Operating device

Abstract

To provide an operation device including a tilting body which accepts an operation for tilting with a tilting center as a center from a reference position and capable of controlling an operation load in an operation device CTR which operates an operation target according to a tilting state of the tilting body.SOLUTION: An operation device comprises: a pressing member 32 which presses a pressed part 203 in an end part of a tilting body 20 parallel to a central axis when the tilting body 20 is located in a reference position in a direction toward a tilting center 20a; and a biasing member 33 which biases the pressing member 32 toward the tilting center 20a. In addition, the operation device comprises an operation body 34 which operates the pressing member 32 toward the tilting center 20a or the operation body 34 which presses the biasing member 33 from a side opposite to the side facing the pressing member 32 toward the pressing member 32 side.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an operating device that operates an operation object in accordance with a tilting state of a tilting body. [Background technology]

[0002] An operating device called a joystick is widely used as an operating device for operating various devices such as computer games, various toys, and industrial robots. In an operating device in the form of a joystick, a tilting body that can be tilted in various directions is tilted to move an operation target in the tilting direction, enabling intuitive operation. For example, Patent Document 1 proposes a variable resistor type pointing device that detects tilt using variable resistors arranged on each of the X and Y axes as such an operating device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Taiwan Utility Model Patent No. 371503 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, new entertainment value is always required for a mechanism for recognizing a situation in a computer game. Even when a machine such as an industrial robot is to be operated, a mechanism for recognizing the operation situation in various ways is required. However, a conventional operating device such as that described in Patent Document 1 is an input device and does not have a function as an output device, and cannot allow an operator to recognize a situation.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide an operating device having an output function. [Means for solving the problem]

[0006] In order to solve the above problems, the operating device described in the present application is an operating device that has a tilting body that accepts an operation to tilt from a reference position around a tilting center, and operates an operating object depending on the tilting state of the tilting body, wherein the tilting body has a pressable portion at its end that extends in a direction perpendicular to a central axis passing through the tilting center, and is characterized in that it is equipped with a pressing member that presses the pressable portion in a direction parallel to the central axis when the tilting body is located at 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 operates to press the pressing member toward the tilting center.

[0007] The operating device further includes a tilting body that accepts an operation to tilt the tilting body from a reference position around a tilting center, and operates an operation target according to the tilting state of the tilting body, wherein the tilting body has a pressable portion at its end that extends in a direction perpendicular to a central axis passing through the tilting center, and the operating device is characterized in that it includes a pressing member that presses the pressable portion in a direction parallel to the central axis when the tilting body is located at 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 presses the biasing member toward the pressing member from the side opposite to the side facing the pressing member.

[0008] In the operating device, the tilting body can be tilted in all directions from a reference position, and the pressed portion has the central axis as a center and a direction perpendicular to the central axis as a radial direction. It is characterized by being approximately disk-shaped.

[0009] The operating device is also characterized by including a drive mechanism for operating the operating body.

[0010] In the operating device, the drive mechanism operates the operating body via a cam mechanism.

[0011] In the operating device, the driving direction of the driving mechanism and the moving direction of the moving body are substantially perpendicular to each other.

[0012] In the operating device, the driving direction of the driving mechanism and the moving direction of the moving body are substantially the same direction.

[0013] The operating device described in the present application controls the operating load of the operating device by pressing a pressing member, which presses a pressed portion of a tilting body, with a biasing member and also with an operating body. Effect of the Invention

[0014] The operating device according to the present invention applies a force in a direction to return the tilted tilting body to a reference position by pressing a pressed portion at an end of the tilting body in a direction toward the tilt center with a pressing member. The pressing member is pressed by a biasing member and a moving body that performs a pressing operation. Since pressing is performed not only by the biasing member but also by the operation of the moving body, the pressing force can be controlled by the operation of the moving body. Therefore, the force that returns the tilting body can be changed. The operator recognizes the change in the force that returns the tilting body as a change in the operating load. That is, the operating device according to the present invention has excellent effects such as changing the operating load. This has excellent effects such as allowing the operator to sense the change in the operating load. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic perspective view showing an example of the appearance of an operating device described in the present application. [Diagram 2] 1 is a schematic perspective view showing an example of an internal structure of an operating device described in the present application. [Diagram 3] 1 is a schematic cross-sectional view showing an example of an internal structure of an operating device described in the present application. [Figure 4] FIG. 2 is a schematic exploded perspective view showing an example of an operation mechanism included in the operation device described in the present application. [Diagram 5] FIG. 2 is a schematic exploded perspective view showing an example of an operating mechanism included in the operating device described in the present application. [Figure 6] 2 is a schematic cross-sectional view showing an example of a cross section of an operation mechanism and a drive mechanism included in the operation device described in the present application. [Figure 7] 2 is a schematic cross-sectional view showing an example of a cross section of an operation mechanism and a drive mechanism included in the operation device described in the present application. [Figure 8] 2 is a schematic cross-sectional view showing an example of a cross section of an operation mechanism and a drive mechanism included in the operation device described in the present application. [Figure 9] 2 is a schematic cross-sectional view showing an example of a cross section of an operating mechanism included in the operating device described in the present application. [Figure 10] 2 is a schematic cross-sectional view showing an example of a cross section of an operating mechanism included in the operating device described in the present application. [Figure 11] 1 is a schematic block diagram conceptually illustrating an example of a control configuration related to the operation of an operating device described in the present application. [Figure 12] 1 is a graph showing an example of mechanical characteristics of a typical solenoid. [Figure 13] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 14] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 15] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 16] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 17] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 18] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 19] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 20] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 21]1 is a schematic cross-sectional view showing an example of an internal structure of an operating device described in the present application. [Figure 22] FIG. 2 is a schematic exploded perspective view showing an example of an operating mechanism of the operating device described in the present application. [Figure 23] 2 is a schematic cross-sectional view showing an example of a cross section of an operating mechanism and an operating mechanism included in the operating device described in the present application. [Figure 24] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Diagram 25] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 26] 5 is a graph showing an example of a force pressing a pressing member from below in the operating device described in the present application. [Figure 27] 1 is a schematic perspective view showing an example of the appearance of an operating device described in the present application. [Figure 28] 2 is a schematic cross-sectional view showing an example of a cross-section of a main part of an operating mechanism and a drive mechanism provided in the operating device described in the present application. [Figure 29] 1 is a graph showing an example of mechanical properties of a typical VCM. [Diagram 30] 1 is a schematic cross-sectional view showing an example of a cross section of an operating device described in the present application. [Diagram 31] 1 is a schematic cross-sectional view showing an example of a cross section of an operating device described in the present application. [Diagram 32] 1 is a schematic cross-sectional view showing an example of a cross section of an operating device described in the present application. [Diagram 33] 4 is a graph showing an example of mechanical characteristics of a VCM used in the operating device described in the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The operation device described in the present application is used, for example, as a joystick-type controller for operating an operation object. By using it as an operation device such as a joystick-type controller, it can be used to operate various operation objects such as various toys, various moving objects, various measuring devices, industrial robots, etc., in addition to an operation device for computer games. Below, an operation device CTR in which the operation device described in the present application is applied to a joystick-type controller will be described.

[0017] First Embodiment FIG. 1 is a schematic perspective view showing an example of the appearance of the operating device CTR described in the present application. The operating device CTR includes a housing 1, and the housing 1 has gripping parts 10 formed at both ends to be gripped by the right and left hands, respectively. When the gripping parts 10 at both ends are gripped, a substantially circular opening 11 is opened at a position on the top surface where the finger touches, and a part of an operating mechanism 2 for operating an operating object protrudes from inside the housing 1 through the opening 11. Furthermore, on the top surface side, a plurality of operating buttons 12 are arranged at positions that can be pressed by the operator's fingers. For convenience of explanation, in the present application, the side located at the top when the operator operates in a normal posture, that is, the side where the operating buttons 12 are arranged and where the operating mechanism 2 protrudes, is described as the upper side.

[0018] Fig. 2 is a schematic perspective view showing an example of the internal structure of the operating device CTR described in the present application. Fig. 2 shows the internal structure of the operating device CTR with the housing 1 removed. In addition to the above-mentioned operating mechanism 2 for operating an operation target, various mechanisms are housed in the housing 1, such as an operating mechanism 3 for operating the operating mechanism 2 and a drive mechanism 4 for driving the operating mechanism 3. Two devices shown as an example of the internal structure in Fig. 2 are housed in the housing 1 of the operating device CTR shown in Fig. 1.

[0019] FIG. 3 is a schematic cross-sectional view showing an example of the internal structure of the operating device CTR described in the present application. FIG. 4 is a schematic exploded perspective view showing an example of the operating mechanism 2 provided in the operating device CTR described in the present application. FIG. 3 is a schematic perspective view showing a cross section of the internal structure of the operating device CTR cut along a vertical plane passing through AB shown in FIG. 2. The operating mechanism 2 will be described with reference to FIGS. 3 and 4. The operating mechanism 2 includes a tilting body 20 that receives a tilting operation from an operator, and the tilting body 20 has an axis-shaped body 200, a spherical body 201, an operating unit 202, and a pressed unit 203. The axis-shaped body 200 is a stick that tilts in response to an operation, passes through the center of the spherical body 201, and serves as a central axis when the tilting body 20 rotates. The axis-shaped body 200 can be tilted in all directions around 360 degrees from a reference position with the center of the spherical body 201 as the tilting center 20a. An operating section 202 that receives an operation is formed on the upper side (one end side) of the shaft-shaped body 200 that protrudes from the opening 11 of the housing 1. A pressed section 203 that receives a pressure from the operating mechanism 3 is formed on the lower side (other end side) of the shaft-shaped body 200 housed in the housing 1. The operating section 202 has a disk section 202a that is substantially disk-shaped, and a rotation protrusion 202b used for rotation operation is formed on the upper edge of the disk section 202a. Furthermore, a cover section 202c that is substantially spherical crown-shaped and covers the upper part of the spherical body 201 and the holding member 21 that holds the spherical body 201 is formed below the disk section 202a. The pressed section 203 is substantially disk-shaped, and is formed so that the vicinity of the center is flat and the peripheral side is warped toward the spherical body 201. The shaft-shaped body 200 is connected to the center of the disk of the pressed section 203. The spherical body 201 is operably held by a holding member 21 having a concave surface formed along the outer surface of the spherical body 201, and the holding member 21 is fixed inside the housing 1 by an upper frame 22. The holding member 21 is equipped with an X-axis angle sensor 210 and a Y-axis angle sensor 211 (see FIG. 11, etc.) that detect variations in the tilt angle in two perpendicular directions (X-axis direction and Y-axis direction) of the spherical body 201 that it operably holds. With the operation mechanism 2 configured as described above, an operator can perform an operation to tilt the tilting body 20 and an operation to rotate the tilting body 20 in the circumferential direction around the shaft-shaped body 200 of the tilting body 20 as the central axis.

[0020] FIG. 5 is a schematic exploded perspective view showing an example of the operating mechanism 3 included in the operating device CTR described in the present application. The operating mechanism 3 will be described with reference to FIG. 3 and FIG. 5. The operating mechanism 3 is fixed in the housing 1 by a central frame 30 and a lower frame 31 attached below the upper frame 22. The central frame 30 is formed with 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 circumferentially surrounding the outer side of the inner wall 301. The central frame 30 supports a pressing member 32 that presses the pressed portion 203 in a direction toward the tilt center 20a above so as to be movable up and down. The pressing member 32 has an upper portion formed in a disk shape and a lower portion formed in a cylindrical shape. The pressing member 32 is arranged so as to close the central hole 300 formed in the central frame 30, and the upper surface of the pressing member 32 abuts against the pressed portion 203. The cylindrical lower part is loosely fitted into groove 302 of central frame 30 with some play so as to be movable up and down. As the lower part of pressing member 32 is loosely fitted into groove 302 of central frame 30, groove 302 guides the up and down movement of pressing member 32, stabilizing the operation of pressing member 32. A biasing member 33 such as a compression coil spring is disposed in annular groove 302 so as to revolve around groove 302. The lower end of biasing member 33 is fixed to the inner bottom surface of groove 302, and the upper end abuts against pressing member 32, biasing pressing member 32 upward.

[0021] The central frame 30 holds an actuator 34 that moves the pressing member 32 upward so that the actuator 34 can move up and down. The actuator 34 includes a rod-shaped pressing body 340 that presses the pressing member 32, and The operating body 34 is a member that is integrated with a driven cam member 341 that operates by a cam structure. The operating body 34 is integrated such that the rod-shaped pressing body 340 penetrates the driven cam member 341 vertically. The upper part of the rod-shaped pressing body 340 is inserted into the central hole 300 of the central frame 30. The upper end side of the rod-shaped pressing body 340 that moves up and down is inserted into the substantially cylindrical upper guide member 35 so as to be vertically movable, and the lower end side is inserted into the substantially cylindrical lower guide member 36 so as to be vertically movable. The upper guide member 35 is fixed in a state of being fitted into the central hole 300 of the central frame 30, and guides the vertical movement of the rod-shaped pressing body 340. The lower guide member 36 is fixed in a state of being fitted into the lower end hole 310 opened at the lower end of the lower frame 31, and guides the vertical movement of the rod-shaped pressing body 340. A return spring 37 such as a compression coil spring is wound around the rod-shaped pressing body 340. The upper end of the return spring 37 abuts against the upper guide member 35, and the lower end abuts against the upper surface of the driven cam member 341, and urges the operating body 34 downward via the driven cam member 341.

[0022] A driven cam member 38 is fitted in the lower frame 31 so as to be movable in the horizontal direction, and the driven cam member 38 cooperates with a driven cam member 341 of the operating body 34 to form a cam mechanism. The driven cam member 38 is generally box-shaped with an open top. An attachment opening 381 for attaching the drive mechanism 4 is formed in one of the four side walls of the driven cam member 38. Two side walls of the driven cam member 38 that are in contact with both sides of the side wall in which the attachment opening 381 is formed are formed with driven cam surfaces 380 that are inclined so as to become gradually higher from the side closer to the attachment opening 381 to the side farther from the side. An inclined driven cam surface 341a that slides in contact with the driven cam surface 380 of the driven cam member 38 is formed in the driven cam member 341 of the operating body 34. Due to the cam structure in which the driven cam member 38 and the driven cam member 341 work together, the movement of the driven cam member 38, which is driven in the horizontal direction by the drive mechanism 4, is transmitted as a vertical movement of the operating body 34. Specifically, when the driven cam member 38 moves toward the drive mechanism 4, the driven cam member 341 of the operating body 34 moves upward while the driven cam surface 341a slides on the driven cam surface 380. When the driven cam member 38 moves to the opposite side of the drive mechanism 4, the operating body 34, which is biased downward by the return spring 37, moves downward. In this way, the operating body 34 moves up and down. By moving upward, the operating body 34 presses the pressing member 32 from below. It is also possible to change the formation positions of the driven cam surface 380 and the driven cam surface 341a so that when the driven cam member 38 moves to the opposite side of the drive mechanism 4, the operating body 34 moves upward, and when the driven cam member 38 moves toward the drive mechanism 4, the operating body 34 moves downward.

[0023] The drive mechanism 4 will be described with reference to Figures 2 and 3. The drive mechanism 4 is an actuator such as a solenoid 40 that operates when electricity is applied, and includes a drive unit 400 having a coil to be energized, and a plunger 401 that is operated by the drive unit 400. The tip of the plunger 401 is connected to a connection portion 402 of the driven cam member 38. When no electricity is applied to the drive unit 400, the plunger 401 protrudes from the drive unit 400, and when electricity is applied, the plunger 401 moves so as to be drawn into the drive unit 400 according to the magnitude of the current.

[0024] Next, the operation of the operating device CTR described in the present application will be described. FIG. 6 and FIG. 7 are schematic cross-sectional views showing an example of a cross section of the operating mechanism 2 and the operating mechanism 3 included in the operating device CTR described in the present application. FIG. 6 and FIG. 7 show a state in which the operating body 34 is located below and only the biasing member 33 presses the pressing member 32 upward. FIG. 6 shows a state in which the tilting body 20 of the operating mechanism 2 is in a reference position, and FIG. 7 shows a state in which the tilting body 20 is tilted from the reference position by the operation of the operator. The pressing member 32 biased by the biasing member 33 presses the pressed portion 203 of the tilting body 20 from below to above. When the tilting body 20 is located at the reference position as shown in FIG. 6, the pressing member 32 presses the flat center vicinity of the pressed portion 203 toward the center of the spherical body 201, so that the tilting body 20 is in a stable posture. When the tilting body 20 is tilted as shown in FIG. 7, the pressing member 32 presses the peripheral side of the pressed portion 203 toward the center of the spherical body 201, so that a force acts in the rotation direction in which the tilting body 20 returns to the reference position. Therefore, when the tilting body 20 is located at the reference position, the tilting body 20 is stable. When the tilting body 20 is tilted from the reference position, a force acts in the direction returning it to the reference position, making it unstable. Therefore, when the tilting force applied by the operator is released, the tilting body 20 returns to the reference position.

[0025] FIG. 8 is a schematic cross-sectional view showing an example of a cross section of the operation mechanism 2 and the operation mechanism 3 included in the operation device CTR described in the present application. FIG. 8 shows a state in which the operating body 34 moves upward, and the biasing member 33 and the rod-shaped pressing body 340 of the operating body 34 press the pressing member 32 upward. FIG. 8 shows a state in which the tilting body 20 is tilted from the reference position by the operation of the operator. By applying electricity to the driving mechanism 4, the plunger 401 moves so as to be drawn into the driving part 400. By the movement of the plunger 401, the driven cam member 38 connected to the plunger 401 moves toward the driving mechanism 4, and the driven cam member 341 forming the cam mechanism moves upward in conjunction with the operation. By the movement of the operating body 34 upward, the pressing member 32 is pressed from below. Therefore, by energizing the drive mechanism 4, the pressing member 32 receives an upward force from both the biasing member 33 and the operating body 34, and presses the pressed part 203 from below with a strong force. Therefore, compared to when the operating body 34 is located downward, the force returning the tilting body 20 to the reference position is stronger, and the operator needs to use a stronger force to tilt the tilting body 20.

[0026] 9 and 10 are schematic cross-sectional views showing an example of a cross section of the operating mechanism 3 included in the operating device CTR described in the present application. FIG. 9 shows a state in which the operating body 34 is located downward, and FIG. 10 shows a state in which the operating body 34 is located upward. When the driving mechanism 4 is not energized as shown in FIG. 9, the driven cam member 38 is located on the left side in FIG. 9, and the operating body 34 is pressed downward by the return spring 37 and is located downward. When the operating body 34 is located downward, the upper end of the rod-shaped pressing body 340 of the operating body 34 is separated from the pressing member 32. When the driving mechanism 4 is energized, the driven cam member 38 connected to the plunger 401 moves to the right side in FIG. 10, as shown in FIG. 10. When the driving cam member 38 moves to the right, the cam mechanism causes the driven cam member 341 of the operating body 34 to move upward while the driven cam surface 341a slides on the driving cam surface 380, and the rod-shaped pressing body 340 integrated with the driven cam member 341 as the operating body 34 also moves upward. 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, as shown in FIG.

[0027] Next, a control configuration for the operation of the operating device CTR described in the present application will be described. FIG. 11 is a schematic block diagram conceptually showing an example of a control configuration for the operation of the operating device CTR described in the present application. The operating device CTR 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 a control circuit 5 equipped with various elements. The control circuit 5 includes a control unit 50 such as a CPU (Central Processing Unit) that controls the entire device, and the control unit 50 controls various components such as an X-axis AD conversion unit 51, a Y-axis AD conversion unit 52, a solenoid driver 53, and a pattern recording unit 54 mounted on the control circuit 5.

[0028] The X-axis AD conversion unit 51 is a circuit that receives an input of an analog signal indicating the displacement of the tilt angle of the spherical body 201 in the X-axis direction detected by the X-axis angle sensor 210 from the X-axis angle sensor 210 provided in 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 input of an analog signal indicating the displacement of the tilt angle of the spherical body 201 in the Y-axis direction detected by the Y-axis angle sensor 211 from the Y-axis angle sensor 211 provided in 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.

[0029] The pattern recording unit 54 is a memory that records in advance the energization pattern for the drive mechanism 4. The control unit 50 selects an energization pattern recorded in the pattern recording unit 54 based on a selection signal received from the pattern selection means 55, and outputs an operation signal for operating the drive mechanism 4 based on the selected energization pattern via the solenoid driver 53. The pattern selection means 55 is, for example, a step based on software executed in a game machine connected to the operation device CTR, and is output according to the progress of the game. In addition, when the operation device CTR receives a specific operation, a step based on a program executed in the operation device CTR may output a selection signal as the pattern selection means 55.

[0030] The solenoid driver 53 receives an operation signal from the control unit 50, appropriately changes the format of the signal, and outputs the operation signal to the drive mechanism 4.

[0031] Next, the mechanical characteristics of the pressing force by the pressing member 32 and the biasing member 33 will be described. FIG. 12 is a graph showing an example of the mechanical characteristics of a general solenoid. FIG. 12 shows the relationship between the stroke length on the horizontal axis and the attractive force on the vertical axis. FIG. 12 shows the relationship between the plunger position (stroke length) and the attractive force corresponding to the plunger position for several grades of solenoids that retract the plunger when energized. In the solenoid of the specification shown in FIG. 12, the shorter the stroke length, i.e., the more the plunger is retracted, the stronger the attractive force becomes. The operating device CTR described in the present application shows an example using a solenoid of the specification in which the force is strong when the plunger is in the protruding position and the force is weaker as the plunger is retracted, as shown in FIG. 12.

[0032] 13 to 15 are graphs showing an example of the force pressing the pressing member 32 from below in the operating device CTR described in the present application. In Fig. 13 to 15, the horizontal axis indicates the displacement related to the tilt angle at which the tilting body 20 is tilted, and the vertical axis indicates the force required for tilting, and the relationship is shown. The displacement related to the tilt angle is the distance the pressing member 32 is pressed downward by the tilt angle itself or the pressed part 203 tilted according to the tilt angle. In the figures, the thin lines indicate the relationship of the force due to the biasing member 33, the dashed lines indicate the relationship of the force due to the operating body 34 based on the operation of the plunger 401 of the drive mechanism 4, and the thick lines indicate the resultant force of the biasing member 33 and the operating body 34.

[0033] 13 shows a state in which no current is applied to the drive mechanism 4. In a state in which no current is applied to the drive mechanism 4, the operating body 34 does not press the pressing member 32, so the force required to tilt the tilting body 20 is equal to the force from the biasing member 33 and increases at a constant rate with respect to the length according to the spring constant of the biasing member 33. Note that since a preload is applied to the pressing member 32, the relationship is not completely proportional.

[0034] 14 and 15 show a state in which the drive mechanism 4 is energized, and a larger current is flowing in FIG. 15 than in FIG. 14. The solenoid 40 used in the drive mechanism 4 displaces the position of the plunger 401 depending on the magnitude of the current flowing, and as described with reference to FIG. 12, the force varies depending on the position of the plunger 401. The force of the urging member 33 is constant regardless of the current flowing state, but as illustrated in FIG. 14 and FIG. 15, the force of the operating body 34 changes depending on the magnitude of the current flowing. Therefore, the force that is the resultant force of the urging member 33 and the operating body 34 also changes depending on the current flowing in the drive mechanism 4. That is, the force required for tilting the tilting body 20, which corresponds to the resultant force of the urging member 33 and the operating 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 with reference to FIG. 11.

[0035] 16 to 18 are graphs showing an example of the force pressing the pressing member 32 from below in the operating device CTR described in the present application. The relationship is shown by plotting the displacement corresponding to the tilt angle on the vertical axis and the force required for tilting on the vertical axis. In the figure, the thin line shows the relationship of the force due to the biasing member 33, the dashed line shows the relationship of the force due to the operating body 34 based on the operation of the plunger 401 of the driving mechanism 4, and the thick line shows the resultant force of the biasing member 33 and the operating body 34. Figures 16 to 18 show examples of current patterns in which the current to the driving mechanism 4 is controlled according to the tilt angle of the tilting body 20, and the force pressing the pressing member 32 is controlled.

[0036] Fig. 16 shows an example of a current pattern for controlling current flow to the drive mechanism 4 so that the force of the operating body 34 increases according to the tilt angle. In the example of Fig. 16, the gradient of the force pressing the pressing member 32 is greater than the gradient of the force due only to the biasing member 33. Therefore, the operator feels as if the spring constant of the compression coil spring used as the biasing member 33 has increased, that is, the feeling that the spring has been strengthened.

[0037] Fig. 17 shows an example of a current pattern for controlling current supply to the drive mechanism 4 so that the resultant force pressing the pressing member 32 is constant regardless of the tilt angle. By controlling as shown in Fig. 17, the operator feels as if the force is constant regardless of the tilt angle.

[0038] Fig. 18 shows an example of a current pattern for controlling current supply to the drive mechanism 4 so that the resultant force pressing the pressing member 32 becomes smaller according to the tilt angle. By controlling as shown in Fig. 18, the operator feels a sense of relaxation when tilting.

[0039] Fig. 19 is a graph showing an example of the force pressing the pressing member 32 from below in the operating device CTR described in the present application. Fig. 19 shows the relationship between the displacement corresponding to the tilt angle at which the tilting body 20 is tilted on the horizontal axis and the force required for tilting on the vertical axis. In the figure, the thin line shows the relationship of the force due to the biasing member 33, the dashed line shows the relationship of the force due to the operating body 34 based on the operation of the plunger 401 of the driving mechanism 4, and the thick line shows the resultant force of the biasing member 33 and the operating body 34. Fig. 19 shows an example of a current pattern that controls the current to the driving mechanism 4 according to the progress of a game in which an operating object is operated.

[0040] Fig. 19 shows an example of a current pattern for controlling current flow to the drive mechanism 4 so that the operating mechanism 3 operates when the tilt angle reaches a predetermined angle. When current flow is controlled as shown in Fig. 19, the operator feels a click-like force when the tilt angle of the tilt body 20 reaches a certain angle. By implementing this type of control in a computer game such as a flight simulator in which an impact occurs when the operating angle exceeds a certain angle, it becomes possible to give the operator a new sense of exhilaration.

[0041] Fig. 20 is a graph showing an example of the force pressing the pressing member 32 from below in the operating device CTR described in the present application. Fig. 20 shows the relationship between time on the horizontal axis and the force required for tilting on the vertical axis. In the figure, thin lines show the relationship of the force due to the biasing member 33, dashed lines show the relationship of the force due to the operating body 34 based on the operation of the plunger 401 of the driving mechanism 4, and thick lines show the resultant force of the biasing member 33 and the operating body 34. Fig. 20 shows an example of a current supply pattern that controls the current supply to the driving mechanism 4 according to the progress of a game in which an operating object is operated.

[0042] 20 shows an example of a fishing game in which the bite of a fish is expressed by increasing the pressing force due to temporary current flow in the first half, and the pull of the biting fish is expressed by increasing the pressing force due to continuous current flow in the second half. As shown in Fig. 19 and Fig. 20, the operating device CTR described in the present application can realize various controls according to the game in which the operating object is operated.

[0043] In the first embodiment, a cam mechanism is exemplified in which the pressing member 32 is pressed when the drive mechanism 4 attracts the plunger 401. However, the present invention is not limited to this, and it is also possible to configure the cam mechanism so that the pressing member 32 is pressed when the plunger 401 is protruded.

[0044] <Second embodiment> The second embodiment is an embodiment in which the operating body 34 presses the biasing member 33 from below toward the pressing member 32 above in the first embodiment. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof will be omitted. The appearance of the operating device CTR in the second embodiment is the same as that in the first embodiment.

[0045] FIG. 21 is a schematic cross-sectional view showing an example of the internal structure of the operating device CTR described in the present application. FIG. 22 is a schematic exploded perspective view showing an example of the operating mechanism 3 of the operating device CTR described in the present application. In the operating device CTR according to the second embodiment, various mechanisms such as the operating mechanism 2, the operating mechanism 3, and the drive mechanism 4 are accommodated in a housing 1. The appearance of the operating mechanism 2, the operating mechanism 3, and the drive mechanism 4 accommodated in the housing 1 is the same as in the first embodiment, and FIG. 21 and FIG. 22 correspond to the schematic cross-sectional view shown in FIG. 3 and the schematic exploded perspective view shown in FIG. 5 of the first embodiment. The operating mechanism 2 and the drive mechanism 4 according to the second embodiment are the same as in the first embodiment.

[0046] The operation mechanism 3 will be described with reference to Figures 21 and 22. The operation mechanism 3 includes various members such as a central frame 30, a lower frame 31, a pressing member 32, a biasing member 33, an operating body 34, an upper guide member 35, a lower guide member 36, a return spring 37, and a driven cam member 38, as well as an annular operating plate 39 that presses the biasing member 33 from below. In the second embodiment, the central frame 30 has a central hole 300 whose upper end is blocked, and the upper guide member 35 fixed to the central hole 300 also has a blocked upper end. Therefore, the operating body 34 according to the second embodiment does not directly press the pressing member 32 through the central hole 300 as shown in the first embodiment. The driven cam member 341 of the operating body 34 according to the second embodiment has four cylindrical protruding pressing bodies 342 formed on the upper portion thereof, which protrude upward. In the central frame 30, a through hole (not shown) is provided at a position corresponding to the protruding pressing body 342 of the operating body 34, through which the protruding pressing body 342 passes. When the operating body 34 is positioned upward, the protruding pressing body 342 passes through the through hole and comes into contact with the lower surface of the annular operating plate 39, pressing the annular operating plate 39 upward from below. The annular operating plate 39 is an annular member inserted into the inner bottom of the annular groove 302 of the central frame 30 so as to be movable in the up and down directions, and is formed in a flat plate shape.

[0047] Next, the operation of the operating device CTR described in the present application will be described. The operation of the operating mechanism 2 according to the second embodiment is substantially the same as that of the first embodiment. FIG. 23 is a schematic cross-sectional view showing an example of the cross section of the operating mechanism 2 and the operating mechanism 3 included in the operating device CTR described in the present application. FIG. 23 shows a state in which the operating body 34 moves upward, the biasing member 33 presses the pressing member 32 upward, and the protruding pressing body 342 of the operating body 34 presses the annular operating plate 39 upward. When the driving cam member 38 interlocked with the plunger 401 of the drive mechanism 4 moves, the operating body 34 moves upward, and the protruding pressing body 342 of the operating body 34 presses the biasing member 33 upward from below via the annular operating plate 39, the biasing member 33 presses the pressing member 32 upward, and the pressing member 32 presses the pressed portion 203 of the tilting body 20 toward the center of the spherical body 201 from below. That is, the operating body 34 performs an operation of pressing the biasing member 33 from its lower end, which is opposite to its upper end facing the pressing member 32, toward the pressing member 32 side.

[0048] The configuration of the control regarding the operation of the operating device CTR according to the second embodiment is the same as that of the first embodiment. Fig. 24 to Fig. 26 are graphs showing an example of the force pressing the pressing member 32 from below in the operating device CTR described in the present application. Fig. 24 to Fig. 26 show the relationship between the displacement related to the tilt angle of the tilting body 20 on the horizontal axis and the force required for tilting on the vertical axis. In the figure, thin lines indicate the relationship of forces due to the biasing member 33, dashed lines indicate the relationship of forces due to the moving body 34 based on the operation of the plunger 401 of the drive mechanism 4, and thick lines indicate the resultant force of the biasing member 33 and the moving body 34.

[0049] 24 shows a state in which no current is applied to the drive mechanism 4. In a state in which no current is applied to the drive mechanism 4, the operating body 34 does not press the pressing member 32, so the force required to tilt the tilting body 20 is equal to the force from the biasing member 33, and increases at a constant rate with respect to the length in accordance with the spring constant of the biasing member 33.

[0050] 25 and 26 show a state in which electricity is applied to the drive mechanism 4, and a larger current is applied in FIG. 26 than in FIG. 25. In the second embodiment, the operating body 34 presses the pressing member 32 via the biasing member 33. When the force from the operating body 34 is small, the force from the operating body 34 is weaker than that of the biasing member 33, and therefore the operating body 34 cannot move the pressing member 32. Therefore, the force pressing the pressing member 32 is the stronger of the force of the biasing member 33 and the operating body 34, as exemplified in FIG. 15 and FIG. 16. Note that, in the operating device CTR according to the second embodiment, by controlling the power supply to the drive mechanism 4, it is also possible to allow the operator to feel various operating sensations according to the situation.

[0051] <Third embodiment> The third embodiment is a form in which the number of various mechanisms accommodated in the operating device CTR is changed from that of the first or second embodiment. In the third embodiment, the same components as those of the first or second embodiment are denoted by the same reference numerals as those of the first and second embodiments, and detailed description thereof is omitted. FIG. 27 is a schematic perspective view showing an example of the appearance of the operating device CTR described in the present application. As illustrated in FIG. 27, the operating device CTR according to the third embodiment accommodates various mechanisms such as one operating mechanism 2 in one housing 1, and is formed as a controller for one-handed operation. For example, when applied to a controller for an industrial robot, a form in which the operating device CTR according to the present invention is operated with one hand and another task is performed with the other hand is considered, and such a form is particularly effective. It is also effective as a game controller in which different operating devices CTR are held with the left and right hands.

[0052] As described above, the operation device CTR described in the present application is applied as an operation device CTR such as a joystick-type controller, and is capable of controlling the force for returning the tilted tilting body 20 to the reference position. Therefore, it is possible to control the operation load for the tilting operation of the tilting body 20, and it is possible for the operator to feel the operation load and recognize the change in the operation load, and other excellent effects are achieved. For example, when the operation device CTR described in the present application is applied to a game controller, it is possible to perform an effect in which the operation load changes according to the progress of the game.

[0053] Furthermore, since the operating device CTR described in the present application transmits the driving force of the drive mechanism 4 to the operating body 34 via a cam mechanism, the driving direction can be designed appropriately, and the operating device CTR can be designed to be incorporated into an operating device CTR that has restrictions on the shape and size of the housing 1.

[0054] <Fourth embodiment> The fourth embodiment is an embodiment in which a cam mechanism is not used in the first embodiment, and a VCM (Voice Coil Motor) is used as the drive mechanism 4 instead of the solenoid 40. In the fourth embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof will be omitted.

[0055] FIG. 28 is a schematic cross-sectional view showing an example of a cross section of a main part of the operating mechanism 3 and the drive mechanism 4 included in the operating device CTR described in the present application. In FIG. 28, a fourth embodiment of the operating mechanism 3 and the drive mechanism 4 is shown. The cross section of the main part characteristic of the embodiment is shown in a simplified manner. In the operating device CTR according to the fourth embodiment, the operating mechanism 3 and the drive mechanism 4 are substantially integrated. For convenience of explanation, in the fourth embodiment, the operating mechanism will be referred to as the operating mechanism 3, and the non-operating mechanism will be referred to as the drive mechanism 4.

[0056] The operating mechanism 3 includes various members 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, as well as a bobbin 343 and an electromagnet 344 constituting the VCM. The rod-shaped pressing body 340, the bobbin 343, and the electromagnet 344 are integrated as the operating body 34. In the embodiment illustrated in FIG. 28, the pressing member 32 and the operating body 34 move up and down as a unit. The biasing member 33 abuts against the pressing member 32 at the upper end and biases the pressing member 32 upward. The return spring 37 abuts against a protruding portion 340a formed at the lower part of the rod-shaped pressing body 340 from above and biases the rod-shaped pressing body 340 downward. The bobbin 343 constituting the operating body 34 has an upper bottom surface and is cylindrical with a bottom that is open at the bottom, and the upper bottom surface is attached to the lower part of the pressing member 32. The electromagnet 344 is a coil wound around the outer circumferential surface of the bobbin 343, and generates a magnetic field when energized.

[0057] The driving mechanism 4 includes a yoke 41 formed of a soft magnetic metal. The yoke 41 has a lower bottom surface, an open upper side, and a substantially bottomed cylindrical shape with double concentric side walls. In detail, the yoke 41 is composed of a substantially disk-shaped bottom plate 410, a substantially cylindrical outer wall 411 attached to the upper surface of the bottom plate 410, a substantially cylindrical inner wall 412 located inside the outer wall 411, and a guide pillar 413 erected at the center of the bottom plate 410. A cylindrical permanent magnet 42 constituting the VCM is fitted between the outer wall 411 and the inner wall 412 of the yoke 41. In the embodiment illustrated in FIG. 28, the cylindrical permanent magnet 42 is magnetized from the N pole to the S pole in the radial direction, such that the inner surface side is the N pole and the outer surface side is the S pole. It is possible to appropriately design the permanent magnet 42 so that the inner surface side is the S pole and the outer surface side is the N pole. The upper end of the inner wall 412 contacts the lower end of the biasing member 33. The guide pillar 413 erected at the center of the yoke 41 is substantially cylindrical, and is inserted into the inside of the bobbin 343 to guide the up and down movement of the bobbin 343. A through hole is drilled in the center of the bottom plate 410 of the yoke 41 and the guide pillar 413, and the rod-shaped pressing body 340 passes through the through hole so as to be able to move up and down. The bottom plate 410 contacts the upper end of the return spring 37.

[0058] The operating device CTR configures a VCM by an electromagnet 344 and a permanent magnet 42. By energizing the coil of the operating mechanism 3 to form an electromagnet 344 that generates a magnetic field, a magnetic circuit is formed that passes through members such as the yoke 41 as shown by the arrow in the figure, and an upward force acts on the electromagnet 344 by electromagnetic induction, causing the pressing member 32 to move upward. By moving upward, the pressing member 32 presses the pressed portion 203 of the tilting body 20 from below to above.

[0059] Fig. 29 is a graph showing an example of the mechanical characteristics of a typical VCM. In Fig. 29, the horizontal axis represents the stroke length (travel distance) of the electromagnet, and the vertical axis represents the force on the electromagnet, showing the relationship between them. Fig. 29 shows the relationship between the travel distance and the force corresponding to the position of the electromagnet for several grades of VCM. Comparing the change in force of the VCM with the specifications shown in Fig. 29 with the solenoid shown in Fig. 12, the change in force relative to the travel distance is small, and the force is approximately constant relative to the travel distance.

[0060] Next, the operation of the operating device CTR described in the present application will be described. Fig. 30, Fig. 31, and Fig. 32 are schematic cross-sectional views showing an example of a cross-section of the operating device CTR described in the present application. Fig. 30 shows a state in which the tilting body 20 of the operating mechanism 2 is in a reference position, Fig. 31 shows a state in which the tilting body 20 has been tilted from the reference position in response to an operation by the operator, and Fig. 32 shows a state in which the tilting body 20 has been tilted further in response to an operation. When tilted, the tilting body 20 presses the pressing member 32 downward, and the pressing member 32 pushes the tilting body 20 upward due to the biasing force of the biasing member 33 and the electromagnetic induction of the VCM. Press in the direction.

[0061] Fig. 33 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 Fig. 33, the horizontal axis represents the stroke length of the electromagnet 344, and the vertical axis represents the force on the electromagnet 344, showing the relationship between them. In Fig. 33, S0, S1, and S2 shown on the horizontal axis correspond to the states shown in Figs. 30, 31, and 32, respectively, and the magnitude of the force of the electromagnet 344 corresponding to the positions of S0, S1, and S2 is shown by "◯". As exemplified in Fig. 33, in the operating device CTR using the VCM, the force on the electromagnet 344 is approximately constant regardless of the position of the operating body 34 moving up and down.

[0062] In the operating device CTR according to the fourth embodiment, the force with respect to the moving distance is approximately constant due to the use of the VCM, so it is easy to control the force with which the pressing member 32 presses the pressed portion 203 of the tilting body 20. Furthermore, the operating device CTR using the VCM can also make the force on the pressing member 32 downward by reversing the direction of the current. Therefore, it is also possible to omit one or both of the biasing member 33 using a compression coil spring and the return spring 37, and control the feel using only the VCM.

[0063] As described above, the operation device CTR described in the present application is applied as an operation device CTR such as a joystick-type controller, and is capable of controlling the force for returning the tilted tilting body 20 to the reference position. Therefore, it is possible to control the operation load for the tilting operation of the tilting body 20, and it is possible for the operator to feel the operation load and recognize the change in the operation load, and other excellent effects are achieved. For example, when the operation device CTR described in the present application is applied to a game controller, it is possible to perform an effect in which the operation load changes according to the progress of the game.

[0064] Furthermore, since the operating device CTR described in the present application transmits the driving force of the drive mechanism 4 to the operating body 34 via a cam mechanism, the driving direction can be designed appropriately, and the operating device CTR can be designed to be incorporated into an operating device CTR that has restrictions on the shape and size of the housing 1.

[0065] Furthermore, the operating device CTR described in the present application can also be designed so that the driving force of the drive mechanism 4 is transmitted directly to the operating body 34 without going through a cam mechanism. By using a design that does not use a cam mechanism, it is possible to reduce the overall size and simplify the structure.

[0066] Furthermore, the operating device CTR described in the present application can use various mechanisms as the drive mechanism 4, such as a solenoid 40, a VCM (electromagnet 344 and permanent magnet 42), and the like.

[0067] The present invention is not limited to the above-described embodiment, and can be implemented in various other forms. Therefore, the above-described embodiment is merely illustrative in all respects and should not be interpreted as being restrictive. The technical scope of the present invention is described by the claims, and is not restricted in any way by the text of the specification. Furthermore, all modifications and changes within the equivalent scope of the claims are within the scope of the present invention.

[0068] For example, in the above embodiment, the embodiment is described as being applied to a game controller, but the present invention is not limited to this, and can be used to operate various operation targets such as various toys, various moving objects, various measuring devices, industrial robots, etc. 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 heavy luggage.

[0069] In the above embodiment, the solenoid 40, the electromagnet 344, and the VCM including the permanent magnet 42 are used as the driving mechanism 4. However, the present invention is not limited to this. Various mechanisms can be applied as long as they drive the operating mechanism 3. For example, mechanisms such as a motor, a servo motor, and a linear motor can be applied as the driving mechanism 4 that drives the operating mechanism 3.

[0070] In the above embodiment, the tilting body 20 is shown to be tiltable in all directions around 360 degrees, but the present invention is not limited to this. Specifically, it is possible to design it appropriately so that it can be tilted only in the X-axis direction. In addition, when limiting tilting to a specific direction, the pressed portion 203 does not necessarily have to be disk-shaped, and can be formed to extend only in the tilting direction. [Explanation of symbols]

[0071] CTR operating device 2 Operating mechanism 20 Tilt body 20a Tilt center 200 Axial body 201 Spherical body 202 Operation section 203 Pressed part 21 Retaining member 3 Operating mechanism 32 Pressing member 33 Pressurizing member 34 Action Object 340 Rod-shaped pressing body 341 Follower cam member 342 Projection-shaped pressing body 344 Electromagnet (VCM) 38 Driven cam member 39 Circular operating plate 4. Drive mechanism 40 Solenoid 41 York 42 Permanent magnet (VCM) 5 Control circuit 50 Control section

Claims

1. An operating device that includes a tilting body that receives an operation of tilting from a reference position around a tilt center, and operates an operating object according to a tilting state of the tilting body, The tilting body has a pressed portion at an end portion thereof, the pressed portion having an extension in a direction perpendicular 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 tilt center when the tilting body is located at a reference position; a biasing member that biases the pressing member toward the tilt center; an operating body that operates to press the pressing member toward the tilt center; A drive mechanism for operating the operating body; Equipped with The driving mechanism operates the operating body via a cam mechanism. An operating device characterized by:

2. An operating device that includes a tilting body that receives an operation of tilting from a reference position around a tilt center, and operates an operating object according to a tilting state of the tilting body, The tilting body has a pressed portion at an end portion thereof, the pressed portion having an extension in a direction perpendicular 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 tilt center when the tilting body is located at a reference position; a biasing member that biases the pressing member toward the tilt center; an operating body that operates to press the biasing member from a side opposite to the pressing member toward the pressing member; A drive mechanism for operating the operating body; Equipped with The driving mechanism operates the operating body via a cam mechanism. An operating device characterized by:

3. The operating device according to claim 1 or 2, The tilting body can be tilted in all directions from a reference position, The pressed portion is generally disk-shaped with the center being on the central axis and the direction perpendicular to the central axis being the radial direction. An operating device characterized by:

4. An operating device according to any one of claims 1 to 3, The driving direction of the driving mechanism and the moving direction of the moving body are substantially perpendicular to each other. An operating device characterized by:

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