction, and a movement in the vertical direction (extending direction of the central axis). It is an action to do. When the shaft member 20 performs a tilting motion, the tilting 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 tilting body 21 moves up and down in conjunction with the motion of the shaft member 20 . The tilting body 21 does not interlock with the rotation of the shaft member 20 .
　保持部材２２は、傾倒体２１を覆うように配置された部材であり、外形が略球形状に形成されている。保持部材２２の内面は、傾倒体２１の外面に沿った略凹球面状に形成されており、傾倒体２１を外側から動作可能に保持している。保持部材２２は、横方向に分離可能な２つの半体２２ａを結合して組み立てられており、半体２２ａの内側に挟まれるようにして、摺動環２２０が組み込まれている。摺動環２２０は、平面視で略環状に形成されている。より具体的には、２つの水平面で切断した略球帯状をなしている。摺動環２２０は、摩擦係数が低いポリアセタール樹脂（ＰＯＭ）、ポリアミド樹脂（ＰＡ）、ポリテトラフルオロエチレン樹脂（ＰＴＦＥ）等の樹脂にて形成されている。保持部材２２に保持された傾倒体２１は、摺動環２２０に当接した状態で動作可能に保持されている。傾倒体２１は、摺動環２２０に当接した状態を維持しながら傾倒等の動作をするため、摺動環２２０により動作の際に発生する摩擦力が軽減される。 The holding member 22 is a member arranged so as to cover the tilting 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 tilting body 21, and holds the tilting body 21 operably from the outside. The holding member 22 is assembled by joining two laterally separable halves 22a, and a sliding ring 220 is incorporated so as to be sandwiched inside the halves 22a. The slide ring 220 is formed in a substantially annular shape in plan view. More specifically, it has a substantially spherical shape cut by two horizontal planes. The sliding ring 220 is made of resin such as polyacetal resin (POM), polyamide resin (PA), or polytetrafluoroethylene resin (PTFE), which has a low coefficient of friction. The tilting body 21 held by the holding member 22 is operably held in contact with the sliding ring 220 . Since the tilting body 21 operates such as tilting while maintaining a state of contact with the sliding ring 220, the sliding ring 220 reduces the frictional force generated during the operation.
　保持部材２２の下部に取り付けられた支持機構２４には、押圧部材２４０、第１付勢部材２４１、可動部材２４２、固定部材２４３、第１軸支部２４４、第２付勢部材２４５、押下検出部２４６等の各種部材が組み込まれている。 The support mechanism 24 attached to the lower portion of the holding member 22 includes a pressing member 240, a first biasing member 241, a movable member 242, a fixed member 243, a first shaft support portion 244, a second biasing member 245, and a depression detection portion. Various members such as 246 are incorporated.
　支持機構２４に組み込まれた押圧部材２４０は、傾倒体２１下端の被押圧部２１３を下方から上方へ押圧する部材である。押圧部材２４０は、上部が円板状の円板部２４００となっており、円板部２４００の周縁が下方へ延伸して円筒状の円筒部２４０１が形成されている。また、押圧部材２４０の円板部２４００の下面の中心近傍から下方へ延びる略円柱状の押し子２４０２が配置されている。支持機構２４には、押圧部材２４０の円筒部２４０１が若干の遊びをもって遊嵌する平面視で環状の溝が形成されている。押し子２４０２は、支持機構２４の下部に形成された貫通孔を貫通して下方へ突き抜けている。押し子２４０２の下端は、駆動機構２５に当接し、駆動機構２５から上方へ向けての押圧を受ける。押圧部材２４０は、円筒部２４０１が溝に遊嵌し、上下に移動する。また、溝には、圧縮コイルバネ等の復帰バネを用いた第１付勢部材２４１が配置されている。第１付勢部材２４１は、下端が溝の内底面に固定されており、上端で押圧部材２４０に当接し、押圧部材２４０を上方へ付勢する。第１付勢部材２４１が押圧部材２４０を上方へ付勢することにより、押圧部材２４０は、上面で、傾倒体２１の下端に形成された被押圧部２１３に当接し、被押圧部２１３を上方へ押圧する。これにより、傾倒体２１は、操作を受けて傾倒動作を行った場合でも、基準姿勢に復帰するように動作する。 The pressing member 240 incorporated in the support mechanism 24 is a member that presses the pressed portion 213 at the lower end of the tilting body 21 from below to above. The pressing member 240 has a disk portion 2400 having a disk shape at its upper portion, and a peripheral edge of the disk portion 2400 extends downward to form a cylindrical portion 2401 having a cylindrical shape. A substantially cylindrical presser 2402 extending downward from the vicinity of the center of the lower surface of the disk portion 2400 of the pressing member 240 is arranged. The support mechanism 24 is formed with an annular groove in plan view into which the cylindrical portion 2401 of the pressing member 240 is loosely fitted with some play. The pusher 2402 passes through a through hole formed in the lower portion of the support mechanism 24 and protrudes downward. The lower end of the pusher 2402 contacts the drive mechanism 25 and receives upward pressure from the drive mechanism 25 . The pressing member 240 moves up and down while the cylindrical portion 2401 is loosely fitted in the groove. A first biasing member 241 using a return spring such as a compression coil spring is arranged in the groove. The lower end of the first biasing member 241 is fixed to the inner bottom surface of the groove, and the upper end of the first biasing member 241 contacts the pressing member 240 to bias the pressing member 240 upward. When the first biasing member 241 biases the pressing member 240 upward, the pressing member 240 comes into contact with the pressed portion 213 formed at the lower end of the tilting body 21 on the top surface, and pushes the pressed portion 213 upward. press to. As a result, the tilting body 21 operates so as to return to the reference posture even when it receives an operation and performs a tilting motion.
　本願開示の被操作装置２は、操作部１２を下方へ押下する押下操作、所謂クリック操作に対応している。被操作装置２が操作部１２を押下する操作を受け付けた場合、軸部材２０は、中心軸の延伸方向となる下方へ動作し、軸部材２０が取り付けられた傾倒体２１及び傾倒体２１を保持する保持部材２２は、軸部材２０に連動して下方へ動作する。押下操作に対応する機構として、支持機構２４は、前述の可動部材２４２、固定部材２４３、第１軸支部２４４、第２付勢部材２４５、押下検出部２４６等の各種部材を備えている。 The operated device 2 disclosed in the present application supports a pressing operation for pressing the operation unit 12 downward, that is, a so-called click operation. When the operated device 2 receives an operation to press the operation unit 12, the shaft member 20 moves downward in the extending direction of the central axis, and holds the tilting body 21 to which the shaft member 20 is attached and the tilting body 21. The holding member 22 moves downward in conjunction with the shaft member 20 . As a mechanism corresponding to the pressing operation, the support mechanism 24 includes various members such as the movable member 242, the fixed member 243, the first shaft support 244, the second biasing member 245, and the pressing detection section 246 described above.
　可動部材２４２は、保持部材２２の下端に固定されており、押下操作に伴い揺動動作を行う。固定部材２４３は、可動部材２４２を揺動可能に支持している。固定部材２４３は、軸支ピンを用いた第１軸支部２４４により、可動部材２４２を揺動可能に支持しており、可動部材２４２は、第１軸支部２４４を揺動支点として揺動する。固定部材２４３の上部には、圧縮コイルバネ等の復帰バネを用いた第２付勢部材２４５が配置されており、第２付勢部材２４５は、可動部材２４２を上方へ付勢している。押下検出部２４６は、可動部材２４２及び固定部材２４３の間に配置され、可動部材２４２の下方への移動に基づく押圧を受けるタクタイルスイッチ、感圧センサ等の部材を用いて構成されている。これにより、押下検出部２４６は、押下操作の検出、クリック感と呼ばれる操作感触の発生等の機能を有している。 The movable member 242 is fixed to the lower end of the holding member 22, and performs a swinging motion in response to a pressing operation. The fixed member 243 swingably supports the movable member 242 . The fixed member 243 swingably supports the movable member 242 with a first shaft support portion 244 using a shaft support pin, and the movable member 242 swings with the first shaft support portion 244 as a swing fulcrum. A second biasing member 245 using a return spring such as a compression coil spring is arranged above the fixed member 243, and the second biasing member 245 biases the movable member 242 upward. The press detection unit 246 is arranged between the movable member 242 and the fixed member 243, and is configured using members such as a tactile switch and a pressure sensor that receive pressure based on the downward movement of the movable member 242. FIG. As a result, the pressing detection unit 246 has functions such as detecting a pressing operation and generating an operation feeling called a click feeling.
　被操作装置２において、操作部１２に対する押下操作に基づく軸部材２０の下方への移動に連動して、可動部材２４２は、第１軸支部２４４を揺動軸として下方へ揺動し、タクタイルスイッチ、感圧センサ等の押下検出部２４６を押圧する。被操作装置２において、押下操作により可動部材２４２が揺動する角度は微小であるため、軸部材２０の揺動動作は、微小な上下動と実質的に同一と見做すことができる。即ち、可動部材２４２、及び可動部材２４２上に配置され軸部材２０が挿通された傾倒体２１は、押下操作に基づく軸部材２０の下方への移動に連動して、押下操作の操作方向と略平行となる下方へ移動する。ここでいう略平行とは、平行（下方）又は揺動角度を考慮した平行から若干傾いた角度であり、実質的に平行と見做せる範囲の角度をいう。押下検出部２４６は、可動部材２４２による押圧を検出し、軸部材２０が下方へ移動する動作を示す電気信号を、検出ユニット２３から分岐した接続線２３０を介して出力する。操作部１２に対する押下が解除されると、第２付勢部材２４５に付勢されて、軸部材２０、傾倒体２１、保持部材２２、可動部材２４２等の部材は、基準位置に復帰する。 In the operated device 2, in conjunction with the downward movement of the shaft member 20 based on the pressing operation on the operating portion 12, the movable member 242 swings downward with the first shaft support portion 244 as a swing axis, thereby turning the tactile switch into a tactile switch. , presses the press detection unit 246 such as a pressure sensor. In the operated device 2, the angle at which the movable member 242 swings due to the pressing operation is minute, so the swinging motion of the shaft member 20 can be regarded as substantially the same as a minute vertical movement. That is, the movable member 242 and the tilting body 21 arranged on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the pressing operation, and move in the same direction as the pressing operation. Move downwards to become parallel. The term "substantially parallel" as used herein means parallel (downward) or an angle slightly inclined from parallel considering the swing angle, and refers to an angle within a range that can be regarded as substantially parallel. The press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 via the connection line 230 branched from the detection unit 23 . When the pressing of the operating portion 12 is released, the second biasing member 245 biases the shaft member 20, the tilting body 21, the holding member 22, the movable member 242, and other members to return to the reference position.
　検出ユニット２３は、前述の接続線２３０の他、傾倒体２１内の下端となる内底に固定された磁石２３１、磁界を検出する磁界センサ２３２等の部材を備えている。磁石２３１は、扁平な略円柱状の永久磁石にて形成されており、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。本願において、磁極の方向とは、両磁極を結ぶ方向のことを示す。従って、例えば、磁石２３１の配置は、Ｎ極が上方を向き、Ｓ極が下方を向くように固定された形態を例示することができる。磁界センサ２３２は、傾倒体２１の球体部２１１内の中心近傍に配置されている。磁界センサ２３２は、磁界を検出し、検出した磁界に基づく電気信号を出力するホールＩＣ等の電子素子を用いて構成されている。磁界センサ２３２にて検出された磁界は、電気信号として、接続線２３０を介して外部へ出力される。 The detection unit 23 includes members such as a magnet 231 fixed to the inner bottom, which is the lower end of the tilting body 21, and a magnetic field sensor 232 for detecting a magnetic field, in addition to the connection line 230 described above. The magnet 231 is formed of a flat, substantially cylindrical permanent magnet, and is arranged so that the magnetic poles are oriented parallel to the central axis. In the present application, the direction of the magnetic poles means the direction connecting the two magnetic poles. Therefore, for example, the arrangement of the magnets 231 can be exemplified by a fixed configuration in which the north pole faces upward and the south pole faces downward. The magnetic field sensor 232 is arranged near the center of the spherical portion 211 of the tilting body 21 . The magnetic field sensor 232 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 detected by the magnetic field sensor 232 is output to the outside via the connection line 230 as an electrical signal.
　図７及び図８は、本願開示の被操作装置２の一例を示す概略分解斜視図である。図９及び図１０は、本願開示の被操作装置２が備える駆動機構２５の一部の例を示す概略斜視図である。図７は、斜め上方からの視点で示しており、図８は、斜め下方からの視点で示している。駆動機構２５は、支持機構２４の下部に取り付けられており、押圧部材２４０を下方から上方の傾倒中心に向けて押圧する動作を行う。駆動機構２５には、取付台２５０、動力部２５１、ギア２５２等の各種部材が組み込まれている。ギア２５２は、揺動動作が可能な動作体２５２０（ラックギア）、並びに平歯車を用いた第１ギア２５２１、第２ギア２５２２及び第３ギア２５２３（ピニオンギア）を含んでいる。図９は、駆動機構２５が備える取付台２５０、動力部２５１、ギア２５２のうちの複数の平歯車等の部材を取り出して示す斜視図であり、斜め上方からの視点で示している。図１０は、駆動機構２５が備える動作体２５２０と、動作体２５２０が揺動可能に取り付けられた支持機構２４の一部を斜め下からの視点で示している。 7 and 8 are schematic exploded perspective views showing an example of the operated device 2 disclosed in the present application. 9 and 10 are schematic perspective views showing examples of part of the drive mechanism 25 included in the operated device 2 disclosed in the present application. FIG. 7 shows a view from obliquely above, and FIG. 8 shows a view from obliquely below. The drive mechanism 25 is attached to the lower portion of the support mechanism 24 and performs an operation of pressing the pressing member 240 from below toward the center of tilting upward. Various members such as a mounting base 250, a power unit 251, and a gear 252 are incorporated in the drive mechanism 25. As shown in FIG. The gear 252 includes an operating body 2520 (rack gear) capable of rocking motion, and a first gear 2521, a second gear 2522 and a third gear 2523 (pinion gear) using spur gears. FIG. 9 is a perspective view showing a plurality of members such as spur gears among the mounting base 250, the power section 251, and the gear 252 provided in the drive mechanism 25, and is viewed obliquely from above. FIG. 10 shows an operating body 2520 included in the driving mechanism 25 and a part of the supporting mechanism 24 to which the operating body 2520 is pivotally attached, as viewed obliquely from below.
　図７乃至図１０を用いて駆動機構２５について更に説明する。取付台２５０は、駆動機構２５が備える動力部２５１、平歯車等の各種部材を取付可能な部材である。動力部２５１は、取付台２５０に取り付けられた電動モータであり、動力部２５１に通電することにより、動力部２５１が備えるシャフトが回動する。シャフトの回動方向及び回動速度は、通電方向及び通電する電圧により制御することができる。 The drive mechanism 25 will be further described with reference to FIGS. 7 to 10. FIG. The mounting base 250 is a member to which various members such as a power unit 251 and spur gears of the drive mechanism 25 can be mounted. The power section 251 is an electric motor attached to the mounting base 250, and when the power section 251 is energized, the shaft included in the power section 251 rotates. The rotation direction and rotation speed of the shaft can be controlled by the energizing direction and voltage.
　ギア２５２は、ラックギアとして機能する動作体２５２０を備えている。動作体２５２０は、一端側が自由端となり、他端側が固定端となる長尺状の腕部２５２０ａを有している。腕部２５２０ａの一端側は、弧状に湾曲したギア部２５２０ｂとなっており、弧状の内側に第３ギア２５２３と歯合する歯が形成されている。腕部２５２０ａの他端側は、軸支ピン等の第２軸支部２５２０ｃにより、支持機構２４に揺動可能に軸支されている。 The gear 252 has an operating body 2520 that functions as a rack gear. The operating body 2520 has an elongated arm portion 2520a with one end serving as a free end and the other end serving as a fixed end. One end side of the arm portion 2520a is a gear portion 2520b curved in an arc shape, and teeth meshing with the third gear 2523 are formed inside the arc shape. The other end side of the arm portion 2520a is swingably supported by the support mechanism 24 by a second shaft support portion 2520c such as a shaft support pin.
　ギア２５２は、平歯車として第１ギア２５２１、第２ギア２５２２、ピニオンギアとして機能する第３ギア２５２３を備えている。例えば、第１ギア２５２１には歯数が１０の平歯車、第２ギア２５２２には歯数が２０の平歯車、そして第３ギア２５２３には歯数が１０の平歯車が用いられる。第１ギア２５２１は、動力部２５１のシャフトに軸支されている。第２ギア２５２２及び第３ギア２５２３は、一のシャフトに軸支された二段ギアとして構成されている。第１ギア２５２１は第２ギア２５２２と歯合しており、動力部２５１の回動が第１ギア２５２１から第２ギア２５２２へ伝達される。第２ギア２５２２が回動することにより、同一のシャフトに軸支された第３ギア２５２３が回動する。第３ギア２５２３は、動作体２５２０のギア部２５２０ｂと歯合している。 The gear 252 includes a first gear 2521 and a second gear 2522 as spur gears, and a third gear 2523 functioning as a pinion gear. For example, the first gear 2521 is a spur gear with 10 teeth, the second gear 2522 is a spur gear with 20 teeth, and the third gear 2523 is a spur gear with 10 teeth. The first gear 2521 is supported by the shaft of the power section 251 . The second gear 2522 and the third gear 2523 are configured as two-stage gears supported by one shaft. The first gear 2521 meshes with the second gear 2522 , and rotation of the power section 251 is transmitted from the first gear 2521 to the second gear 2522 . As the second gear 2522 rotates, the third gear 2523 supported on the same shaft rotates. The third gear 2523 meshes with the gear portion 2520b of the operating body 2520. As shown in FIG.
　動作体２５２０のギア部２５２０ｂと第３ギア２５２３とは、ラックピニオン機構として、動力部２５１の回動運動を伝達する。動作体２５２０は、ギア部２５２０ｂが、回動運動を伝達されることにより、第２軸支部２５２０ｃを揺動支点として揺動する。動作体２５２０は、揺動することにより、腕部２５２０ａで、押圧部材２４０の押し子２４０２を上方へ押圧する。 The gear portion 2520b and the third gear 2523 of the operating body 2520 transmit the rotational motion of the power portion 251 as a rack and pinion mechanism. The operating body 2520 swings around the second shaft support portion 2520c as a swing fulcrum when the gear portion 2520b receives the rotational motion. By swinging, the operating body 2520 presses the pusher 2402 of the pressing member 240 upward with the arm portion 2520a.
　以上のように、駆動機構２５は、回動運動を行う動力部２５１とギア２５２とを備え、ギア２５２は、動力部２５１の回動運動を、押圧部材２４０を押圧可能な運動に変換する。ギア２５２は、平歯車を用いた第１ギア２５２１、第２ギア２５２２及び第３ギア２５２３と、動作体２５２０とを備え、動作体２５２０は、ギア部２５２０ｂが力点、第２軸支部２５２０ｃが支点、そして腕部２５２０ａが作用点として機能する。動力部２５１の回動運動を伝達された動作体２５２０の動作により、押圧部材２４０は上方へ押圧される。 As described above, the driving mechanism 25 includes the power section 251 and the gear 252 that perform rotational movement, and the gear 252 converts the rotational movement of the power section 251 into movement capable of pressing the pressing member 240 . The gear 252 includes a first gear 2521, a second gear 2522, and a third gear 2523 using spur gears, and an operating body 2520. The operating body 2520 has a gear portion 2520b as a power point and a second shaft support portion 2520c as a fulcrum. , and the arm portion 2520a functions as a point of action. The pressing member 240 is pressed upward by the motion of the operating body 2520 to which the rotational motion of the power unit 251 is transmitted.
　　＜動作＞
　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１１及び図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１１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１２は、操作者の傾倒操作を受けて、被操作装置２の軸部材２０及び傾倒体２１が、図１１に例示する基準姿勢から傾倒した状態を示している。 <Action>
Next, the operation of the operated device 2 disclosed in the present application will be described. 11 and 12 are schematic cross-sectional views showing an example of the operated device 2 disclosed in the present application. FIG. 11 shows a state 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. 12 shows a state in which the shaft member 20 and the tilting body 21 of the operated device 2 are tilted from the reference posture illustrated in FIG. 11 in response to the tilting operation of the operator.
　操作部１２が傾倒操作を受けた場合、被操作装置２の軸部材２０及び傾倒体２１は、傾倒体２１の中心を支点として傾倒する。図１１に例示するように軸部材２０及び傾倒体２１が、基準姿勢にある場合、押圧部材２４０は、被押圧部２１３の平坦な中心近傍に対して、傾倒体２１の中心が位置する上方へ向けて押圧するため、軸部材２０及び傾倒体２１は安定した姿勢となる。図１２に例示するように、軸部材２０及び傾倒体２１が傾倒すると、被押圧部２１３は、周縁部で押圧部材２４０を下方へ押下する。図１２に例示する状態において、押圧部材２４０は、被押圧部２１３の周縁部に対して、傾倒体２１の中心が位置する上方へ向けて押圧するため、傾倒体２１が基準姿勢に復帰する回転方向に力が働く。図１２に例示するように、軸部材２０及び傾倒体２１が基準姿勢から傾倒した場合、基準姿勢に復帰する方向に力が働き不安定な状態となる。このため操作者による傾倒させる力が解除されると軸部材２０及び傾倒体２１は基準位置に復帰する。 When the operation unit 12 receives a tilting operation, the shaft member 20 and the tilting body 21 of the operated device 2 tilt with the center of the tilting body 21 as a fulcrum. When the shaft member 20 and the tilting body 21 are in the reference posture as illustrated in FIG. Since the shaft member 20 and the tilting body 21 are pressed toward each other, they assume a stable posture. As illustrated in FIG. 12, when the shaft member 20 and the tilting body 21 are tilted, the pressed portion 213 presses the pressing member 240 downward at the peripheral edge portion. In the state illustrated in FIG. 12, the pressing member 240 presses the peripheral portion of the pressed portion 213 upward where the center of the tilting body 21 is located. force acts in the direction As illustrated in FIG. 12, when the shaft member 20 and the tilting 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 tilting body 21 return to their reference positions.
　押圧部材２４０に対する押圧に係る力は、第１付勢部材２４１にて付勢された力と、動作体２５２０の揺動により押し上げられる力との合力である。第１付勢部材２４１にて付勢される力は、バネ定数及び押圧方向の長さにより定まる。動作体２５２０の揺動による力は、動力部２５１から伝達される力により定まる。 The force associated with pressing against the pressing member 240 is the resultant force of the force urged by the first urging member 241 and the force pushed up by the swing of the operating body 2520 . The force biased by the first biasing member 241 is determined by the spring constant and the length in the pressing direction. The force due to the swinging motion of operating body 2520 is determined by the force transmitted from power section 251 .
　操作者は、傾倒体２１を基準位置に復帰させる押圧部材２４０による力を、操作に対する負荷として感得する。本願開示の被操作装置２は、第１付勢部材２４１による押圧だけでなく、動力部２５１の動力を伝達された動作体２５２０の動作によっても、押圧部材２４０を押圧することができる。動作体２５２０の動作による押圧は、動力部２５１により制御されるので、動力部２５１を制御することにより、操作者が感得する操作に対する負荷を制御することができる。 The operator perceives the force of the pressing member 240 that returns the tilting body 21 to the reference position as a load for the operation. The operated device 2 disclosed in the present application can press the pressing member 240 not only by pressing by the first biasing member 241 but also by the action of the operating body 2520 to which the power of the power section 251 is transmitted. Since the pressure due to the action of the action body 2520 is controlled by the power section 251, by controlling the power section 251, it is possible to control the load on the operation felt by the operator.
　軸部材２０及び傾倒体２１が傾倒した場合、磁界センサ２３２が検出する磁石２３１による磁界が変化し、変化した状態は、傾倒状態を示す信号として外部へ出力される。 When the shaft member 20 and the tilting body 21 tilt, the magnetic field generated by the magnet 231 detected by the magnetic field sensor 232 changes, and the changed state is output to the outside as a signal indicating the tilting state.
　　＜第２実施形態＞
　次に、被操作装置２の他の構成例について説明する。第２実施形態は、第１実施形態において、押下操作に係る構造が異なる形態である。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、第１実施形態を参照するものとし、詳細な説明を省略する。 <Second embodiment>
Next, another configuration example of the operated device 2 will be described. The second embodiment differs from the first embodiment in the structure related to the pressing operation. In the following description, the same reference numerals as in the first embodiment will be assigned to the same configurations as in the first embodiment, and the first embodiment will be referred to, and detailed description will be omitted.
　図１３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１４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１３及び図１４に例示する被操作装置２は、軸部材２０に操作部１２を取り付けた状態で例示している。被操作装置２は、軸部材２０、傾倒体２１、保持部材２２、検出ユニット２３、支持機構２４、駆動機構２５等の各種部材を備えている。なお、検出ユニット２３及び駆動機構２５の構成は、第１実施形態と同様であるので、第１実施形態を参照するものとし、図面への記載及び詳細な説明を省略する。 FIG. 13 is a schematic perspective view showing an example of the operated device 2 disclosed in the present application. FIG. 14 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application. The operated device 2 illustrated in FIGS. 13 and 14 is illustrated with the operating portion 12 attached to the shaft member 20 . The operated device 2 includes various members such as a shaft member 20, a tilting body 21, a holding member 22, a detection unit 23, a support mechanism 24, a drive mechanism 25, and the like. Since the configurations of the detection unit 23 and the driving mechanism 25 are the same as those of the first embodiment, the first embodiment will be referred to, and the drawings and detailed description thereof will be omitted.
　支持機構２４には、可動部材２４２、固定部材２４３、押下検出部２４６、弾性体２４７等の各種部材が組み込まれている。 The support mechanism 24 incorporates various members such as a movable member 242, a fixed member 243, a depression detector 246, an elastic body 247, and the like.
　第２実施形態に係る可動部材２４２は、平面視略長方形状をなし、４辺には、外側へ向けて突出する爪部２４２０が、それぞれ形成されている。 A movable member 242 according to the second embodiment has a substantially rectangular shape in a plan view, and claw portions 2420 projecting outward are formed on four sides thereof.
　第２実施形態に係る固定部材２４３は、平面視略長方形状の金属板を用いて形成されている。固定部材２４３の４辺には、可動部材２４２の爪部２４２０に対応する位置に、案内部２４３０が突出するように形成されており、案内部２４３０は、４辺に沿った位置で上方へ向けて折り曲げられている。案内部２４３０は、可動部材２４２の爪部２４２０を遊嵌させる開口が形成されている。爪部２４２０は、案内部２４３０の開口に対して遊びを持って嵌め込まれており、案内部２４３０は、遊嵌した爪部２４２０の上下動を案内することにより、可動部材２４２の上下動を安定化させる。また、固定部材２４３の上面には、可動部材２４２の下方への移動に基づく押圧を検出するタクタイルスイッチ、感圧センサ等の部材を用いて構成された押下検出部２４６が配置されている。更に、固定部材２４３の中央近傍には、押圧部材２４０を挿通するための略円形状の開口が形成されている。 A fixing member 243 according to the second embodiment is formed using a substantially rectangular metal plate in plan view. On four sides of the fixed member 243, guide portions 2430 are formed at positions corresponding to the claw portions 2420 of the movable member 242, and the guide portions 2430 are directed upward along the four sides. folded. The guide portion 2430 has an opening into which the claw portion 2420 of the movable member 242 is loosely fitted. The claw portion 2420 is fitted with play into the opening of the guide portion 2430, and the guide portion 2430 stabilizes the vertical movement of the movable member 242 by guiding the vertical movement of the loosely fitted claw portion 2420. make it Further, on the upper surface of the fixed member 243, a press detection unit 246 is arranged using a member such as a tactile switch, a pressure sensor, or the like, which detects press based on the downward movement of the movable member 242. As shown in FIG. Further, a substantially circular opening for inserting the pressing member 240 is formed near the center of the fixing member 243 .
　可動部材２４２及び固定部材２４３の間には、樹脂材料を用いて形成された弾性体２４７が配置されている。弾性体２４７は、平面視略長方形状の面状をなし、押圧部材２４０を挿通させるための略円形状の開口が形成されている。更に、弾性体２４７は、押下検出部２４６の配置位置に対応する位置にも開口が形成されている。弾性体２４７は、可動部材２４２及び固定部材２４３に挟まれて、押下操作に基づく可動部材２４２の動作を弾性にて緩和する。これにより、弾性体２４７は、押下操作に対する押下検出部２４６の検出感度を緩和して、操作を必要以上に鋭敏に検知することを防止する。 An elastic body 247 made of a resin material is arranged between the movable member 242 and the fixed member 243 . The elastic body 247 has a substantially rectangular surface shape in a plan view, and has a substantially circular opening through which the pressing member 240 is inserted. Further, the elastic body 247 is also formed with an opening at a position corresponding to the arrangement position of the depression detection section 246 . The elastic body 247 is sandwiched between the movable member 242 and the fixed member 243, and elastically relaxes the movement of the movable member 242 based on the pressing operation. As a result, the elastic body 247 reduces the detection sensitivity of the press detection unit 246 to the press operation, and prevents the operation from being detected more sharply than necessary.
　以上のように構成された被操作装置２は、操作部１２に対する押下操作に基づく軸部材２０の下方への移動に連動して、可動部材２４２は、下方へ移動し、押下検出部２４６を押圧する。可動部材２４２は、固定部材２４３の４辺に位置する案内部２４３０に遊嵌する４箇所の爪部２４２０に案内されることにより、押下操作の方向である下方へ移動する。即ち、可動部材２４２、及び可動部材２４２に配置され軸部材２０が挿通された傾倒体２１は、押下操作に基づく軸部材２０の下方への移動に連動して、押下操作の操作方向と略平行となる下方へ移動する。押下検出部２４６は、可動部材２４２による押圧を検出し、軸部材２０が下方へ移動する動作を示す電気信号を出力する。操作部１２に対する押下が解除されると、軸部材２０、傾倒体２１、可動部材２４２等の部材は、基準位置に復帰する。 In the operated device 2 configured as described above, the movable member 242 moves downward in conjunction with the downward movement of the shaft member 20 based on the pressing operation on the operation unit 12, and presses the depression detection unit 246. do. The movable member 242 is guided by four claw portions 2420 loosely fitted in guide portions 2430 positioned on four sides of the fixed member 243 to move downward in the direction of the pressing operation. That is, the movable member 242 and the tilting body 21 disposed on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the depression operation, and are substantially parallel to the operation direction of the depression operation. and move downwards. The press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 . When the pressing of the operating portion 12 is released, the members such as the shaft member 20, the tilting body 21, and the movable member 242 return to their reference positions.
　以上のように、本願開示の被操作装置２は、様々な形態で実施することが可能である。 As described above, the operated device 2 disclosed in the present application can be implemented in various forms.
　　＜第３実施形態＞
　次に、被操作装置２の更に他の構成例について説明する。第３実施形態は、第２実施形態において、押下操作に係る構造が異なる形態である。以降の説明において、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実施形態又は第２実施形態と同様の符号を付し、第１実施形態又は第２実施形態を参照するものとし、詳細な説明を省略する。 <Third Embodiment>
Next, still another configuration example of the operated device 2 will be described. The third embodiment differs from the second embodiment in the structure related to the pressing operation. In the following description, the same reference numerals as in the first embodiment or the second embodiment are attached to the same configurations as in the first embodiment or the second embodiment, and the first embodiment or the second embodiment is referred to. and detailed description is omitted.
　図１５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１６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１５及び図１６に例示する被操作装置２は、軸部材２０に操作部１２を取り付けた状態で例示している。被操作装置２は、軸部材２０、傾倒体２１、保持部材２２、検出ユニット２３、支持機構２４、駆動機構２５等の各種部材を備えている。なお、駆動機構２５の構成は、第１実施形態と同様であるので、第１実施形態を参照するものとし、図面への記載及び詳細な説明を省略する。 FIG. 15 is a schematic exploded perspective view showing an example of the operated device 2 disclosed in the present application. FIG. 16 is a schematic cross-sectional view showing an example of the operated device 2 disclosed in the present application. The operated device 2 illustrated in FIGS. 15 and 16 is illustrated with the operating portion 12 attached to the shaft member 20 . The operated device 2 includes various members such as a shaft member 20, a tilting body 21, a holding member 22, a detection unit 23, a support mechanism 24, a drive mechanism 25, and the like. Since the configuration of the drive mechanism 25 is the same as that of the first embodiment, the first embodiment will be referred to, and the drawings and detailed description thereof will be omitted.
　支持機構２４には、可動部材２４２、固定部材２４３、押下検出部２４６、弾性体２４７等の各種部材が組み込まれている。 The support mechanism 24 incorporates various members such as a movable member 242, a fixed member 243, a depression detector 246, an elastic body 247, and the like.
　第３実施形態に係る可動部材２４２は、下面から下方へ向けて突出する突起部２４２１が形成されており、突起部２４２１の下端は、固定部材２４３の上面に当接している。 A movable member 242 according to the third embodiment has a projecting portion 2421 projecting downward from the lower surface, and the lower end of the projecting portion 2421 abuts the upper surface of the fixed member 243 .
　可動部材２４２及び固定部材２４３の間には、弾性体２４７が配置されている。弾性体２４７は、平面視略長方形状の面状をなし、押圧部材２４０を挿通させるための略円形状の開口、押下検出部２４６の配置位置に対応する位置の開口、更に、可動部材２４２の突起部２４２１に対応する位置の開口が形成されている。 An elastic body 247 is arranged between the movable member 242 and the fixed member 243 . The elastic body 247 has a substantially rectangular surface shape in a plan view, and has a substantially circular opening for inserting the pressing member 240 , an opening at a position corresponding to the arrangement position of the pressing detection part 246 , and an opening for the movable member 242 . An opening is formed at a position corresponding to the protrusion 2421 .
　以上のように構成された被操作装置２は、操作部１２に対する押下操作に基づく軸部材２０の下方への移動に連動して、可動部材２４２が下方へ移動し、押下検出部２４６を押圧する。可動部材２４２は、案内部２４３０に案内されて、押下操作の方向である下方へ移動する。可動部材２４２の突起部２４２１が、固定部材２４３の上面に当接しているため、厳密には、可動部材２４２は、突起部２４２１の突設位置を揺動支点とした下方への揺動となる。押下操作により可動部材２４２が揺動する角度は微小であるため、可動部材２４２の揺動動作は、微小な上下動と実質的に同一と見做すことができる。即ち、可動部材２４２、及び可動部材２４２上に配置され軸部材２０が挿通された傾倒体２１は、押下操作に基づく軸部材２０の下方への移動に連動して、押下操作の操作方向と略平行となる下方へ移動する。押下検出部２４６は、可動部材２４２による押圧を検出し、軸部材２０が下方へ移動する動作を示す電気信号を出力する。操作部１２に対する押下が解除されると、軸部材２０、傾倒体２１、可動部材２４２等の部材は、基準位置に復帰する。 In the operated device 2 configured as described above, the movable member 242 moves downward in conjunction with the downward movement of the shaft member 20 based on the depression operation on the operation section 12, and presses the depression detection section 246. . The movable member 242 is guided by the guide portion 2430 and moves downward in the direction of the pressing operation. Since the projecting portion 2421 of the movable member 242 abuts on the upper surface of the fixed member 243, strictly speaking, the movable member 242 swings downward with the projecting position of the projecting portion 2421 serving as a swing fulcrum. . Since the angle at which the movable member 242 swings due to the pressing operation is minute, the swinging motion of the movable member 242 can be regarded as substantially the same as a minute up-and-down motion. That is, the movable member 242 and the tilting body 21 arranged on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the pressing operation, and move in the same direction as the pressing operation. Move downwards to become parallel. The press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 . When the pressing of the operating portion 12 is released, the members such as the shaft member 20, the tilting body 21, and the movable member 242 return to their reference positions.
　以上のように、本願開示の被操作装置２は、様々な形態で実施することが可能である。 As described above, the operated device 2 disclosed in the present application can be implemented in various forms.
　　＜制御構成例＞
　次に、本願開示の被操作装置２の動作に関する制御構成について説明する。図１７は、本願開示の被操作装置２の制御構成の一例を概念的に示す概略ブロック図である。被操作装置２は、ＬＳＩ（Large Scale Integration ）、ＶＬＳＩ（Very Large Scale Integration）等の各種制御用チップ、及びＲＯＭ（Read Only Memory）、ＲＡＭ（Random Access Memory）等の各種記録用チップ、並びに各種素子を搭載した制御回路２６を備えている。制御回路２６は、装置全体を制御するＣＰＵ（Central Processing Unit ）等の制御部２６０を備え、制御部２６０は、制御回路２６に搭載されたＡＤ変換部２６１、モータドライバ２６２、パターン記録部２６３等の各種構成を制御する。また、制御回路２６は、外部のパターン選択手段２７から各種命令を受け付ける。 <Control configuration example>
Next, a control configuration regarding the operation of the operated device 2 disclosed in the present application will be described. FIG. 17 is a schematic block diagram conceptually showing an example of the control configuration of the operated device 2 disclosed in the present application. The operated device 2 includes various control chips such as LSI (Large Scale Integration) and VLSI (Very Large Scale Integration), various recording chips such as ROM (Read Only Memory) and RAM (Random Access Memory), and various It has a control circuit 26 in which the element is mounted. The control circuit 26 includes a control section 260 such as a CPU (Central Processing Unit) that controls the entire apparatus. controls the various configurations of The control circuit 26 also receives various commands from the pattern selection means 27 outside.
　ＡＤ変換部２６１は、検出ユニット２３が検出した磁界から傾倒体２１のＸ軸及びＹ軸の傾倒角度の変位、並びに傾倒体２１の押込を示すアナログ信号の入力を受け付け、デジタル信号に変換し、制御部２６０へ出力する回路である。 The AD conversion unit 261 receives an input of an analog signal indicating displacement of the tilting angle of the tilting body 21 on the X axis and the Y axis from the magnetic field detected by the detection unit 23 and pressing of the tilting body 21, converts it into a digital signal, This circuit outputs to the control unit 260 .
　パターン記録部２６３は、予め駆動機構２５への通電パターンを記録しているメモリである。制御部２６０は、パターン選択手段２７から入力を受け付けた選択信号に基づいて、パターン記録部２６３に記録している通電パターンを選択し、選択した通電パターンに基づいて駆動機構２５を動作させる動作信号を、モータドライバ２６２を介して出力する。パターン選択手段２７は、例えば、操作用装置１に接続されたゲーム機にて実行されるソフトウェアに基づく処理であり、ゲームの進行に応じて選択信号が出力される。また、操作用装置１が特定の操作を受け付けた場合に、操作用装置１内で実行されるプログラムに基づく処理がパターン選択手段２７として選択信号を出力するようにしてもよい。 The pattern recording unit 263 is a memory in which the energization pattern to the driving mechanism 25 is recorded in advance. The control unit 260 selects an energization pattern recorded in the pattern recording unit 263 based on the selection signal received from the pattern selection unit 27, and an operation signal for operating the drive mechanism 25 based on the selected energization pattern. is output via the motor driver 262 . The pattern selection means 27 is, for example, processing based on software executed by a game machine connected to the operating device 1, and outputs a selection signal according to the progress of the game. Further, when the operation device 1 receives a specific operation, the process based on the program executed in the operation device 1 may serve as the pattern selection means 27 to output a selection signal.
　制御部２６０から、動作信号を入力されたモータドライバ２６２は、適宜、信号の形式を変更して、駆動機構２５へ動作信号を出力する。 The motor driver 262 that receives the operation signal from the control unit 260 changes the format of the signal as appropriate and outputs the operation signal to the drive mechanism 25 .
　　＜力学特性＞
　次に、本願開示の操作用装置１における操作の際の力学特性について説明する。図１８乃至図２０は、本願開示の操作用装置１において、押圧部材２４０を下方から押圧する力の一例を示すグラフである。図１８乃至図２０は、横軸に傾倒体２１を傾けた傾倒角度に関する変位をとり、縦軸に傾倒に必要な力をとって、その関係を示している。傾倒角度に関する変位とは、傾倒角度そのもの又は傾倒角度に応じて傾倒した被押圧部２１３により押圧部材２４０が下方へ押し込まれる距離である。図中細線は、第１付勢部材２４１による力の関係を示しており、破線は、駆動機構２５の動作体２５２０による力の関係を示しており、太線は、第１付勢部材２４１及び動作体２５２０の合力を示している。 <Mechanical properties>
Next, the dynamic characteristics of the operation device 1 disclosed in the present application during operation will be described. 18 to 20 are graphs showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application. 18 to 20 show the relationship between the horizontal axis representing the displacement relative to the tilting angle of the tilting body 21 and the vertical axis representing the force required for tilting. The displacement related to the tilt angle is the tilt angle itself or the distance by which the pressing member 240 is pushed downward by the pressed portion 213 tilted according to the tilt angle. In the drawing, the thin line indicates the force relationship by the first biasing member 241, the dashed line indicates the force relationship by the operating body 2520 of the drive mechanism 25, and the thick line indicates the first biasing member 241 and the operating force. The resultant force of body 2520 is shown.
　図１８は、駆動機構２５の動力部２５１に通電されていない状態を示している。駆動機構２５に通電されていない状態では、動作体２５２０は、押圧部材２４０を押圧していないため、傾倒体２１の傾倒に必要な力は、第１付勢部材２４１による力と等しく、第１付勢部材２４１のバネ定数に応じて、長さに対して一定の割合で増加する。なお、押圧部材２４０に対しては、プリロードがかかっているため、完全な比例関係ではない。 FIG. 18 shows a state in which the power section 251 of the drive mechanism 25 is not energized. When the driving mechanism 25 is not energized, the operating body 2520 does not press the pressing member 240, so the force required to tilt the tilting body 21 is equal to the force of the first biasing member 241, and the first Depending on the spring constant of the biasing member 241, the length increases at a constant rate. Since the pressing member 240 is preloaded, the relationship is not perfectly proportional.
　図１９及び図２０は、駆動機構２５に通電した状態を示しており、図１９より図２０の方が大きい電流を流した状態である。駆動機構２５に用いられる動作体２５２０は、通電する電流の大きさに応じて、押圧部材２４０を押圧する力が大きくなる。従って、第１付勢部材２４１及び動作体２５２０の合力となる力も、駆動機構２５に通電する電流に応じて変化する。即ち、第１付勢部材２４１及び動作体２５２０の合力に対応する傾倒体２１の傾倒に必要な力は、駆動機構２５への通電により、制御することができる。傾倒体２１の傾倒に必要な力は、制御回路２６にて制御される。 FIGS. 19 and 20 show a state in which the drive mechanism 25 is energized, and FIG. 20 shows a state in which a larger current flows than in FIG. The operating body 2520 used in the drive mechanism 25 has a greater pressing force against the pressing member 240 in accordance with the magnitude of the electric current. Accordingly, the resultant force of the first urging member 241 and the operating body 2520 also changes according to the current applied to the drive mechanism 25 . That is, the force necessary for tilting the tilting body 21 corresponding to the resultant force of the first biasing member 241 and the operating body 2520 can be controlled by energizing the driving mechanism 25 . A control circuit 26 controls the force required to tilt the tilting body 21 .
　図２１乃至図２３は、本願開示の操作用装置１において、押圧部材２４０を下方から押圧する力の一例を示すグラフである。図２１乃至図２３は、横軸に傾倒体２１を傾けた傾倒角度に対応する変位をとり、縦軸に傾倒に必要な力をとって、その関係を示している。図中細線は、第１付勢部材２４１による力の関係を示しており、破線は、駆動機構２５の動作体２５２０による力の関係を示しており、太線は、第１付勢部材２４１及び動作体２５２０の合力を示している。図２１乃至図２３は、駆動機構２５に対する通電を、傾倒体２１の傾倒角度に応じて制御し、押圧部材２４０を押圧する力を制御する通電パターンの例を示している。 21 to 23 are graphs showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application. 21 to 23 show the relationship between the horizontal axis representing the displacement corresponding to the tilting angle of the tilting body 21 and the vertical axis representing the force required for tilting. In the drawing, the thin line indicates the force relationship by the first biasing member 241, the dashed line indicates the force relationship by the operating body 2520 of the drive mechanism 25, and the thick line indicates the first biasing member 241 and the operating force. The resultant force of body 2520 is shown. 21 to 23 show examples of energization patterns for controlling energization to the drive mechanism 25 according to the tilting angle of the tilting body 21 and for controlling the force pressing the pressing member 240. FIG.
　図２１は、動作体２５２０による力が傾倒角度に応じて増加するように駆動機構２５に対する通電を制御する通電パターンの例を示している。図２１の例では、押圧部材２４０を押圧する力の傾きが、第１付勢部材２４１のみによる力の傾きより大きくなっている。従って、操作者は、第１付勢部材２４１として用いられる圧縮コイルバネのバネ定数が大きくなったような感触、所謂、バネを強くした感触を感得することになる。 FIG. 21 shows an example of an energization pattern that controls energization of the drive mechanism 25 so that the force of the operating body 2520 increases according to the tilt angle. In the example of FIG. 21, the gradient of the force pressing the pressing member 240 is larger than the gradient of the force due to the first biasing member 241 alone. Accordingly, the operator feels as if the spring constant of the compression coil spring used as the first biasing member 241 has increased, that is, the feel of the spring becoming stronger.
　図２２は、押圧部材２４０を押圧する力の合力が、傾倒角度に拘わらず一定となるように、駆動機構２５に対する通電を制御する通電パターンの例を示している。図２２に例示するように制御することで、操作者は、傾倒角度によらず一定の力で傾倒させるような感触を感得することになる。 FIG. 22 shows an example of an energization pattern for controlling energization to the drive mechanism 25 so that the resultant force of the force pressing the pressing member 240 is constant regardless of the tilt angle. By controlling as illustrated in FIG. 22, the operator can feel the sensation of tilting with a constant force regardless of the tilting angle.
　図２３は、押圧部材２４０を押圧する力の合力が、傾倒角度に応じて小さくなるように、駆動機構２５に対する通電を制御する通電パターンの例を示している。図２３に例示するように制御することで、操作者は、傾倒させる力が抜けるような感触を感得することになる。 FIG. 23 shows an example of an energization pattern for controlling energization of the drive mechanism 25 so that the resultant force of the force pressing the pressing member 240 becomes smaller according to the tilt angle. By controlling as illustrated in FIG. 23, the operator will feel a feeling that the tilting force is released.
　図２４は、本願開示の操作用装置１において、押圧部材２４０を下方から押圧する力の一例を示すグラフである。図２４は、横軸に傾倒体２１を傾けた傾倒角度に対応する変位をとり、縦軸に傾倒に必要な力をとって、その関係を示している。図中細線は、第１付勢部材２４１による力の関係を示しており、破線は、駆動機構２５の動作体２５２０の力の関係を示しており、太線は、第１付勢部材２４１及び動作体２５２０の合力を示している。図２４は、駆動機構２５に対する通電を、ゲームの進行に応じて制御する通電パターンの例を示している。 FIG. 24 is a graph showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application. In FIG. 24, the horizontal axis indicates the displacement corresponding to the tilting angle of the tilting body 21, and the vertical axis indicates the force required for tilting, showing the relationship between them. In the drawing, the thin line indicates the force relationship of the first biasing member 241, the broken line indicates the force relationship of the operating body 2520 of the drive mechanism 25, and the thick line indicates the force relationship between the first biasing member 241 and the operating body 2520 of the drive mechanism 25. The resultant force of body 2520 is shown. FIG. 24 shows an example of an energization pattern for controlling energization of the drive mechanism 25 according to the progress of the game.
　図２４は、傾倒角度が所定の角度になった場合に、駆動機構２５が動作するように、駆動機構２５に対する通電を制御する通電パターンの例を示している。図２４に例示するように通電を制御した場合、操作者は、傾倒体２１の傾倒角度が一定の角度になるとクリック感のような力を感得することになる。このような制御は、例えば、フライトシミュレータのように、操作角度が一定の角度を超えると衝撃が生じるようなコンピュータゲームに実装することで、操作者に対して、高揚感を与えることが可能となる。 FIG. 24 shows an example of an energization pattern for controlling energization to the drive mechanism 25 so that the drive mechanism 25 operates when the tilt angle reaches a predetermined angle. When the energization is controlled as illustrated in FIG. 24, the operator feels a force such as a click feeling when the tilting angle of the tilting body 21 reaches a certain angle. Such control can give the operator a sense of exhilaration by implementing it in a computer game, such as a flight simulator, in which an impact occurs when the operation angle exceeds a certain angle. Become.
　図２５は、本願開示の操作用装置１において、押圧部材２４０を下方から押圧する力の一例を示すグラフである。図２５は、横軸に時間をとり、縦軸に傾倒に必要な力をとって、その関係を示している。図中細線は、第１付勢部材２４１による力の関係を示しており、破線は、駆動機構２５の動作体２５２０による力の関係を示しており、太線は、第１付勢部材２４１及び動作体２５２０の合力を示している。図２５は、駆動機構２５に対する通電を、操作対象を操作するゲームの進行に応じて制御する通電パターンの例を示している。 FIG. 25 is a graph showing an example of the force that presses the pressing member 240 from below in the operating device 1 disclosed in the present application. FIG. 25 shows the relationship between the time on the horizontal axis and the force required for tilting on the vertical axis. In the drawing, the thin line indicates the force relationship by the first biasing member 241, the dashed line indicates the force relationship by the operating body 2520 of the drive mechanism 25, and the thick line indicates the first biasing member 241 and the operating force. The resultant force of body 2520 is shown. FIG. 25 shows an example of an energization pattern for controlling the energization of the drive mechanism 25 in accordance with the progress of the game in which the operation target is operated.
　図２５は、例えば、釣りゲームに実装し、前半の一時的な通電による押圧する力の増大により、魚の食い付きを表現し、後半の継続的な通電による押圧する力の増大により、食い付いた魚の引きを表現している。図２４及び図２５に示すように、本願開示の操作用装置１は、操作対象を操作するゲームに応じた様々な制御を実現することが可能である。 FIG. 25 is implemented in, for example, a fishing game, where the bite of the fish is expressed by the increase in pressing force due to temporary energization in the first half, and the bite is expressed by the increase in pressing force due to continuous energization in the latter half. It expresses the pull of the fish. As shown in FIGS. 24 and 25, the operation device 1 disclosed in the present application can implement various controls according to the game in which the operation target is operated.
　以上のように、本願開示の被操作装置２及び操作用装置１は、ジョイスティック型のコントローラ等の操作用装置１に適用され、傾倒した傾倒体２１を基準位置へ復帰させる力を制御することが可能である。従って、傾倒体２１への傾倒操作に対する操作負荷を制御することが可能であり、操作者は、操作負荷を感得し、操作負荷の変化を認識することが可能である等、優れた効果を奏する。例えば、本願開示の操作用装置１をゲームのコントローラに適用した場合には、ゲームの進行に応じて操作負荷が変換する延出を行うことが可能である。 As described above, the operated device 2 and the operating device 1 disclosed in the present application are applied to the operating device 1 such as a joystick controller, and can control the force for returning the tilted body 21 to the reference position. It is possible. Therefore, it is possible to control the operation load with respect to the tilting operation of the tilting body 21, and the operator can feel the operation load and recognize changes in the operation load. Play. For example, when the operation device 1 disclosed in the present application is applied to a game controller, it is possible to extend the operation load so as to change according to the progress of the game.
　本発明は、以上説明した実施形態に限定されるものではなく、他の様々な形態で実施することが可能である。そのため、上述した実施形態はあらゆる点で単なる例示に過ぎず、限定的に解釈してはならない。本発明の技術範囲は、請求の範囲によって説明するものであって、明細書本文には何ら拘束されない。更に、請求の範囲の均等範囲に属する変形及び変更は、全て本発明の範囲内のものである。 The present invention is not limited to the embodiments described above, and can be implemented in various other forms. Therefore, the above-described embodiments are merely examples in all respects, and should not be construed in a restrictive manner. The technical scope of the present invention is described by the claims and is not restricted by the text of the specification. Furthermore, all modifications and changes within the equivalent scope of claims are within the scope of the present invention.
　例えば、前記実施形態では、ゲームのコントローラに適用する形態について説明したが、本発明はこれに限らず、各種玩具、各種移動体、各種測定装置、産業用ロボット等の様々な操作対象の操作に用いることが可能である。例えば、産業用ロボットのコントローラに適用した場合には、重い荷物に対する操作を行う場合には、操作負荷を大きくする等、操作の状況に応じた制御を行うことが可能である。 For example, in the above-described embodiments, a form applied to a game controller has been described, but the present invention is not limited to this, and can be used to operate various objects to be operated, such as various toys, various moving bodies, various measuring devices, and industrial robots. It is possible to use For example, when applied to a controller of an industrial robot, it is possible to perform control according to the operation situation, such as increasing the operation load when operating a heavy load.
　更に、前記実施形態では、動作体２５２０を弧状に形成されて揺動動作を行う部材として形成したが、本発明はこれに限らず、押圧部材２４０を押圧する機能があればよい。例えば、動作体２５２０を、上下動作を行う直線状のラックギアとして形成する等、様々な形態に展開することが可能である。 Furthermore, in the above-described embodiment, the operating body 2520 is formed as a member that is formed in an arc shape and performs a swinging motion, but the present invention is not limited to this, and it is sufficient that the pressing member 240 has a function of pressing. For example, the operating body 2520 can be developed into various forms, such as forming it as a linear rack gear that moves up and down.
　更に、前記実施形態では、駆動機構２５のギア２５２が、支持機構２４の押圧部材２４０を下方から押圧する形態を示したが、本発明はこれに限らず、例えば、ギア２５２が、第１付勢部材２４１を下方から押圧する形態等、様々な形態に展開することが可能である。 Furthermore, in the above embodiment, the gear 252 of the drive mechanism 25 presses the pressing member 240 of the support mechanism 24 from below, but the present invention is not limited to this. It can be developed in various forms such as a form in which the force member 241 is pressed from below.
　更に、前記実施形態では、支持機構２４の押し子２４０２が、押圧部材２４０の円板部２４００の下面に固定されている形態を示したが、本発明はこれに限らず、円板部２４００の下方で上下に移動可能に保持されるように構成してもよい。更には、押し子２４０２の下端が、動作体２５２０の腕部２５２０ａにリンク機構等の機構にて軸支されるように構成する等、様々な形態に展開することが可能である。 Furthermore, in the above-described embodiment, the presser 2402 of the support mechanism 24 is fixed to the lower surface of the disc portion 2400 of the pressing member 240, but the present invention is not limited to this. It may be configured such that it is held below so as to be movable up and down. Furthermore, it is possible to develop various forms, such as a configuration in which the lower end of the pusher 2402 is pivotally supported by the arm 2520a of the operating body 2520 by a mechanism such as a link mechanism.
　更に、前記実施形態では、傾倒体２１の傾倒角度等の状態を検出する方法として、ホールＩＣを用いた磁界センサ２３２を用いる形態を示したが、本発明はこれに限らず、状態を検出する様々なセンサを用いることが可能である。例えば、可変抵抗、その他キャパシタ、光学センサ等の様々な素子を用いたセンサを用いることが可能である。 Furthermore, in the above-described embodiment, as a method for detecting the state of the tilting body 21 such as the tilting angle, the magnetic field sensor 232 using the Hall IC is used. Various sensors can be used. For example, sensors using various elements such as variable resistors, other capacitors, and optical sensors can be used.
　１　　　　　操作用装置
　２　　　　　被操作装置
　２０　　　　軸部材
　２１　　　　傾倒体
　２１３　　　被押圧部
　２２　　　　保持部材
　２３　　　　検出ユニット
　２４　　　　支持機構
　２４０　　　押圧部材
　２４００　　円板部
　２４０１　　円筒部
　２４０２　　押し子
　２４１　　　第１付勢部材（付勢部材）
　２５　　　　駆動機構
　２５１　　　動力部
　２５２　　　ギア
　２５２０　　動作体（ラックギア）
　２５２０ａ　腕部
　２５２０ｂ　ギア部
　２５２０ｃ　第２軸支部
　２５２１　　第１ギア
　２５２２　　第２ギア
　２５２３　　第３ギア（ピニオンギア）
　２６　　　　制御回路 1 operating device 2 operated device 20 shaft member 21 tilting body 213 pressed portion 22 holding member 23 detection unit 24 support mechanism 240 pressing member 2400 disk portion 2401 cylindrical portion 2402 pusher 241 first biasing member (biasing member )
25 drive mechanism 251 power section 252 gear 2520 operating body (rack gear)
2520a arm portion 2520b gear portion 2520c second shaft support portion 2521 first gear 2522 second gear 2523 third gear (pinion gear)
26 control circuit

Claims (6)

  1. 　基準位置から傾倒中心を中心として傾倒させる操作を受け付ける傾倒体を備え、前記傾倒体の傾倒状況に応じて、操作対象を操作する被操作装置であって、
    　前記傾倒体は、前記傾倒中心を通る中心軸に直交する方向への広がりを有する被押圧部を端部に有し、
    　前記被押圧部に対し、前記傾倒体が基準位置に位置する場合の前記中心軸に平行で、かつ前記傾倒中心に向かう方向へ押圧する押圧部材と、
    　前記押圧部材に対し、前記傾倒中心に向けて付勢する付勢部材と、
    　前記押圧部材に対し、前記傾倒中心に向けて押圧する動作を、ギアを用いて行う駆動機構と
    　を備える
    　ことを特徴とする被操作装置。     An operated device that includes a tilting body that receives an operation of tilting from a reference position about a tilt center, and that operates an operation target according to the tilting state of the tilting body,
    the tilting body has, at its end, a pressed portion extending in a direction orthogonal to a central axis passing through the tilting center;
    a pressing member that presses the pressed portion in a direction parallel to the central axis and toward the tilting center when the tilting body is positioned at the reference position;
    a biasing member that biases the pressing member toward the tilt center;
    An operated device, comprising: a driving mechanism that uses a gear to press the pressing member toward the tilt center.
  2. 　請求項１に記載の被操作装置であって、
    　前記駆動機構は、
    　回動運動を行う動力部を備え、
    　前記ギアは、前記動力部の回動運動を、前記押圧部材を押圧可能な運動に変換する
    　ことを特徴とする被操作装置。     The operated device according to claim 1,
    The drive mechanism is
    Equipped with a power unit that performs rotational motion,
    The operated device, wherein the gear converts rotational motion of the power unit into motion capable of pressing the pressing member.
  3. 　請求項１に記載の被操作装置であって、
    　前記駆動機構は、
    　回動運動を行う動力部と、
    　前記ギアとして、前記動力部の回動運動に連動して回動するピニオンギア、及び前記ピニオンギアと歯合して動作可能なラックギアと
    　を備え、
    　前記動力部の回動運動を伝達された前記ラックギアの動作により、前記押圧部材を押圧する動作を行う
    　ことを特徴とする被操作装置。     The operated device according to claim 1,
    The drive mechanism is
    a power unit that performs rotational motion;
    As the gear, a pinion gear that rotates in conjunction with the rotational movement of the power unit, and a rack gear that meshes with the pinion gear and is operable,
    An operated device, wherein the operation of pressing the pressing member is performed by the operation of the rack gear to which the rotational motion of the power unit is transmitted.
  4. 　請求項３に記載の被操作装置であって、
    　前記ラックギアは、円弧状に形成されている
    　ことを特徴とする被操作装置。     The operated device according to claim 3,
    The operated device, wherein the rack gear is formed in an arc shape.
  5. 　請求項１乃至請求項４のいずれか１項に記載の被操作装置であって、
    　前記傾倒体は、基準位置に位置する場合の前記中心軸に平行で、前記押圧部材が押圧する方向と反対方向へ押圧する操作を受けて、押圧された操作方向と略平行な方向へ移動するようにしてあり、
    　前記傾倒体の移動を検出する検出部を備える
    　ことを特徴とする被操作装置。     The operated device according to any one of claims 1 to 4,
    The tilting body is parallel to the central axis when positioned at the reference position and moves in a direction substantially parallel to the pressed operation direction upon receiving an operation of pressing in a direction opposite to the pressing direction of the pressing member. and
    An operated device, comprising: a detection unit that detects movement of the tilting body.
  6. 　請求項１乃至請求項５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前記駆動機構を駆動させる信号を、前記被操作装置へ出力する手段と
    　を備え、
    　前記被操作装置が備える前記傾倒体の動作に基づく操作信号を外部へ出力する
    　ことを特徴とする操作用装置。     an operated device according to any one of claims 1 to 5;
    means for outputting a signal for driving the drive mechanism provided in the operated device to the operated device,
    An operating device that outputs to the outside an operation signal based on the motion of the tilting body of the operated device.
PCT/JP2022/042780 2021-12-27 2022-11-18 Operated device and device for operating WO2023127342A1 (en)

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JP2021212855A JP2023096838A (en) 2021-12-27 2021-12-27 Device to be operated and device for operation
JP2021-212855 2021-12-27

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WO2023127342A1 true WO2023127342A1 (en) 2023-07-06

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Citations (2)

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JP2000195370A (en) * 1998-12-28 2000-07-14 Sony Computer Entertainment Inc Reaction force generator
JP2012063831A (en) * 2010-09-14 2012-03-29 Tokai Rika Co Ltd Remote controller

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Publication number Priority date Publication date Assignee Title
TW302058U (en) * 1996-07-13 1997-04-01 Primax Electronics Co Ltd Joystick of computer
TW392123B (en) * 1997-12-03 2000-06-01 Primax Electronics Ltd Computer joystick having two optical sensors for generating vector signals
TWM551516U (en) * 2017-05-23 2017-11-11 Yi-He Lin Improved joystick structure for gaming machine
CN111035920B (en) * 2019-12-16 2023-11-07 歌尔股份有限公司 Rocker handle and game host with same
CN214763265U (en) * 2020-12-28 2021-11-19 深圳市达实智控科技股份有限公司 Capacitance type rocker

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000195370A (en) * 1998-12-28 2000-07-14 Sony Computer Entertainment Inc Reaction force generator
JP2012063831A (en) * 2010-09-14 2012-03-29 Tokai Rika Co Ltd Remote controller

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