Device

Abstract

This device (1) comprises: a rotating body (4) having a portion (2) that rotates around a first rotation axis (x1); a second motor (7) having a second rotation axis (x2) that extends in a direction different from a direction of the first rotation axis (x1); a first frame (5) that holds the rotating body (4); and a second frame (6) that holds the second motor (7). The second motor (7) can move the rotating body (4) to a predetermined position around the second rotation axis (x2). The rotating body (4) is supported so as to be movable with respect to the second frame (6) via the first frame (5). The first frame (5) is supported so as to be rotatable with respect to the second frame (7).

Description

Device

[0001] The present invention relates to a device for generating a reaction force.

[0002] Patent Document 1 discloses a device that generates a rotational reaction force using, for example, a gyroscope, and controls the reaction force by controlling the attitude and rotation speed of the gyroscope.

[0003] International Publication No. 2002 / 073385

[0004] In this device, two sets of gyroscopes are used to cancel the gyroscopic effect in order to prevent the generation of unintended torque, which makes the device configuration complicated.

[0005] An object of the present invention is to provide a device that can stably suppress the generation of reaction force with a simple configuration.

[0006] An apparatus according to one aspect of the present invention comprises a rotating body having a portion that rotates around a first axis of rotation, a second motor having a second axis of rotation that extends in a direction different from the direction of the first axis of rotation, a first frame that holds the rotating body, and a second frame that holds the second motor, wherein the second motor is capable of moving the rotating body to a predetermined position around the second axis of rotation, the rotating body is movably supported relative to the second frame via the first frame, and the first frame is rotatably supported relative to the second frame.

[0007] 1 is a perspective view schematically showing the structure of a reaction force generator 1 according to a first embodiment of the present invention. FIG. 2 is a front view schematically showing the structure of a reaction force generator 1 according to a first embodiment of the present invention. FIG. 3 is an exploded perspective view schematically showing the structure of a reaction force generator 1 according to a first embodiment of the present invention. FIG. 4 is a plan view schematically showing the structure of a reaction force generator 1 according to a first embodiment of the present invention. FIG. 5 is a cross-sectional view taken along line 5-5 of FIG. 4, which is a plan view schematically showing the structure of a reaction force generator 1 according to a first embodiment of the present invention. FIG. 6 is a cross-sectional view taken along line 6-6 of FIG. 2. FIG. 7 is a perspective view schematically showing the structure of a reaction force generator 1A according to a second embodiment of the present invention. FIG. 8 is a cross-sectional view taken along line 8-8 of FIG. 7. FIG. 9 is a perspective view schematically showing the structure of an assembly 8 according to a specific example. FIG. 10 is a perspective view schematically showing the structure of an assembly 8 according to a specific example.

[0008] An embodiment of the present invention will now be described with reference to the accompanying drawings. Fig. 1 is a perspective view schematically showing the structure of a reaction force generator 1 according to a first embodiment of the present invention. Fig. 2 is a front view schematically showing the structure of the reaction force generator 1. Fig. 3 is an exploded perspective view schematically showing the structure of the reaction force generator 1. Fig. 4 is a plan view schematically showing the structure of the reaction force generator 1. Fig. 5 is a cross-sectional view taken along line 5-5 in Fig. 4. As will be described later, this reaction force generator 1 is a device configured to generate a reaction force in three dimensions using the so-called gyro effect.

[0009] 1 to 5 , the reaction force generator 1 includes a rotating body 4 having a disk 2 and a first motor 3, a first frame 5, a second frame 6, and a second motor 7. The first motor 3 has a first rotation axis x1. The second motor 7 has a second rotation axis x2. The first motor 3 holds the disk 2 rotatably about the first rotation axis x1. The first frame 5 holds the rotating body 4. The first frame 5 is held by a second frame 6 rotatably about the second rotation axis x2. The second frame 6 holds the second motor 7. The second motor 7 holds the first frame 5, i.e., the rotating body 4, rotatably about the second rotation axis x2.

[0010] In this reaction force generator 1, as will be described later, the first frame 5, i.e., the rotating body 4, is disposed at a predetermined reference position about the second rotation axis x2 relative to the second frame 6. The rotating body 4, which rotates about the first rotation axis x1, moves about the second rotation axis x2 from this reference position, generating a reaction force based on the so-called gyro effect. The following description will refer to a configuration in which the rotating body 4 is disposed at a predetermined reference position about the second rotation axis x2 relative to the second frame 6. However, this reference position is merely an example, and the rotating body 4 may be set at another position about the second rotation axis x2.

[0011] In the space in which the reaction force generator 1 is disposed, an x-axis and a y-axis that are perpendicular to each other, and a z-axis that is perpendicular to the x-axis and y-axis, are defined. When the rotating body 4 is disposed at a predetermined reference position around the second rotation axis x2, the first rotation axis x1 is defined parallel to the z-axis. The second rotation axis x2 extends in a different direction from the direction of the first rotation axis x1. The second rotation axis x2 intersects the first rotation axis x1. In this example, the second rotation axis x2 is perpendicular to the first rotation axis x1. The second rotation axis x2 is defined parallel to the x-axis. As the first frame 5 rotates, the first rotation axis x1 can rotate around the second rotation axis x2.

[0012] For convenience of explanation, the direction along the x-axis (hereinafter referred to as the "x-axis direction") is defined as the length direction of the reaction force generator 1, while the direction along the y-axis (hereinafter referred to as the "y-axis direction") is defined as the width direction of the reaction force generator 1. Furthermore, the direction along the z-axis (hereinafter referred to as the "z-axis direction") is defined as the height direction of the reaction force generator 1. Furthermore, one side in the z-axis direction, i.e., the height direction, is defined as the "upper" side, and the other side as the "lower" side. However, these "upper" and "lower" sides do not necessarily have to coincide with the upper and lower sides in the direction of gravity.

[0013] In the rotating body 4, the disk 2, which is the part that rotates around the first rotation axis x1, is formed from, for example, one or more weights 21. In this example, the disk 2 is formed from a stack of four weights 21 stacked in the direction of the first rotation axis x1. Each weight 21 has a flat, cylindrical weight body 22 with the first rotation axis x as its central axis. The weight body 22 is formed from a metal material containing, for example, lead. A through-hole 23 is formed in the weight body 22, penetrating the weight body 22 along the first rotation axis x1. Note that the disk 2 may be formed from a single weight 21 instead of a stack of multiple weights 21.

[0014] The first motor 3 has a housing 31 and a shaft 32. The shaft 32 extends upward from the housing 31 along the first rotation axis x1. A rotor and a stator (neither of which are shown) are housed within the housing 31. The shaft 32 is attached to the rotor. The first motor 3 is, for example, a brushed DC motor. Each weight 21 is attached to the shaft 32 by press-fitting the shaft 32 into the through-hole 23 of the weight body 22. For example, an adhesive or the like may be used for attachment. In this way, the disk 2 is supported by the first motor 3 via the shaft 32.

[0015] In one example, the first frame 5 has a base 51, a holding portion 52, a pair of side portions 53, 53, and a pair of support portions 54, 54. The base 51, the holding portion 52, the pair of side portions 53, 53, and the pair of support portions 54, 54 are integrally formed, for example, from a resin material. The base 51 is formed, for example, in a plate shape extending along an imaginary plane perpendicular to the first rotation axis x1. In this example, the base 51 is formed in a rectangular shape that extends longer in the length direction than in the width direction when viewed in a plan view along the first rotation axis x1. The holding portion 52 rises in a cylindrical shape from the top surface of the base 51. The housing 31 of the first motor 3 is attached inside the holding portion 52.

[0016] 3 , the outer peripheral surface of the housing 31 of the first motor 3 has, for example, two flat planes 31a, 31a that are parallel and facing each other. On the other hand, the inner peripheral surface of the holding portion 52 is formed to correspond to the outer peripheral surface of the housing 31. That is, the inner peripheral surface of the holding portion 52 has two flat planes 52a, 52a that are parallel and facing each other. By disposing the housing 31 within the holding portion 52 so that the planes 52a, 52a face the planes 31a, 31a, respectively, relative rotation between the housing 31 and the first frame 5 is restricted. An adhesive may be used to attach the housing 31.

[0017] In this example, the pair of side portions 53, 53 are formed in the shape of plates rising, for example, at right angles, from both sides of the base portion 51 in the x-axis direction. That is, the pair of side portions 53, 53 are defined parallel to each other. The holding portion 52 is disposed between the inner surfaces of the pair of opposing side portions 53, 53. In this example, as shown in FIG. 2 , the pair of side portions 53, 53 rise to a height greater than that of the holding portion 52 from the upper surface of the base portion 51 in the z-axis direction. In addition, the first rotation axis x1 of the first motor 3 is defined equidistant from the inner surfaces of the pair of opposing side portions 53, 53 in the x-axis direction.

[0018] The pair of support portions 54 extend outward in the x-axis direction from the outer surfaces of the side portions 53, 53 that face each other. Each support portion 54 is formed, for example, in a cylindrical shape centered on the second rotation axis x2. That is, the pair of support portions 54, 54 are arranged in a straight line along the second rotation axis x2. In this example, each support portion 54 is arranged adjacent to the upper end of each side portion 53 in the z-axis direction. As is clear from FIG. 2 , in this example, the second rotation axis x2 coincides with the underside of the lowest weight 21 in the z-axis direction. Note that a lightening hole 55 may be formed in the region spanning from the base portion 51 to the pair of side portions 53, 53.

[0019] In one example, the second frame 6 has a base 61 and a pair of side portions 62, 62. The base 61 and the pair of side portions 62, 62 are integrally formed, for example, from a resin material. The base 61 is formed, for example, in a plate shape extending along the xy plane. In this example, the base 61 is formed in a rectangular shape that extends longer in the length direction than in the width direction in a plan view. The pair of side portions 62, 62 are formed in a plate shape that rises, for example, at a right angle from both sides of the base 61 in the y-axis direction. In other words, the pair of side portions 62, 62 are defined parallel to each other. The first frame 5 is disposed between the pair of side portions 62, 62.

[0020] Specifically, in the reference position of the rotating body 4, the inner surface of one side portion 62 faces the outer surface of one side portion 52 in the x-axis direction, and the inner surface of the other side portion 62 faces the outer surface of the other side portion 52 in the z-axis direction. Furthermore, the upper surface of the base portion 61 faces the lower surface of the base portion 51 in the z-axis direction. One side portion 62 has the same width as the base 61 in the x-axis direction, while the other side portion 62 has a wider width than the base 61 in the y-axis direction. In this example, as shown in FIG. 2 , the pair of side portions 62, 62 rise at the same height from the upper surface of the base 61.

[0021] One of the side portions 62 has a recess 63 formed therein, recessed from the upper end to the lower end of the side portion 62. The recess 63 penetrates the side portion 62 from the inner surface to the outer surface. The recess 63 defines, for example, a generally cylindrical space centered on the second rotation axis x2. An annular bearing 64 centered on the second rotation axis x2 is attached within the recess 63. The bearing 64 is, for example, a ball bearing. The bearing 64 may be press-fitted into the recess 63 and fixed therein with an adhesive or the like. One of the support portions 54 of the first frame 5 is supported by the side portion 62 of the second frame 6 via the bearing 64 so as to be rotatable about the second rotation axis x2. In this manner, the bearing 64 rotatably supports the first frame 5 relative to the second frame 6.

[0022] A second motor 7 is attached to the other side portion 62. The second motor 7 has a housing 71, a shaft 72, and a connector 73. The second motor 7 is, for example, a stepping motor. The housing 71 is attached to the outer surface of the other side portion 62 using a fixing member (not shown), such as a screw. The shaft 72 extends outward from the housing 71 along the second rotation axis x2. A rotor and a stator (neither of which are shown) are housed within the housing 71. The shaft 72 is attached to the rotor. The connector 73 is electrically connected to an external device (not shown) via a lead wire (not shown). The external device is, for example, a power supply that supplies current to the second motor 7.

[0023] The other side portion 62 has a through-hole 65 formed therein, penetrating from the outer surface to the inner surface of the side portion 62. In this example, the through-hole 65 defines a cylindrical space centered on the second rotation axis x2. The shaft 72 of the second motor 7 passes through the through-hole 65 and protrudes from the inner surface of the side portion 62 toward the inside of the second frame 6. The protruding end of the shaft 72 is fixed to the other support portion 54 of the first frame 5 so as not to rotate relative to it. For example, the cross section of the end of the shaft 72 may have a D-cut. Specifically, as shown in FIG. 3 , the outer circumferential surface of the shaft 72 may have a flat surface 72a aligned with the second rotation axis x2. The inner circumferential surface of the support portion 54 has a shape corresponding to the D-cut.

[0024] The first frame 5 is supported by a bearing 64 at one support portion 54, while the other support portion 54 is supported by the shaft 72 of the second motor 7. In this way, the first frame 5 is rotatably supported relative to the second frame 6. When an electric current is supplied to the coil of the stator of the second motor 7 from an external device, the second motor 7 can hold the rotating body 4 at a predetermined position around the second rotation axis x2, in this case, at a reference position, based on magnetic interaction between the magnet of the rotor and the stator core of the stator. However, even when no electric current is supplied to the coil, the rotating body 4 may be held at the reference position by magnetic interaction between the magnet and the stator core.

[0025] Meanwhile, current is supplied to the coil of the second motor 7 so that the shaft 72 rotates through a predetermined angle around the second axis of rotation x2 based on magnetic interaction between the magnet of the rotor and the stator core of the stator. In this way, the second motor 7 can move the first frame 5, i.e., the rotating body 4, from a reference position around the second axis of rotation x2 to a predetermined position at a predetermined angular velocity. In other words, the rotating body 4 is movably supported by the second motor 7 via the first frame 5. Furthermore, the rotating body 4 is movably supported relative to the second frame 6 via the first frame 5.

[0026] As shown in FIGS. 2 and 5 , the first motor 3 has one or more lead wires 33 for supplying current to the coils of the stator inside the housing 31. In this example, two lead wires 33 extend outward from the housing 31. These lead wires 33 extend downward from the underside of the base 51 of the first frame 5 through through holes 56 ( FIG. 5 ) formed in the base 51. The lead wires 33 then pass through a lightening hole 55 and are inserted into one of the support parts 54 and a bearing 64. The lead wires 33 extending outward from the bearing 64 are electrically connected to an external device (not shown). The external device is, for example, a power supply that supplies current to the first motor 3.

[0027] In the rotating body 4, the first weight of the first motor 3 may be smaller than the second weight of the disk 2. The weight of the rotating body 4, which includes the first motor 3 and the disk 2, is the sum of the first weight and the second weight. The second motor 7 is capable of moving the second weight, which is larger than the first weight, to a predetermined position about the second rotation axis x2. The second motor 7 is also capable of holding the second weight, which is larger than the first weight, at a predetermined position about the second rotation axis x2. The first weight of the first motor 3 may be larger than the second weight of the disk 2. In this case, in the z-axis direction, the first distance between the center of gravity of the first weight of the first motor 3 and the center of gravity G is smaller than the second distance between the center of gravity of the second weight of the disk 2 and the center of gravity G.

[0028] The first weight of the first motor 3 may be greater than the second weight of the disk 2. In this case, in the z-axis direction, a first distance between the center of gravity of the first weight of the first motor 3 and the center of gravity G is greater than a second distance between the center of gravity of the second weight of the disk 2 and the center of gravity G. Furthermore, the first weight of the first motor 3 may be the same as the second weight of the disk 2. In this case, in the z-axis direction, the first distance between the center of gravity of the first weight of the first motor 3 and the center of gravity G is the same as the second distance between the center of gravity of the second weight of the disk 2 and the center of gravity G. In this way, the magnitudes of the first weight and the second weight and the distances from the center of gravity G to the centers of gravity of the first weight and the second weight are appropriately set.

[0029] 2 , 4 , and 5 , when the rotating body 4 is in the reference position, the center of gravity G of the rotating body 4 is located inside the first frame 5 in the lengthwise, widthwise, and heightwise directions of the reaction force generator 1. The center of gravity G is also located inside the second frame 6 in the lengthwise, widthwise, and heightwise directions of the reaction force generator 1. In other words, the center of gravity G is defined within a space surrounded by the base 51 and side portions 52, 52 of the first frame 5. Similarly, the center of gravity G is defined within a space surrounded by the base 61 and side portions 62, 62 of the second frame 6. The center of gravity G is preferably located on the first rotation axis x1 and the second rotation axis x2. That is, the center of gravity G is preferably located at the intersection of the first rotation axis x1 and the second rotation axis x2.

[0030] However, the center of gravity G may be defined at a position on the first axis of rotation x1 that is offset from the second axis of rotation x2. For example, when the center of gravity G is defined on the second axis of rotation x2, the torque required by the second motor 7 to rotate the rotating body 4 is small, thereby reducing the load on the second motor 7. On the other hand, as the center of gravity G is offset from the second axis of rotation x2 on the first axis of rotation x1, the torque required by the second motor 7 to rotate the rotating body 4 increases. However, in this case, as the amount of offset from the second axis of rotation x2 increases, the magnitude of the reaction force generated by the reaction force generator 1 also increases, as will be described later.

[0031] Next, a usage mode of the reaction force generator 1 according to the first embodiment of the present invention will be described. FIG. 6 is a cross-sectional view taken along line 6-6 in FIG. 2. As shown in FIG. 6, when the second motor 7 is energized, the second motor 7 holds the rotating body 4 at a reference position about the second rotation axis x2 relative to the second frame 6. When the first motor 3 is energized, the first motor 3 rotates the disk 2 about the first rotation axis x1. In this example, the disk 2 rotates counterclockwise when viewed from above in the direction of the first rotation axis x1. Note that the disk 2 may also rotate clockwise when viewed from above in the direction of the first rotation axis x1.

[0032] By controlling the energization of the second motor 7, the second motor 7 moves the rotating body 4, i.e., the first frame 5, from the reference position around the second axis of rotation x2 at a predetermined angular velocity, for example, through 90 degrees. The second motor 7 holds the rotating body 4 at a position moved 90 degrees around the second axis of rotation x2. In this way, a moment is applied to the rotating body 4, including the disk 2 rotating around the first axis of rotation x1, in the direction of movement around the second axis of rotation x2. As a result, a reaction moment, i.e., a reaction force, is generated in the rotating body 4 due to the gyroscopic effect in a direction different from the first axis of rotation x1 and the second axis of rotation x2.

[0033] Here, to explain the gyro effect, for example, if the angular momentum of the rotation of the weight around the z-axis is L, the moment of inertia is I, and the angular velocity (rotation) is ω, then L = Iω holds. Also, the moment acting on the weight at the reference position around the z-axis is T ａ , where t is the time for which the weight moves, the following equation 1 holds: If the time at the reference position is t = 0, the time when the weight moves 90 degrees is t = t. The movement of the weight around the x-axis perpendicular to the z-axis generates a moment T in the direction perpendicular to the z-axis at the reference position. ａ This moment T calculated based on Equation 1 is generated. ａ is the moment T ａ The reaction moment in the opposite direction (-T ａ ) that is, reaction force T ｇ Corresponds to.

[0034] The reaction force generator 1 described above can be incorporated into, for example, a game controller or wearable device that generates stimuli such as tactile, kinesthetic, or impact, or a device that generates stimuli such as tactile, kinesthetic, or impact in space, such as virtual reality (VR) or augmented reality (AR). In the reaction force generator 1, a rotating body 4 having a disk 2 that rotates about a first rotation axis x1 is held at a predetermined reference position. From this reference position, the rotating body 4 moves over a predetermined angle about a second rotation axis x2. In unintended situations, such as when a game controller or device incorporating the reaction force generator 1 is tilted, the generation of reaction force due to the gyroscopic effect can be reduced with a simple configuration.

[0035] Furthermore, the reaction force generator 1 can generate a reaction force by moving the rotating body 4 around the second rotation axis x2 from a reference position. That is, regardless of the posture of the reaction force generator 1, the rotating body 4 starts moving from the reference position, so the reaction force generator 1 can reliably and stably generate a reaction force. Furthermore, in the reaction force generator 1, the center of gravity G of the rotating body 4 is defined at the intersection of the first rotation axis x1 and the second rotation axis x2. As a result, the moment of inertia of the rotating body 4 can be reduced, and the load on the second motor 7 can be reduced.

[0036] Note that the rotation of the rotating body 4 around the second rotation axis x2 may be other angles, such as 180 degrees, 270 degrees, or 360 degrees, instead of the aforementioned 90 degrees. The rotation of the rotating body 4 may be not only one rotation of 360 degrees, but also two or three rotations of 720 degrees or 1080 degrees. Furthermore, the second motor 7 may be controlled so that the rotating body 4 moves in one direction around the second rotation axis x2 and then returns around the second rotation axis x2 in the opposite direction over the same angle. In this case, the speed of the movement in the other direction may be different from the speed of the movement in the one direction. For example, the speed of the movement in the other direction may be slower than the speed of the movement in the one direction.

[0037] FIG. 7 is a perspective view schematically illustrating the structure of a reaction force generator 1A according to a second embodiment of the present invention. FIG. 8 is a cross-sectional view taken along line 8-8 in FIG. 7. Referring to both FIGS. 7 and 8, in this reaction force generator 1A, the second frame 6 is formed from a housing. Specifically, the second frame 6 has a tube 66 and a lid 67 instead of the base 61 and side portion 62. In this example, the tube 66 has a main body 66a formed in a cylindrical shape centered on the second rotation axis x2, an opening 66b opening on one side of the main body 66a in the x-axis direction, and a bottom plate 66c closing the opening on the other side of the main body 66a in the x-axis direction. The opening 66b is covered by the lid 67. The tube 66 and the lid 67 are formed, for example, from a resin material.

[0038] An assembly 8 including a rotating body 4 having a disk 2 and a first motor 3, a first frame 5, and a second motor 7 is installed in an internal space IS formed within the second frame 6. FIGS. 9 and 10 are perspective views schematically illustrating the configuration of the assembly 8 according to one specific example. FIG. 9 is a perspective view seen from above in the z-axis direction, and FIG. 10 is a perspective view seen from below in the z-axis direction. Referring to FIGS. 8 to 10 together, the rotating body 4, i.e., the disk 2, the first motor 3, and the second motor 7, have the same configuration as in the first embodiment described above. Note that the same reference numerals are used for components similar to those in the first embodiment, and redundant description will be omitted here.

[0039] The first frame 5 further includes a pair of second side portions 57, 57 in addition to the base portion 51, holding portion 52, side portions 53, support portion 54, lightening holes 55, and through-holes 56 described above. The second side portions 57 are formed like plates extending along the xz plane. Each second side portion 57 is integrally formed with the base portion 51, the pair of side portions 53, 53, and the holding portion 52. The pair of second side portions 57, 57 further enhances the rigidity of the first frame 5. The base portion 51, holding portion 52, side portions 53, support portion 54, lightening holes 55, and through-holes 56 are otherwise similar to those in the first embodiment. As shown in FIG. 8 , in this example, the center of gravity G of the rotating body 4, which is defined at the intersection of the first rotation axis x1 and the second rotation axis x2, is defined within the housing 31 of the first motor 3.

[0040] 7 and 8 , the lid 67 includes a cylindrical tubular portion 67a centered on the second rotation axis x2, a flange portion 67b extending annularly from one end of the tubular portion 67a in the x-axis direction, and a disk-shaped top plate 67c covering the other end of the tubular portion 67a in the x-axis direction. The second motor 7 is housed in an internal space IS within the tubular portion 67a. The lid 67 includes an opening 67d formed between the tubular portion 67a and the flange portion 67b. The opening 67d connects the internal space IS of the second frame 6 to the external space OS of the second frame 6. A connector 73 of the second motor 7 is disposed within the opening 67d. As a result, the connector 73 is exposed to the external space OS. The connector 73 may be replaced with a lead wire, a terminal pin, or another device capable of electrical connection.

[0041] As shown in FIG. 8 , an annular wall 66d extending in the x-axis direction is formed on the inner surface of the bottom plate 66c of the tube 66. This annular wall 66d holds a bearing 64 that rotatably supports one of the support portions 54 of the first frame 5. An opening 66e penetrating the bottom plate 66c is formed inside the annular wall 66d. The opening 66e faces the one of the support portions 54 of the first frame 5 in the x-axis direction. This opening 66e allows the lead wire 33 inserted into the support portion 54 to be drawn from the second frame 6 to the external space OS. This reaction force generating device 1A also generates a reaction force in the same manner as described above. Alternatively, the second motor 7 may be attached to the tube 66, and the bearing 64 may be attached to the lid 67.

[0042] The configurations of the first frame 5 and the second frame 6 described in the reaction force generator 1 above are merely examples, and various modifications are conceivable. For example, the base 51 may be omitted from the first frame 5. In this case, the holding portion 52, the side portion 53, and the support portion 54 may be integrally formed. The second frame 6 may also have other configurations as long as it is capable of holding the second motor 7 and rotatably holding the first frame 5. Furthermore, the shaft 72 of the second motor 7 may be fixed to the support portion 54 non-rotatably by having another engagement structure, such as a groove, instead of a D-cut.

[0043] Furthermore, one of the support portions 54 of the first frame 5 may be directly rotatably supported in the recess 63 of the second frame 6. That is, the incorporation of the bearing 64 into the recess 63 may be omitted. In this case, the dimension (diameter) of the recess 63 relative to the second rotation axis x2 is set to be slightly larger than the dimension (diameter) of the support portion 54 relative to the second rotation axis x2. A coating or a lubricant such as grease may be applied between the outer peripheral surface of the support portion 54 and the inner peripheral surface of the recess 63, which are in contact with each other, to reduce friction between the outer peripheral surface and the inner peripheral surface. By thus omitting the incorporation of the bearing 64, the reaction force generator 1 can reduce the number of parts and the weight.

[0044] The first motor 3 may be, for example, an outer rotor motor. In this case, the first motor 3 has a stator (core and coil) arranged on the inner periphery and a rotor (magnet and yoke) arranged on the outer periphery and rotatably supported by the stator. The disk 2 may be directly attached to the rotor of the first motor 3 instead of the shaft 32. In this example, the disk 2 may be fixed to, for example, the yoke of the rotor exposed on the outside. In this way, the disk 2 may be rotatably supported by the first motor 3. Furthermore, the first motor 3 may be a brushless DC motor or a stepping motor instead of a brushed DC motor, and the second motor 7 may be a brushless DC motor or a brushed DC motor instead of a stepping motor. The reaction force generator 1 may be mounted on a game controller or a wearable device that generates stimuli such as haptics, kinesthetic sensations, or impacts, or on a device (electronic device) that generates stimuli such as haptics, kinesthetic sensations, or impacts in space, such as virtual reality (VR) or augmented reality (AR). The reaction force generator 1 may also be attached to a housing or frame of these electronic devices. In the above-described embodiment, the second frame 6 forms a housing having an internal space, but this is not limited to this. The first motor 3 may include a first frame, the second motor 7 may include a second frame, and a housing 9 may be further provided to house the first motor 3 and the second motor 7, as shown in Fig. 7, for example. The shape of the housing 9 shown in Fig. 7 is an example, and the housing 9 may have various shapes depending on the application, etc.

[0045] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the scope of the present invention. Furthermore, the above-described embodiments do not limit the scope of the present invention, and the present invention may include any and all applications. The components of the above-described embodiments, as well as their arrangement, materials, conditions, shape, size, etc., are not limited to those illustrated and may be modified as appropriate. For example, the present invention includes differences that arise during implementation due to manufacturing tolerances, etc. Furthermore, components illustrated in different embodiments may be partially substituted or combined within the scope of technical inconsistency. Furthermore, the various configurations may be selectively combined as appropriate to achieve at least some of the above-described problems and effects.

[0046] 1 Reaction force generating device (device), 2 Disk, 21 Weight, 22 Weight body, 23 Through hole, 3 First motor, 31 Housing, 31a Flat surface, 32 Shaft, 33 Lead wire, 4 Rotating body, 5 First frame, 51 Base, 52 Holding portion, 52a Flat surface, 53 Side portion, 54 Support portion, 55 Lightening hole, 56 Through hole, 57 Second side portion, 6 Second frame, 61 Base, 62 Side portion, 63 Recess, 64 Bearing, 66 Cylinder, 66a Main body, 66b Opening, 66c Bottom plate, 66d Annular wall, 66e Opening, 67 Lid, 67a Cylinder portion, 67b Flange portion, 67c Top plate, 67d Opening, 7 Second motor, 71 Housing, 72 Shaft, 73 Connector, 8 Assembly, 9 Housing, G Center of gravity, IS: internal space, OS: external space, x1: first axis of rotation, x2: second axis of rotation

Claims

1. An apparatus comprising: a rotating body having a portion that rotates around a first axis of rotation; a second motor having a second axis of rotation that extends in a direction different from the direction of the first axis of rotation; a first frame that holds the rotating body; and a second frame that holds the second motor, wherein the second motor is capable of moving the rotating body to a predetermined position around the second axis of rotation, the rotating body is movably supported relative to the second frame via the first frame, and the first frame is rotatably supported relative to the second frame.

2. The device according to claim 1, wherein the rotating body is movably supported by the second motor via the first frame.

3. The device according to claim 1 or 2, further comprising a bearing that rotatably supports the first frame relative to the second frame.

4. The device according to claim 1 or 2, wherein a lead wire is inserted through the bearing, and the lead wire electrically connects the first motor to an external device.

5. The device according to claim 1 or 2, wherein an end of the shaft of the second motor is fixed to the first frame so as not to rotate relatively around the second rotation axis.

6. An electronic device comprising: a housing; and a device according to any one of claims 1 to 5, wherein the device is attached to the housing.

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