Operating device

Abstract

The present invention provides an operating device capable of controlling an operating load by the operating device (CTR). The operating device (CRT) has a tilting body that receives an operation of tilting about a tilting center from a reference position, and operates an operation target according to the tilting state of the tilting body. The operating device has: a pressing member (32) that presses a pressed portion (203) at the end of the tilting body (20) in a direction parallel to the central axis when the tilting body (20) is in the reference position and toward the tilting center (20a); a biasing member (33) that biases the pressing member (32) toward the tilting center (20a). In addition, the operating device has an operating body (34) that moves the pressing member (32) toward the tilting center (20a), or the operating body (34) performs an operation of pressing the biasing member (33) from the side opposite to the pressing member (32) side toward the pressing member (32) side.

Description

Technical Field

[0001] The present invention relates to an operating device that operates an object to be operated according to the dumping state of a dumping body. Background Art

[0002] As an operating device for operating various devices such as computer games, various toys, and industrial robots, an operating device called a joystick has been popularized. In the operating device of the joystick type, by tilting a tilting body that can be tilted in various directions, the object to be operated moves in the tilting direction, so intuitive operation can be performed. As the above operating device, for example, in Patent Document 1, a variable resistor type pointing device that detects the tilt by variable resistors arranged on the X and Y axes has been proposed.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: TW371503U Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] For example, for a mechanism for recognizing a state with respect to a computer game, new entertainment is always required. In addition, even when a machine such as an industrial robot is used as an object to be operated, a mechanism for recognizing an operation state by various methods is required. However, the existing operating device described in Patent Document 1 is an input device and does not have the function of an output device, and the operator cannot recognize the state.

[0008] The present invention has been made in view of the above problems, and an object thereof is to provide an operating device having an output function.

[0009] Technical Solution for Solving the Technical Problem

[0010] In order to solve the above problems, the operating device described in the present application is an operating device having a tilting body that receives an operation of tilting from a reference position around a tilting center, and operates an object to be operated according to the tilting state of the tilting body. The operating device is characterized in that the tilting body has a pressed portion at an end that extends in a direction orthogonal to the central axis passing through the tilting center, and the operating device has: a pressing member that presses the pressed portion in a direction parallel to the central axis when the tilting body is in the reference position and toward the tilting center; a biasing member that biases the pressing member toward the tilting center; and an operating body that performs an operation of pressing the pressing member toward the tilting center.

[0011] In addition, based on the operation device, which is an operation device having a tilting body that accepts an operation of tilting from a reference position about a tilting center, and operates an operation target according to the tilting state of the tilting body, the operation device is characterized in that the tilting body has a pressed portion at an end that extends in a direction orthogonal to the central axis passing through the tilting center, and the operation device has: a pressing member that presses the pressed portion in a direction parallel to the central axis when the tilting body is in the reference position and toward the tilting center; a biasing member that biases the pressing member toward the tilting center; and an operating body that performs an operation of pressing the biasing member from the side opposite to the pressing member side toward the pressing member side.

[0012] In addition, based on the operation device, it is characterized in that the tilting body can tilt in all directions from the reference position, and the pressed portion is formed in a substantially disc shape with the central axis as the center and the direction orthogonal to the central axis as the radial direction.

[0013] In addition, based on the operation device, it is characterized in that it has a drive mechanism for operating the operating body.

[0014] In addition, based on the operation device, it is characterized in that the drive mechanism operates the operating body via a cam mechanism.

[0015] In addition, based on the operation device, it is characterized in that the driving direction of the drive mechanism is substantially orthogonal to the operating direction of the operating body.

[0016] In addition, based on the operation device, it is characterized in that the driving direction of the drive mechanism and the operating direction of the operating body are in substantially the same direction.

[0017] In the operation device described in the present application, the biasing member presses the pressing member that presses the pressed portion of the tilting body, and the operating body performs the pressing, thereby controlling the operation load of the operation device.

[0018] Effects of the Invention

[0019] The operating device of the present invention presses the pressed portion provided at the end of the tipping body by a pressing member in a direction toward the tipping center, whereby a force acts in a direction to reset the tipping tipping body to a reference position. For the pressing member, it is pressed by a biasing member and also pressed by an operating body that performs a pressing action. Since it is pressed not only by the biasing member but also by the action of the operating body, the pressing force can be controlled by the action of the operating body. Therefore, the force for resetting the tipping body can be changed. The operator recognizes the change in the force for resetting the tipping body as a change in the operating load. That is, the operating device of the present invention has good effects such as changing the operating load. Thus, it has good effects such as the operator can feel the change in the operating load. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. is a perspective overview diagram showing an example of the appearance of the operating device described in the present application.

[0021] Figure 2 FIG. is a perspective overview diagram showing an example of the internal structure of the operating device described in the present application.

[0022] Figure 3 FIG. is a cross-sectional overview diagram showing an example of the internal structure of the operating device described in the present application.

[0023] Figure 4 FIG. is a perspective exploded overview diagram showing an example of the operating mechanism of the operating device described in the present application.

[0024] Figure 5 FIG. is a perspective exploded overview diagram showing an example of the operating mechanism of the operating device described in the present application.

[0025] Figure 6 FIG. is a cross-sectional overview diagram showing an example of a cross-section of the operating mechanism and the drive mechanism of the operating device described in the present application.

[0026] Figure 7 FIG. is a cross-sectional overview diagram showing an example of a cross-section of the operating mechanism and the drive mechanism of the operating device described in the present application.

[0027] Figure 8 FIG. is a cross-sectional overview diagram showing an example of a cross-section of the operating mechanism and the drive mechanism of the operating device described in the present application.

[0028] Figure 9 FIG. is a cross-sectional overview diagram showing an example of a cross-section of the operating mechanism of the operating device described in the present application.

[0029] Figure 10 FIG. is a cross-sectional overview diagram showing an example of a cross-section of the operating mechanism of the operating device described in the present application.

[0030] Figure 11 It is a schematic block diagram conceptually showing an example of a control structure related to the operation of the operating device described in the present application.

[0031] Figure 12 It is a graph showing an example of the mechanical characteristics of a general solenoid.

[0032] Figure 13 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0033] Figure 14 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0034] Figure 15 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0035] Figure 16 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0036] Figure 17 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0037] Figure 18 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0038] Figure 19 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0039] Figure 20 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0040] Figure 21 It is a schematic cross-sectional view showing an example of the internal structure of the operating device described in the present application.

[0041] Figure 22 It is a three-dimensional exploded schematic view showing an example of the operating mechanism of the operating device described in the present application.

[0042] Figure 23 It is a schematic cross-sectional view showing an example of the cross-section of the operating mechanism and the operating mechanism of the operating device described in the present application.

[0043] Figure 24 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0044] Figure 25 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0045] Figure 26 It is a graph showing an example of the force for pressing a pressing member from below in the operating device described in the present application.

[0046] Figure 27 It is a three-dimensional general view showing an example of the appearance of the operating device described in the present application.

[0047] Figure 28 It is a sectional general view showing an example of a section of the main components of the operation mechanism and the drive mechanism of the operating device described in the present application.

[0048] Figure 29 It is a graph showing an example of the mechanical characteristics of a general VCM.

[0049] Figure 30 It is a sectional general view showing an example of a section of the operating device described in the present application.

[0050] Figure 31 It is a sectional general view showing an example of a section of the operating device described in the present application.

[0051] Figure 32 It is a sectional general view showing an example of a section of the operating device described in the present application.

[0052] Figure 33 It is a graph showing an example of the mechanical characteristics of the VCM used in the operating device described in the present application. Detailed Embodiments

[0053] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The operating device described in the present application is used, for example, as a joystick-type controller for operating an operation target. By using it as an operating device such as a joystick-type controller, in addition to the operating device for computer games, it can also be used in the operation of various toys, various moving bodies, various measuring devices, industrial robots, and other operation targets. Hereinafter, an operating device CTR in which the operating device described in the present application is applied to a joystick-type controller will be described.

[0054] <First Embodiment>

[0055] Figure 1It is a perspective overview diagram showing an example of the appearance of the operating device CTR described in the present application. The operating device CTR has a housing 1, and gripping portions 10 that are gripped by the right hand and the left hand respectively are formed at both ends of the housing 1. When gripping the gripping portions 10 at both ends respectively, a substantially circular opening 11 is provided at the position where the fingers contact the upper surface, and a part of the operating mechanism 2 for operating an operation target projects from the opening 11 out of the housing 1. In addition, on the upper surface side, a plurality of operation buttons 12 are arranged at positions where they can be pressed by the operator's fingers. It should be noted that in the present application, for the convenience of description, the side that is above when the operator operates in a normal posture, that is, the side where the operation buttons 12 are arranged and that projects from the operating mechanism 2, is described as the upper side.

[0056] Figure 2 It is a perspective overview diagram showing an example of the internal structure of the operating device CTR described in the present application. Figure 2 It shows the internal structure in the state where the housing 1 is removed from the operating device CTR. Inside the housing 1, in addition to the operating mechanism 2 for operating an operation target, various mechanisms such as an action mechanism 3 that causes the operating mechanism 2 to operate and a drive mechanism 4 that drives the action mechanism 3 are also housed. In Figure 1 the housing 1 of the operating device CTR illustrated in Figure 2 two devices illustrated as the internal structure in

[0057] Figure 3 It is a cross-sectional overview diagram showing an example of the internal structure of the operating device CTR described in the present application. Figure 4 It is a perspective exploded overview diagram showing an example of the operating mechanism 2 of the operating device CTR described in the present application. Figure 3 Taking Figure 2 the cross-section of the internal structure of the operating device CTR cut by the vertical plane A - B shown as a perspective overview diagram. Using Figure 3 and Figure 4, the operating mechanism 2 will be described. The operating mechanism 2 has a tilting body 20 that receives an operation to tilt from an operator. The tilting body 20 has a shaft body 200, a spherical body 201, an operating portion 202, and a pressed portion 203. The shaft body 200 is a rod that receives an operation and tilts, passes through the center of the spherical body 201, and is the central axis when the tilting body 20 rotates. The shaft body 200 uses the center of the spherical body 201 as the tilting center 20a and can tilt in all directions of 360 degrees around from the reference position. An operating portion 202 that receives an operation is formed on the upper side (one end side) of the shaft body 200 protruding from the opening 11 of the housing 1. A pressed portion 203 that receives pressing from the actuating mechanism 3 is formed on the lower side (the other end side) of the shaft body 200 housed in the housing 1. The operating portion 202 has a disk portion 202a formed in a substantially disk shape, and a rotation protrusion 202b used in a rotation operation is formed on the upper surface edge portion of the disk portion 202a. In addition, a substantially spherical crown-shaped cover portion 202c that covers the upper side of the spherical body 201 and the holding member 21 that holds the spherical body 201 is formed below the disk portion 202a. The pressed portion 203 is formed in a substantially disk shape, is flat near the center, and the peripheral edge is bent toward the spherical body 201 side. The shaft body 200 is connected to the center of the disk of the pressed portion 203. The spherical body 201 is movably held in the holding member 21 formed with a concave surface along the outer surface of the spherical body 201, and the holding member 21 is fixed in the housing 1 by the upper frame 22. It should be noted that the holding member 21 has an X-axis angle sensor 210 and a Y-axis angle sensor 211 (refer to Figure 11 etc.) for detecting the angular change of tilting in two directions (X-axis direction, Y-axis direction) that are directly opposed to each other in the spherical body 201 that can be operably held. For the operating mechanism 2 configured as described above, the operator can perform an operation to tilt the tilting body 20 and an operation to rotate it in the circumferential direction with the shaft body 200 of the tilting body 20 as the central axis.

[0058] Figure 5 is a perspective exploded general view showing an example of the actuating mechanism 3 included in the operating device CTR described in the present application. Using Figure 3 and Figure 5, the actuating mechanism 3 will be described. The actuating mechanism 3 is fixed in the housing 1 by a central frame 30 and a lower frame 31 which are installed below the upper frame 22. A central hole 300 formed in a substantially cylindrical shape, an inner wall 301 around the central hole 300, and an annular groove portion 302 surrounding the outside of the inner wall 301 are formed in the central frame 30. The central frame 30 supports a pressing member 32 that presses the pressed portion 203 in the direction of the upward tipping center 20a so as to be movable up and down. The upper portion of the pressing member 32 is formed in a disc shape, and the lower portion is formed in a cylindrical shape. The pressing member 32 is disposed to block the central hole 300 formed in the central frame 30 and abuts against the pressed portion 203 on the upper surface. The lower portion formed in a cylindrical shape has a slight clearance and is loosely fitted in the groove portion 302 of the central frame 30 so as to be movable up and down. By the lower portion of the pressing member 32 being loosely fitted in the groove portion 302 of the central frame 30, the groove portion 302 guides the up and down movement of the pressing member 32, making the movement of the pressing member 32 stable. A biasing member 33 such as a compression coil spring is disposed around the groove portion 302 within the annular groove portion 302. The lower end of the biasing member 33 is fixed to the inner bottom surface of the groove portion 302 and abuts against the pressing member 32 at the upper end, biasing the pressing member 32 upward.

[0059] The central frame 30 movably holds an actuating body 34 that causes the pressing member 32 to move upward. The actuating body 34 is a member in which a substantially rod-shaped rod pressing body 340 that presses the pressing member 32 and a driven cam member 341 that operates using a cam structure are integrated. The actuating body 34 integrally forms the rod pressing body 340 that vertically penetrates the driven cam member 341. The upper portion of the rod pressing body 340 is inserted through the central hole 300 of the central frame 30. The upper end side of the rod pressing body 340 that moves up and down is inserted through the substantially cylindrical upper guiding member 35 so as to be movable up and down, and the lower end side is inserted through the substantially cylindrical lower guiding member 36 so as to be movable up and down. The upper guiding member 35 is fixed in a state of being fitted in the central hole 300 of the central frame 30 and guides the up and down movement of the rod pressing body 340. The lower guiding member 36 is fixed in a state of being fitted in the lower end hole 310 formed at the lower end of the lower frame 31 and guides the up and down movement of the rod pressing body 340. A return spring 37 such as a compression coil spring is wound around the rod pressing body 340. The upper end of the return spring 37 abuts against the upper guiding member 35, and the lower end abuts against the upper surface of the driven cam member 341, biasing the actuating body 34 downward via the driven cam member 341.

[0060] The driving cam member 38 is horizontally movably fitted into the lower frame 31, and the driving cam member 38 and the driven cam member 341 of the moving body 34 cooperate to form a cam mechanism. The driving cam member 38 is formed in a substantially box shape with an open upper surface. An installation port 381 for installing the driving mechanism 4 is formed in one of the four side walls of the driving cam member 38. On two side walls of the driving cam member 38 that are adjacent to both sides of the side wall where the installation port 381 is formed, a driving cam surface 380 that gradually rises and slopes from the side closer to the installation port 381 to the farther side is formed. An inclined driven cam surface 341a that slides in a state of abutting against the driving cam surface 380 of the driving cam member 38 is formed on the driven cam member 341 of the moving body 34. By means of the cam structure in which the driving cam member 38 and the driven cam member 341 cooperate, the movement of the driving cam member 38 driven horizontally by the driving mechanism 4 is transmitted as the movement of the moving body 34 in the vertical direction. Specifically, when the driving cam member 38 moves toward the driving mechanism 4 side, the driven cam surface 341a of the driven cam member 341 of the moving body 34 slides on the driving cam surface 380 and moves upward. When the driving cam member 38 moves toward the side opposite to the driving mechanism 4, the moving body 34 that is urged downward by the return spring 37 moves downward. In this way, the moving body 34 moves up and down. By the upward movement of the moving body 34, the pressing member 32 is pressed from below. It should be noted that it may also be configured to change the formation positions of the driving cam surface 380 and the driven cam surface 341a so that when the driving cam member 38 moves toward the side opposite to the driving mechanism 4, the moving body 34 moves upward, and when the driving cam member 38 moves toward the driving mechanism 4 side, the moving body 34 moves downward.

[0061] By using Figure 2 and Figure 3 , the driving mechanism 4 will be described. The driving mechanism 4 is an actuator such as a solenoid 40 that operates by being energized, and has: a driving part 400 having an energized coil, and a plunger 401 that operates by the driving part 400. The front end of the plunger 401 is connected to the connecting part 402 of the driving cam member 38. When the driving part 400 is not energized, the plunger 401 protrudes from the driving part 400, and when energized, the plunger 401 is introduced into the driving part 400 and moves according to the magnitude of the current.

[0062] Next, the operation of the operating device CTR described in the present application will be described. Figure 6 and Figure 7 are cross-sectional general views showing an example of a cross-section of the operating mechanism 2 and the action mechanism 3 included in the operating device CTR described in the present application. Figure 6 and Figure 7This shows a state where the operating body 34 is located at the bottom and only the urging member 33 is pressing the pressing member 32 upward. Figure 6 Indicates the state where the tilting body 20 of the operating mechanism 2 is located at the reference position, Figure 7 The tilting body 20 receives the operator's operation and tilts from the reference position. The pressing member 32, which is urged by the urging member 33, presses the pressed portion 203 of the tilting body 20 from the bottom to the top. Figure 6 As shown, when the tilting body 20 is located at the reference position, the pressing member 32 presses the flat center of the pressed portion 203 toward the center of the spherical body 201, so the tilting body 20 is in a stable posture. Figure 7 As shown, when the tipping body 20 has tilted, the pressing member 32 presses the peripheral edge of the pressed portion 203 toward the center of the spherical body 201, thereby exerting a strong force in the rotational direction that returns the tipping body 20 to the reference position. Therefore, when the tipping body 20 is in the reference position, the tipping body 20 is stable. When the tipping body 20 tilts from the reference position, a strong force acts in the direction of return to the reference position, but the tipping body 20 is unstable. Therefore, when the operator releases the tilting force, the tipping body 20 returns to the reference position.

[0063] Figure 8 This is a schematic cross-sectional view showing an example of a cross section of the operating mechanism 2 and the actuating mechanism 3 included in the operating device CTR according to the present application. Figure 8 The diagram shows a state in which the operating body 34 moves upward and the urging member 33 and the rod-shaped pressing body 340 of the operating body 34 press the pressing member 32 upward. Figure 8 Indicates the state in which the tipping body 20 receives an operation from the operator and tilts from the reference position. By energizing the drive mechanism 4, the plunger 401 is introduced into the drive portion 400 and moves. As the plunger 401 moves, the active cam component 38 connected to the plunger 401 moves toward the drive mechanism 4 side, forming a linkage with the driven cam component 341 of the cam mechanism, and the actuating body 34 moves upward. As the actuating body 34 moves upward, the pressing component 32 is pressed from below. Therefore, by energizing the drive mechanism 4, the pressing component 32 receives an upward force from both the force-applying component 33 and the actuating body 34, and is pressed from below with a stronger force. Therefore, compared with the case where the actuating body 34 is located below, the force for returning the tipping body 20 to the reference position is increased, and the operator needs a stronger force to tilt the tipping body 20.

[0064] Figure 9 and Figure 10 This is a schematic cross-sectional view showing an example of a cross section of the operating mechanism 3 included in the operating device CTR described in the present application. Figure 9 Indicates the state where the actuator 34 is located at the bottom. Figure 10Indicates the state where the moving body 34 is located above. For example, Figure 9 In the state where power is not supplied to the drive mechanism 4, the drive cam member 38 faces Figure 9 Located on the left side, the moving body 34 is pressed downward by the return spring 37 and is located below. When the moving body 34 is located below, the upper end of the rod-shaped pressing body 340 of the moving body 34 is separated from the pressing member 32. For example, Figure 10 When power is supplied to the drive mechanism 4, the drive cam member 38 connected to the plunger 401 faces Figure 10 Moves to the right. When the drive cam member 38 moves to the right, by means of the cam mechanism, the driven cam surface 341a of the driven cam member 341 of the moving body 34 slides on the drive cam surface 380 and moves upward, and the rod-shaped pressing body 340 integrated with the driven cam member 341 as the moving body 34 also moves upward. For example, Figure 10 When the rod-shaped pressing body 340 moves upward, the upper end of the rod-shaped pressing body 340 presses the pressing member 32 from below upward.

[0065] Next, a control structure related to the operation of the operation device CTR described in the present application will be described. Figure 11 Is a block diagram overview conceptually showing an example of a control structure related to the operation of the operation device CTR described in the present application. The operation device CTR has various control chips such as LSI (Large Scale Integration), VLSI (Very Large Scale Integration), various storage chips such as ROM (Read Only Memory), RAM (Random Access Memory), and a control circuit 5 equipped with various components. The control circuit 5 has a control unit 50 such as a CPU (Central Processing Unit) that controls the entire device, and the control unit 50 controls various structures such as the X-axis AD conversion unit 51, Y-axis AD conversion unit 52, solenoid driver 53, and mode storage unit 54 mounted in the control circuit 5.

[0066] The X-axis AD conversion unit 51 is a circuit that receives an analog signal representing the displacement of the inclination angle of the spherical body 201 in the X-axis direction detected by the X-axis angle sensor 210 of the holding member 21. The X-axis AD conversion unit 51 converts the input analog signal into a digital signal and outputs the converted digital signal to the control unit 50. The Y-axis AD conversion unit 52 is a circuit that receives an analog signal representing the displacement of the inclination angle of the spherical body 201 in the Y-axis direction detected by the Y-axis angle sensor 211 of the holding member 21. The Y-axis AD conversion unit 52 converts the input analog signal into a digital signal and outputs the converted digital signal to the control unit 50.

[0067] The mode storage unit 54 is a memory that pre-stores the energization modes for the drive mechanism 4. Based on the selection signal received from the mode selection unit 55, the control unit 50 selects the energization mode stored in the mode storage unit 54 and outputs an operation signal for operating the drive mechanism 4 based on the selected energization mode via the solenoid driver 53. The mode selection unit 55 is, for example, a software-based step executed by a game machine connected to the operation device CTR and outputs according to the progress of the game. In addition, when a specified operation is received by the operation device CTR, a step based on a program executed within the operation device CTR may also be used as the mode selection unit 55 to output a selection signal.

[0068] The solenoid driver 53 that has received the operation signal from the control unit 50 appropriately changes the form of the signal and outputs the operation signal to the drive mechanism 4.

[0069] Next, the mechanical characteristics related to the pressing by the pressing member 32 and the biasing member 33 will be described. Figure 12 It is a graph showing an example of the mechanical characteristics of a general solenoid. Figure 12 The horizontal axis represents the stroke length and the vertical axis represents the attractive force to show the relationship. Figure 12 It shows the relationship between the positions (stroke lengths) of the plunger and the attractive force corresponding to the positions of the plunger for several levels of solenoids with the specification of introducing the plunger by energization. In Figure 12 the solenoids of the exemplified specifications, it shows that the shorter the stroke length, that is, the more the plunger is introduced, the stronger the attractive force. As shown in the example of Figure 12 this application, the operation device CTR described in this application uses an example of a solenoid with the following specification, that is, the force is stronger at the position where the plunger protrudes, and the force becomes weaker as the plunger is introduced more.

[0070] Figures 13 to 15 It is a graph showing an example of the force for pressing the pressing member 32 from below in the operation device CTR described in this application. Figures 13 to 15The relationship is represented with the horizontal axis being the displacement related to the tilting angle at which the tilting body 20 is tilted and the vertical axis being the force required for tilting. The displacement related to the tilting angle means the tilting angle itself or the distance by which the pressing member 32 is pressed downward by the pressed portion 203 tilted according to the tilting angle. In the figure, the thin line represents the relationship of the force applied by the biasing member 33, the dashed line represents the relationship of the force applied by the moving body 34 based on the operation of the plunger 401 of the drive mechanism 4, and the thick line represents the resultant force of the biasing member 33 and the moving body 34.

[0071] Figure 13 This represents a state where the drive mechanism 4 is not energized. In the state where the drive mechanism 4 is not energized, since the moving body 34 does not press the pressing member 32, the force required for tilting the tilting body 20 is equal to the force applied by the biasing member 33 and increases at a constant ratio with respect to the length according to the spring constant of the biasing member 33. It should be noted that since a preload is applied to the pressing member 32, it is not a perfect proportional relationship.

[0072] Figure 14 and Figure 15 This represents a state where the drive mechanism 4 is energized, Figure 15 which is a state where a current larger than Figure 14 flows. In the solenoid 40 used in the drive mechanism 4, the position of the plunger 401 is displaced according to the magnitude of the energizing current. As described using Figure 12 , the force changes due to the position of the plunger 401. The force applied by the biasing member 33 is constant regardless of the energization state, but as in the examples of Figure 14 and Figure 15 , the force of the moving body 34 changes according to the magnitude of the energizing current. Therefore, the force as the resultant force of the biasing member 33 and the moving body 34 also changes according to the current supplied to the drive mechanism 4. That is, the force required for tilting the tilting body 20 corresponding to the resultant force of the biasing member 33 and the moving body 34 can be controlled by energizing the drive mechanism 4. The force required for tilting the tilting body 20 is controlled by the control circuit 5 described using Figure 11 .

[0073] Figures 16 to 18 This is a graph showing an example of the force for pressing the pressing member 32 from below in the operating device CTR described in the present application. Figures 16 to 18 The relationship is represented with the horizontal axis being the displacement corresponding to the tilting angle at which the tilting body 20 is tilted and the vertical axis being the force required for tilting. In the figure, the thin line represents the relationship of the force applied by the biasing member 33, the dashed line represents the relationship of the force applied by the moving body 34 based on the operation of the plunger 401 of the drive mechanism 4, and the thick line represents the resultant force of the biasing member 33 and the moving body 34. Figures 16 to 18An example of an energization pattern is shown in which the energization of the drive mechanism 4 is controlled according to the tilting angle of the tilting body 20, and the force for pressing the pressing member 32 is controlled.

[0074] Figure 16 An example of an energization pattern is shown in which the energization of the drive mechanism 4 is controlled so that the force applied by the moving body 34 increases according to the tilting angle. In Figure 16 this example, the inclination of the force for pressing the pressing member 32 is greater than the inclination of the force applied only by the force applying member 33. Therefore, the operator can feel a feeling similar to an increase in the spring constant of the compression coil spring used as the force applying member 33, that is, a feeling of increased elastic force.

[0075] Figure 17 An example of an energization pattern is shown in which the energization of the drive mechanism 4 is controlled so that the resultant force of the force for pressing the pressing member 32 is constant regardless of the tilting angle. By controlling as in Figure 17 this example, the operator feels a feeling of tilting it with a constant force regardless of the tilting angle.

[0076] Figure 18 An example of an energization pattern is shown in which the energization of the drive mechanism 4 is controlled so that the resultant force of the force for pressing the pressing member 32 decreases according to the tilting angle. By controlling as in Figure 18 this example, the operator feels a feeling of the force disappearing during tilting.

[0077] Figure 19 It is a graph showing an example of the force for pressing the pressing member 32 from below in the operating device CTR described in the present application. Figure 19 The horizontal axis represents the displacement corresponding to the tilting angle for tilting the tilting body 20, and the vertical axis represents the force required for tilting to show the relationship therebetween. The thin line in the figure represents the relationship of the force applied by the force applying member 33, the broken line represents the relationship of the force applied by the moving body 34 based on the operation of the plunger 401 of the drive mechanism 4, and the thick line represents the resultant force of the force applying member 33 and the moving body 34. Figure 19 An example of an energization pattern is shown in which the energization of the drive mechanism 4 is controlled according to the progress of the game for operating the operation target.

[0078] Figure 19 An example of an energization pattern is shown in which the energization of the drive mechanism 4 is controlled so that the action mechanism 3 operates when the tilting angle is a specified angle. In Figure 19In the case of controlling energization as an example, when the tilting angle of the tilting body 20 is a constant angle, the operator feels a force such as a click touch feeling. The above control example, such as a flight simulator, can give the operator a new sense of excitement by being installed in a computer game such as when the operation angle exceeds a constant angle, an impact is generated.

[0079] Figure 20 It is a graph showing an example of the force for pressing the pressing member 32 from below in the operation device CTR described in the present application. Figure 20 The horizontal axis represents time, and the vertical axis represents the force required for tilting to show the relationship. The thin line in the figure represents the relationship of the force applied by the biasing member 33, the dashed line represents the relationship of the force applied by the moving body 34 based on the operation of the plunger 401 of the drive mechanism 4, and the thick line represents the resultant force of the biasing member 33 and the moving body 34. Figure 20 It shows an example of an energization mode for controlling the energization of the drive mechanism 4 according to the progress of a game for operating an operation object.

[0080] Figure 20 For example, when installed in a fishing game, due to the increase in the pressing force generated by temporary energization in the first half, it is manifested as the biting of a fish, and due to the increase in the pressing force generated by continuous energization in the second half, it is manifested as the pulling of the biting fish. As Figure 19 and Figure 20 shown, the operation device CTR described in the present application can achieve various controls corresponding to a game for operating an operation object.

[0081] In the first embodiment, a method of a cam mechanism for pressing the pressing member 32 when the drive mechanism 4 attracts the plunger 401 is exemplified, but the present invention is not limited thereto, and a cam mechanism may be configured by pressing the pressing member 32 when the plunger 401 protrudes.

[0082] <Second Embodiment>

[0083] The second embodiment is based on the first embodiment, and is a method in which the moving body 34 presses the biasing member 33 from below toward the pressing member 32 side. In the second embodiment, for the same structure as the first embodiment, the same reference numerals as those in the first embodiment are used, and detailed description thereof is omitted. The appearance of the operation device CTR of the second embodiment is the same as that of the first embodiment.

[0084] Figure 21 It is a schematic cross-sectional view showing an example of the internal structure of the operation device CTR described in the present application. Figure 22It is a perspective exploded general view showing an example of the actuating mechanism 3 of the operating device CTR described in the present application. The operating device CTR of the second embodiment houses various mechanisms such as an operating mechanism 2, an actuating mechanism 3, and a driving mechanism 4 in the housing 1. The appearances of the operating mechanism 2, the actuating mechanism 3, and the driving mechanism 4 housed in the housing 1 are the same as those of the first embodiment. Figure 21 and Figure 22 correspond to the cross-sectional general view shown as Figure 3 and the perspective exploded general view shown as Figure 5 in the first embodiment. The operating mechanism 2 and the driving mechanism 4 of the second embodiment are the same as those of the first embodiment.

[0085] Using Figure 21 and Figure 22 , the actuating mechanism 3 will be described. In addition to various components such as a central frame 30, a lower frame 31, a pressing member 32, a biasing member 33, an actuating body 34, an upper guiding member 35, a lower guiding member 36, a return spring 37, and a driving cam member 38, the actuating mechanism 3 further has an annular actuating plate 39 that presses the biasing member 33 from below. In the second embodiment, the upper end of the central hole 300 of the central frame 30 is blocked, and the upper end of the upper guiding member 35 fixed in the central hole 300 is also blocked. Therefore, the actuating body 34 of the second embodiment does not directly press the pressing member 32 by passing through the central hole 300 as shown in the first embodiment. Four upwardly protruding cylindrical protrusion-like pressing bodies 342 are formed on the upper portion of the driven cam member 341 of the actuating body 34 in the second embodiment. In the central frame 30, a through hole (not shown) through which the protrusion-like pressing body 342 passes is formed at a position corresponding to the protrusion-like pressing body 342 of the actuating body 34. When the actuating body 34 is in the upper position, the protrusion-like pressing body 342 passes through the through hole and abuts against the lower surface of the annular actuating plate 39, pressing the annular actuating plate 39 from below upward. The annular actuating plate 39 is an annular member that is movably inserted in the vertical direction in the inner bottom of the annular groove portion 302 of the central frame 30 and is formed in a flat plate shape.

[0086] Next, the operation of the operating device CTR described in the present application will be described. The operation of the operating mechanism 2 of the second embodiment is substantially the same as that of the first embodiment. Figure 23 It is a cross-sectional general view showing an example of the cross-section of the operating mechanism 2 and the actuating mechanism 3 included in the operating device CTR described in the present application. Figure 23It represents a state where the moving body 34 moves upward, the biasing member 33 presses the pressing member 32 upward, and the protruding pressing body 342 of the moving body 34 presses the annular moving plate 39 upward. When the driving cam member 38 linked to the plunger 401 of the drive mechanism 4 moves, the moving body 34 moves upward. The protruding pressing body 342 of the moving body 34 presses the biasing member 33 upward from below via the annular moving plate 39. The biasing member 33 presses the pressing member 32 upward, and the pressing member 32 presses the pressed portion 203 of the tipping body 20 toward the center of the spherical body 201 from below. That is, the moving body 34 presses toward the pressing member 32 from the lower end, which is the opposite side of the upper end of the pressing member 32, with respect to the biasing member 33.

[0087] The structure of the control related to the operation of the operating device CTR of the second embodiment is the same as that of the first embodiment. Figures 24 to 26 It is a graph showing an example of the force for pressing the pressing member 32 from below in the operating device CTR described in the present application. Figures 24 to 26 The horizontal axis represents the displacement related to the tipping angle for tipping the tipping body 20, and the vertical axis represents the force required for tipping to show the relationship. In the figure, the thin line represents the relationship of the force applied by the biasing member 33, the dashed line represents the relationship of the force applied by the moving body 34 based on the operation of the plunger 401 of the drive mechanism 4, and the thick line represents the resultant force of the biasing member 33 and the moving body 34.

[0088] Figure 24 It represents a state where no power is supplied to the drive mechanism 4. In the state where no power is supplied to the drive mechanism 4, since the moving body 34 does not press the pressing member 32, the force required for tipping the tipping body 20 is equal to the force applied by the biasing member 33 and increases in a constant ratio with respect to the length according to the spring constant of the biasing member 33.

[0089] Figure 25 and Figure 26 It represents a state where power is supplied to the drive mechanism 4, Figure 26 is a state where a current larger than Figure 25 flows. In the second embodiment, the moving body 34 presses the pressing member 32 via the biasing member 33. When the force from the moving body 34 is small, the force from the moving body 34 is weaker than the biasing member 33, so the moving body 34 cannot move the pressing member 32. Therefore, as exemplified in Figure 25 and Figure 26 , the force for pressing the pressing member 32 is the stronger force of the forces applied by the biasing member 33 and the moving body 34. It should be noted that in the operating device CTR of the second embodiment, various operating sensations corresponding to the situation can also be felt by the operator by controlling the power supply to the drive mechanism 4.

[0090] <Third Embodiment>

[0091] Based on the first embodiment or the second embodiment, the third embodiment is a mode of changing the number of various mechanisms housed in the operating device CTR. In the third embodiment, for the same structures as those in the first embodiment or the second embodiment, the same reference numerals as those in the first embodiment and the second embodiment are used, and detailed descriptions thereof are omitted. Figure 27 It is a perspective overview diagram showing an example of the appearance of the operating device CTR described in the present application. As Figure 27 illustrated, the operating device CTR of the third embodiment houses various mechanisms such as an operating mechanism 2 in a single housing 1 and is formed as a single-handed operation controller. For example, in the case of being applied to a controller of an industrial robot, it is also possible to consider a mode in which one hand operates the operating device CTR of the present invention and the other hand performs other operations, so the above mode is particularly effective. In addition, it is also effective as a controller for a game in which different operating device CTRs are held by the left and right hands.

[0092] As described above, the operating device CTR described in the present application is applied as an operating device CTR such as a joystick-type controller, and can control the force for returning the tilted tilting body 20 to the reference position. Therefore, it is possible to control the operating load with respect to the tilting operation of the tilting body 20, and has good effects such that the operator can feel the operating load and recognize changes in the operating load. For example, when the operating device CTR described in the present application is applied to a game controller, the operating load can be arranged to change according to the progress of the game.

[0093] In addition, since the operating device CTR described in the present application transmits the driving force of the driving mechanism 4 to the moving body 34 via a cam mechanism, the driving direction can be appropriately designed, and it can be designed to be assembled into an operating device CTR with limited shape and size of the housing 1.

[0094] <Fourth Embodiment>

[0095] Based on the first embodiment, the fourth embodiment is a mode that does not use a cam mechanism, and is a mode that uses a VCM (Voice Coil Motor) as the driving mechanism 4 instead of a solenoid 40. In the fourth embodiment, for the same structures as those in the first embodiment, the same reference numerals as those in the first embodiment are used, and detailed descriptions thereof are omitted.

[0096] Figure 28 It is a cross-sectional overview diagram showing an example of a cross-section of the main components of the moving mechanism 3 and the driving mechanism 4 included in the operating device CTR described in the present application. In Figure 28The cross-section of the main components that are characteristic in the fourth embodiment among the operating mechanism 3 and the drive mechanism 4 is simply shown. In the operating device CTR of the fourth embodiment, the operating mechanism 3 and the drive mechanism 4 are actually integrated. For the sake of convenience in explanation, as the fourth embodiment, the mechanism that performs the operation is described as the operating mechanism 3, and the mechanism that does not perform the operation is described as the drive mechanism 4.

[0097] In addition to various components such as the pressing member 32, the biasing member 33, the rod-shaped pressing body 340, and the return spring 37 described in the first embodiment, the operating mechanism 3 further includes a spool 343 and an electromagnet 344 that constitutes a VCM. The rod-shaped pressing body 340, the spool 343, and the electromagnet 344 are integrated as the operating body 34. In Figure 28 the exemplified manner, the pressing member 32 and the operating body 34 move up and down integrally. The biasing member 33 abuts against the upper end of the pressing member 32 and biases the pressing member 32 upward. The return spring 37 abuts against the protruding portion 340a formed at the lower portion of the rod-shaped pressing body 340 from above and biases the rod-shaped pressing body 340 downward. The spool 343 that constitutes the operating body 34 has an upper bottom surface and is formed in a bottomed cylindrical shape that is open at the bottom. The upper bottom surface is mounted on the lower portion of the pressing member 32. The electromagnet 344 is a coil wound around the outer peripheral surface of the spool 343 and generates a magnetic field when energized.

[0098] The drive mechanism 4 includes a yoke 41 formed of a soft magnetic metal. The yoke 41 has a lower bottom surface and is open at the upper side, and is formed in a substantially bottomed cylindrical shape with double concentric side walls. Specifically, the yoke 41 is composed of a substantially disc-shaped bottom plate 410, a substantially cylindrical outer side wall 411 mounted on the upper surface of the bottom plate 410, a substantially cylindrical inner side wall 412 located inside the outer side wall 411, and a guide post 413 erected at the center of the bottom plate 410. A cylindrical permanent magnet 42 that constitutes a VCM is embedded between the outer side wall 411 and the inner side wall 412 of the yoke 41. In Figure 28 the exemplified manner, the cylindrical permanent magnet 42 is magnetized so that the inner side surface is the N pole and the outer side surface is the S pole, and changes from the N pole to the S pole in the radial direction. It should be noted that it can be appropriately designed such that the inner side surface of the permanent magnet 42 is the S pole and the outer side surface is the N pole, etc. The inner side wall 412 is connected to the lower end of the biasing member 33 at the upper end. The guide post 413 erected at the center of the yoke 41 is formed in a substantially cylindrical shape, is inserted through the inside of the spool 343, and guides the up and down movement of the spool 343. Through holes are formed through the center of the bottom plate 410 and the guide post 413 of the yoke 41, and the rod-shaped pressing body 340 penetrates through the through holes in a vertically movable manner. The bottom plate 410 is connected to the upper end of the return spring 37.

[0099] The operating device CTR forms a VCM with an electromagnet 344 and a permanent magnet 42. By the electromagnet 344 formed to generate a magnetic field when an electric current is passed through the coil of the operating mechanism 3, as shown by the arrows in the figure, a magnetic circuit is formed through components such as the yoke 41. Using electromagnetic induction, an upward force acts on the electromagnet 344, pressing the pressing member 32 to move upward. By moving upward, the pressing member 32 presses the pressed portion 203 of the tipping body 20 from below upward.

[0100] Figure 29 It is a graph showing an example of the mechanical characteristics of a general VCM. In Figure 29 it, the horizontal axis represents the stroke length (moving distance) of the electromagnet, and the vertical axis represents the force relative to the electromagnet to show the relationship. Figure 29 For several levels of the VCM, the relationship between the moving distance and the force corresponding to the position of the electromagnet is shown. Comparing the change in the force of the VCM with the specifications exemplified in Figure 29 with the solenoid exemplified in Figure 12 the specifications are as follows: the change in the force with respect to the moving distance is reduced, and the force is approximately constant with respect to the moving distance.

[0101] Next, the operation of the operating device CTR described in the present application will be described. Figure 30 、 Figure 31 and Figure 32 are sectional schematic diagrams showing an example of the cross-section of the operating device CTR described in the present application. Figure 30 shows the state where the tipping body 20 of the operating mechanism 2 is in the reference position, Figure 31 shows the state where the tipping body 20 is tipped from the reference position by the operation of the operator, Figure 32 shows the state where the tipping body 20 is further tipped by the operation. By tipping, the tipping body 20 presses the pressing member 32 downward, and the pressing member 32 presses the tipping body 20 upward using the biasing force of the biasing member 33 and the electromagnetic induction of the VCM.

[0102] Figure 33 It is a graph showing an example of the mechanical characteristics of the VCM used in the operating device CTR described in the present application. In Figure 33 it, the horizontal axis represents the stroke length of the electromagnet 344, and the vertical axis represents the force on the electromagnet 344 to show the relationship. In Figure 33 the S0, S1, and S2 shown on the horizontal axis respectively correspond to the states shown in Figure 30 、 Figure 31 and Figure 32 and the magnitude of the force of the electromagnet 344 corresponding to the positions of S0, S1, and S2 is indicated by "○". As shown in Figure 33For example, in the operating device CTR using a VCM, regardless of the position of the moving body 34 that moves up and down, the force relative to the electromagnet 344 is substantially constant.

[0103] Due to the use of a VCM, the force of the operating device CTR of the fourth embodiment is substantially constant with respect to the moving distance. Therefore, the force with which the pressing member 32 presses the pressed portion 203 of the tilting body 20 is easily controllable. In addition, the operating device CTR using a VCM can also make the force on the pressing member 32 downward by reversing the direction of the current. Therefore, one or both of the biasing member 33 using a compression coil spring and the return spring 37 can be omitted, and only the feeling is controlled by the VCM.

[0104] As described above, the operating device CTR described in the present application is applied as an operating device CTR such as a joystick-type controller, and can control the force for returning the tilted tilting body 20 to the reference position. Therefore, it has the following good effects, that is, it can control the operating load with respect to the tilting operation of the tilting body 20, the operator can feel the operating load and recognize changes in the operating load, etc. For example, when the operating device CTR described in the present application is applied to a game controller, the operating load can be arranged to change according to the progress of the game.

[0105] In addition, since the driving force of the driving mechanism 4 of the operating device CTR described in the present application is transmitted to the moving body 34 via the cam mechanism, the driving direction can be appropriately designed, and it can be designed to be assembled into an operating device CTR with limited shape and size in the housing 1.

[0106] In addition, the operating device CTR described in the present application can also be designed such that the driving force of the driving mechanism 4 is directly transmitted to the moving body 34 without passing through the cam mechanism. Since it is a design that does not use the cam mechanism, the whole can be miniaturized and the structure can be simplified.

[0107] In addition, the operating device CTR described in the present application can use various mechanisms such as a solenoid 40 and a VCM (electromagnet 344 and permanent magnet 42) as the driving mechanism 4.

[0108] The present invention is not limited to the above-described embodiments and can be implemented in various other ways. Therefore, the above embodiments are merely illustrative in all respects and are not restrictive descriptions. The technical scope of the present invention is defined by the scope of the claims and is not limited to the text of the specification. In addition, modifications and changes within the scope equivalent to the scope of the claims are included in the scope of the present invention.

[0109] For example, while the above embodiments describe use in a game controller, the present invention is not limited thereto and can be used to operate various objects, such as toys, mobile objects, measuring devices, and industrial robots. For example, when used in an industrial robot controller, when operating heavy cargo, control can be performed to adjust the operating conditions, such as increasing the operating load.

[0110] In the above embodiment, a solenoid 40 and a VCM composed of an electromagnet 344 and a permanent magnet 42 are used as the driving mechanism 4. However, the present invention is not limited to this, and various mechanisms can be applied as long as they drive the motion mechanism 3. For example, a motor, a servo motor, a linear motor, or the like can be applied as the driving mechanism 4 that drives the motion mechanism 3.

[0111] Furthermore, while the above embodiment shows a configuration in which the tilting body 20 can tilt in all directions around 360 degrees, the present invention is not limited thereto. Specifically, the tilting body 20 can be appropriately designed to tilt only in the X-axis direction, for example. Furthermore, if tilting is limited to a specific direction, the pressed portion 203 does not necessarily need to be disc-shaped and can be formed to extend only in the tilting direction.

[0112] Description of Reference Numerals

[0113] CTR operating device; 2 operating mechanism; 20 tilting body; 20a tilting center; 200 axial body; 201 spherical body; 202 operating part; 203 pressed part; 21 holding part; 3 actuating mechanism; 32 pressing part; 33 force-applying part; 34 actuating body; 340 rod-shaped pressing body; 341 driven cam part; 342 protrusion-shaped pressing body; 344 electromagnet (VCM); 38 active cam part; 39 annular actuating plate; 4 driving mechanism; 40 solenoid; 41 yoke; 42 permanent magnet (VCM); 5 control circuit; 50 control part.

Claims

1. An operating device having a tilting body that receives an operation of tilting from a reference position about a tilting center, and operates an operation target according to the tilting state of the tilting body, wherein the operating device is characterized in that the tilting body has a pressed portion at an end that extends in a direction orthogonal to the central axis passing through the tilting center, the operating device has: a pressing member that presses the pressed portion in a direction parallel to the central axis when the tilting body is in the reference position and toward the tilting center; a biasing member that biases the pressing member toward the tilting center; an actuating body that performs an action of pressing the pressing member toward the tilting center; a drive mechanism that causes the actuating body to perform an action; the drive mechanism causes the actuating body to perform an action via a cam mechanism.

2. An operating device having a tilting body that receives an operation of tilting from a reference position about a tilting center, and operates an operation target according to the tilting state of the tilting body, wherein the operating device is characterized in that the tilting body has a pressed portion at an end that extends in a direction orthogonal to the central axis passing through the tilting center, the operating device has: a pressing member that presses the pressed portion in a direction parallel to the central axis when the tilting body is in the reference position and toward the tilting center; a biasing member that biases the pressing member toward the tilting center; an actuating body that performs an action of pressing the biasing member from the side opposite to the pressing member side toward the pressing member side; a drive mechanism that causes the actuating body to perform an action; the drive mechanism causes the actuating body to perform an action via a cam mechanism.

3. The operating device according to claim 1 or 2, wherein the tilting body can tilt in all directions from the reference position, the pressed portion is formed in a substantially disk shape with the central axis as the center and the direction orthogonal to the central axis as the radial direction.

4. The operating device according to claim 1 or 2, wherein the driving direction of the drive mechanism is substantially orthogonal to the action direction of the actuating body.

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