Input device

Abstract

A link lever (22) for transmitting the output from a VCM (50) to a first link cam (16) is connected directly to the first link cam (16). Consequently, the output from the VCM (50) can be transmitted directly to the first link cam (16). As a result, it is possible to improve responsiveness when changing an operation load of a joystick (12). Because resistance and vibration can be applied to the joystick (12) by one VCM (50) via the link mechanism (20), it is possible to present an operator with a sense of force and a sense of touch while reducing the number of components and the size of the device.

Description

Input device 【0001】 The present invention relates to an input device that receives an input. 【0002】 Patent No. 7179084 (Patent Document 1) describes an input device that receives an input, which includes a grip part that can be gripped by an operator with both hands, a push button as an operation part that moves between a first position and a second position in response to an operation by the operator, an actuator as a force feedback part having a rotation axis and an arm with one end connected to the rotation axis, and a voice coil motor (VCM) as a tactile feedback part arranged in the grip part. An input device is described that is arranged on the movement trajectory of the push button so that the other end of the arm can abut against the push button. 【0003】 The input device can present a force sense to the operator by applying a resistance force to the push button via the arm by the actuator, and can present a tactile sense to the operator by applying vibration to the grip part by the voice coil motor (VCM). Thereby, the quality of the experience using the input device is improved. 【0004】 Patent No. 7179084 【0005】 However, in the input device described in the above-mentioned publication, since the mechanism for presenting a force sense to the operator and the mechanism for presenting a tactile sense to the operator are provided separately, the number of parts increases and the device becomes larger. There is still room for improvement in terms of reducing the number of parts and miniaturizing the device. 【0006】 The present invention has been made in view of the above, and one of the objectives is to provide an input device that contributes to achieving both the presentation of an operation feeling to the operator and the reduction of the number of parts and the miniaturization of the device. 【0007】 The input device of the present invention has adopted the following means to achieve the above object. 【0008】The input device according to the first invention is configured as an input device that receives input. The input device comprises an operating unit, a support body, a movable body, an actuator, a motion direction conversion transmission mechanism, and a first biasing member. The operating unit receives operation from an operator and can change its state from a reference state to a first state in accordance with the operator's operation. The support body supports the operating unit so that its state can be changed. The movable body is arranged on a first virtual straight line passing through the operating unit and is supported by the support body so that it can reciprocate along the first virtual straight line in accordance with the change in the state of the operating unit. The actuator has a movable part. The motion direction conversion transmission mechanism has a first part that is directly engaged with the movable body and a second part that is directly or indirectly engaged with the movable part. The motion direction conversion transmission mechanism also converts the motion of the movable part into linear motion along the first virtual straight line and transmits it to the movable body. The first biasing member is arranged on the first virtual straight line and is in contact with the movable body on the side opposite to the side on which the operating unit is arranged with respect to the movable body. Furthermore, the first biasing unit biases the moving body with a biasing force parallel to the first virtual line and in the direction toward the operating unit. Here, "passing through the operating unit" in the present invention refers to a configuration in which at least a part of the projection of the first virtual line is arranged within the projection area of ​​the operating unit on a virtual projection plane when viewed from one side in a direction perpendicular to the first virtual line, and it is preferable that the first virtual line passes through the center of the operating unit. Here, "center of the operating unit" typically refers to the part of the operating unit whose position remains unchanged before and after a change in state due to the operator's operation. For example, if the operating unit is a push button that moves linearly back and forth due to the operator's operation, this refers to the central axis of the push button that extends parallel to the direction of motion of the push button (the configuration in which the first virtual line coincides with the central axis of the push button), and if the operating unit is a joystick that tilts due to the operator's operation, this refers to the tilt center of the joystick.Furthermore, in the present invention, "arranged on a first virtual straight line" means that, when the object to be arranged (movable body or first biasing member) is solid, the object (movable body or first biasing member) is arranged in such a positional relationship that the first virtual straight line passes through it. However, when the object (movable body or first biasing member) is hollow (cylindrical), it preferably includes the arrangement of the object (movable body or first biasing member) in such a positional relationship that the first virtual straight line passes through the hollow portion. That is, it is defined as an arrangement of the object (movable body or first biasing member) in such a positional relationship that at least a part of the projection of the first virtual straight line is arranged within the projection area of ​​the object (movable body or first biasing member) on a virtual projection plane viewed from one side in a direction perpendicular to the first virtual straight line. 【0009】According to the first invention, a single actuator can apply resistance and vibration to the operating part via a motion direction conversion transmission mechanism and a moving body. This allows the operator to feel the change in operating load while reducing the number of parts and miniaturizing the device. In other words, it is possible to achieve both providing the operator with a sense of operation and reducing the number of parts and miniaturizing the device. Here, since the first part of the motion direction conversion transmission mechanism is directly engaged with the moving body, the motion direction conversion transmission mechanism can directly transmit the output from the actuator to the moving body. In other words, changes in the output from the actuator can be directly transmitted to the operating part. This improves the responsiveness when changing the operating load of the operating part. Furthermore, when the operator moves the operating unit from the reference state to the first state, the biasing force of the first biasing member acts on the operating unit via the moving body as an operating load (resistance force). Conversely, when the operator interrupts the operation of the operating unit, the biasing force of the first biasing member acts on the operating unit via the moving body as a restoring force in the direction toward the operating unit, i.e., in the direction that returns the operating unit to the reference state, as the moving body moves along the first virtual straight line in accordance with the change in the state of the operating unit. Since the moving body is always biased by the first biasing member to contact the operating unit, changes in the output from the actuator can be transmitted to the operating unit without delay. In other words, changes in the output from the actuator can be transmitted to the operating unit with good responsiveness. This further improves the responsiveness when changing the operating load of the operating unit. 【0010】 The input device according to the second invention is the input device according to the first invention, wherein the actuator is arranged on a virtual plane that intersects with the first virtual straight line. In the present invention, "intersects" preferably includes orthogonal configurations. 【0011】 According to the second invention, since the actuator is arranged in a direction intersecting the first virtual line rather than in a direction along the first virtual line, the thickness of the device can be reduced compared to a conventional configuration in which the actuator is arranged in a direction along the first virtual line. 【0012】The input device according to the third invention is an input device according to the first or second invention, wherein the motion direction conversion transmission mechanism amplifies the output from the actuator and transmits it to the moving body. 【0013】 According to the third invention, the motion direction conversion transmission mechanism amplifies the output of the actuator and transmits it to the moving body, thus reducing the output required of the actuator. This allows for miniaturization of the actuator. As a result, the thickness of the device can be further reduced. 【0014】 The input device according to the fourth invention is an input device according to any one of the first to third inventions, wherein the motion direction conversion transmission mechanism comprises a link lever having a first part, a second part, and a pivot shaft disposed between the first and second parts. The pivot shaft extends in a direction perpendicular to the projection of the first virtual line on a first virtual projection plane, which is a plane perpendicular to the second virtual line when viewed from one side in the extending direction of the second virtual line perpendicular to the first virtual line. The link lever is supported by a support so as to be able to pivot with the pivot shaft as a fulcrum, and the distance from the pivot shaft to the first part is set to be shorter than the distance from the pivot shaft to the second part. 【0015】 According to the fourth invention, a simple configuration can be achieved by using a link lever in which the distance from the pivot axis to the first part is shorter than the distance from the pivot axis to the second part, thereby converting the motion of the moving part into linear motion along a first virtual straight line and transmitting it to the moving body, as well as amplifying the output from the actuator and transmitting it to the moving body. 【0016】The input device according to the fifth invention is the input device according to the fourth invention, further comprising a moving part connected to an operating part and capable of reciprocating along a third virtual line that intersects a second virtual line in conjunction with the movement of the operating part. The projection of the link lever on a second virtual projection plane, which is a plane perpendicular to the first virtual line when viewed from one side in the extending direction of the first virtual line, extends along the extending direction of the second virtual line. The second part has a first follower. The moving part has a second follower. The motion direction conversion transmission mechanism further comprises a link cam arranged to be reciprocally movable along the second virtual line. The link cam has a first cam with which the first follower engages, and a second cam with which the second follower engages. The first cam converts the linear motion of the link cam along the second virtual line into oscillating motion of the link lever with the oscillating axis as a pivot point. Then, the second cam converts the linear motion of the moving part along the third virtual line into linear motion along the second virtual line of the link cam. 【0017】 According to the fifth invention, the degree of freedom regarding the arrangement of actuators can be increased. This makes it possible to achieve both a thinner device (miniaturization in the thickness direction) and improved design. 【0018】 The input device according to the sixth invention is the input device according to the fifth invention, wherein the link cam has a reference position on a second virtual straight line. It further comprises a second biasing member that biases the link cam in a direction that returns it to the reference position. 【0019】 According to the sixth invention, by operating the actuator to cause the moving part to move linearly along the third virtual straight line, the link cam is moved linearly from the reference position along the second virtual straight line, and then by stopping the operation of the actuator, the link cam can be returned to the reference position by the biasing force of the second biasing member. As a result, compared to a configuration in which the link cam is returned to the reference position using an actuator, power consumption can be reduced and responsiveness can be improved. 【0020】The input device according to the seventh invention is an input device according to the fifth or sixth invention, further comprising a restricting guide member that restricts the movement of the link cam in the direction of extension of the third virtual line and guides the linear motion of the link cam along the second virtual line. 【0021】 According to the seventh invention, it is possible to restrict the movement of the link cam in the direction of extension of the third virtual line caused by input from the moving part along the third virtual line, and to enable smooth linear motion of the link cam along the third virtual line. 【0022】 The input device according to the eighth invention is an input device according to any one of the first to seventh inventions, wherein the actuator is a voice coil motor. 【0023】 According to the eighth invention, compared to using a DC motor, it is possible to achieve highly accurate positioning, faster response to output increases and decreases, and high-speed vibration. 【0024】 The input device according to the ninth invention is an input device according to any one of the first to eighth inventions, further comprising a state detection unit capable of detecting the state of an operating unit. The state detection unit includes a magnet positioned on the operating unit on a first virtual straight line, and a Hall sensor positioned on the first virtual straight line at a predetermined distance from the magnet. The operating unit has a tilt center on the first virtual straight line and is supported by a support so as to be able to tilt about the tilt center. The magnet is positioned on the operating unit in such a manner that it includes the tilt center inward. Here, in the present invention, "positioned on the first virtual straight line" refers to a configuration in which the magnet and Hall sensor are positioned such that the first virtual straight line penetrates them. That is, it is defined as a configuration in which the magnet and Hall sensor are positioned such that at least a portion of the projection of the first virtual straight line is positioned within the projection area of ​​the magnet and Hall sensor on the first virtual projection plane. 【0025】According to the ninth invention, the tilt direction and tilt angle of the operating section can be detected. Moreover, since the tilt center is located inside the magnet, the detection accuracy of the tilt direction and tilt angle of the operating section can be improved compared to a configuration in which the tilt center is located outside the magnet. 【0026】 The input device according to the tenth invention is the input device according to the ninth invention, wherein the magnet is positioned in the operating section such that the center of the magnet and the tilt center coincide. 【0027】 According to the tenth invention, the detection accuracy of the tilt direction and tilt angle of the operating unit can be further improved. 【0028】 According to the present invention, it is possible to provide an input device that contributes to both providing a tactile experience to the operator and reducing the number of parts and miniaturizing the device. 【0029】 This is a plan view showing the configuration of an input device 1 according to one embodiment of the present invention. This is a perspective view showing the general configuration of the joystick mechanism 4. This is a plan view of the joystick mechanism 4 as seen from one side in the extending direction of the axis 12a. This is a perspective cross-sectional view showing the A-A section of Figure 3. This is a cross-sectional view showing the B-B section of Figure 3. This is an explanatory diagram showing the connection between the first link cam 16 and the link lever 22. This is a three-view drawing of the link lever 22. This is a perspective view showing the external appearance of the second link cam 24. This is a three-view drawing of the second link cam 24. This is a perspective view showing the external appearance of the VCM 50 with the third link cam 26 integrated into it. This is a perspective view showing the arrangement of each part constituting the joystick mechanism 4. This is an explanatory diagram showing the connection relationship between the link lever 22, the second link cam 24 and the third link cam 26. This is an explanatory diagram showing the connection relationship between the first link cam 16, the link lever 22 and the second link cam 24. 【0030】 Next, the best mode for carrying out the present invention will be described using examples. 【0031】As shown in Figure 1, the input device 1 according to an embodiment of the present invention comprises a housing 2, a pair of joystick mechanisms 4R and 4L and a plurality of operation buttons 6 and 7 arranged on the housing 2, and is used by being connected by wire or wirelessly to an information processing device such as a home game console. It receives instructions and operations from the operator and transmits the content of those instructions and operations to the information processing device such as a home game console. Here, the joystick mechanisms 4R and 4L have basically the same configuration, except that their arrangement on the housing 2 is symmetrical with respect to a virtual plane passing through the center of the housing 2 in the left-right direction (left-right direction in Figure 1). Therefore, when there is no need to distinguish between joystick mechanism 4R and joystick mechanism 4L, the letters R and L are omitted and it is written as joystick mechanism 4. In this embodiment, for the sake of explanation, the side that is located above the input device 1 when the operator operates it in a normal posture, i.e., the side from which the joystick 12 (described later) protrudes, is defined as the "upper side," the side opposite to the side from which the joystick 12 protrudes is defined as the "lower side," the side on which the gripping part 2R (described later) is located is defined as the "right side," and the side on which the gripping part 2L (described later) is located is defined as the "left side." 【0032】 As shown in Figure 1, the housing 2 includes gripping parts 2R and 2L that can be grasped by the operator with the right and left hands, respectively, and a connecting part 2M that is positioned between the gripping parts 2R and 2L and connects them, and has a roughly inverted U shape in plan view. 【0033】 As shown in Figures 1 to 3, the joystick mechanism 4 includes a main body 10, a link mechanism 20, and a voice coil motor (hereinafter referred to as "VCM") 50. 【0034】As shown in Figures 4 and 5, the main body 10 includes a joystick 12, a housing 14 that supports the joystick 12 so that it can swing (tilt), a first link cam 16 supported by the housing 14 so as to be able to reciprocate in the direction in which the axis 12a of the joystick 12 extends (the vertical direction in Figures 4 and 5), and a coil spring 18 disposed between the first link cam 16 and the housing 14. The coil spring 18 is an example of an embodiment corresponding to the "first biasing member" in the present invention. 【0035】As shown in Figures 4 and 5, the joystick 12 is configured as a shaft having an axis 12a extending in the vertical direction (vertical direction in Figures 4 and 5), and a magnet MG is integrally embedded inside its lower end (lower end in Figures 4 and 5). The joystick 12 also has a stick cam 13 integrally attached to its lower end, and the stick cam 13 is supported by the housing 14 by engaging with an axis ring 15 located in the housing 14. The lower end surface of the stick cam 13 (the surface of the other lower end in Figures 4 and 5 that faces downward) has a curved surface that is convex downward, preferably a spherical surface. As shown in Figures 4 and 5, the joystick 12 has a tilt center 12b on the axis 12a, and in response to input from the operator, it can be tilted in all directions around the tilt center 12b in a 360-degree radius, and can also be moved downward (downward in Figures 4 and 5) (pushed in). Here, the lower end surface of the stick cam 13 (the surface of the other lower end in Figures 4 and 5 that faces downward) has a curved or spherical surface that is convex downwards, allowing the tilting motion of the joystick 12 to be performed smoothly. The magnet MG has a cylindrical shape and is positioned on the joystick 12 such that its center Cp coincides with the tilt center 12b of the joystick 12. This improves the detection accuracy of the tilt direction and tilt angle of the joystick 12. The state in which the axis 12a of the joystick 12 extends in the vertical direction is the reference state of the joystick 12. The joystick 12 with the stick cam 13 integrated is an example of an implementation corresponding to the "operating section" in the present invention. Furthermore, the axis 12a when the joystick 12 is in the reference state is an example of an implementation corresponding to the "first virtual straight line" in the present invention. 【0036】As shown in Figure 5, the housing 14 has a hollow portion 14a extending in the vertical direction (vertical direction in Figures 4 and 5), an intermediate wall 14b positioned in the middle of the hollow portion 14a in the direction of extension, and a base 14c positioned at the lower end of the hollow portion 14a in the direction of extension. The housing 14 has an axis ring 15 positioned at the upper end of the hollow portion 14a. In other words, the housing 14 can be said to support the joystick 12 so that it can swing (tilt) at the upper end of the hollow portion 14a in the direction of extension. The intermediate wall 14b has a substantially cylindrical projection 14d that protrudes upward (upward in Figure 5). The central axis of the projection 14d is positioned on the axis 12a of the joystick 12, which is supported by the housing 14 and is in a reference state. In other words, the projection 14d can be said to be positioned approximately in the center of the intermediate wall 14b. Furthermore, the intermediate wall 14b has a notched opening (not shown) that allows the first link cam 16 to reciprocate vertically (vertical direction in Figure 5). The base 14c is located at the lower end of the housing 14 and is positioned opposite the protrusion 14d. Here, "opposing" preferably includes not only the configuration in which the base 14c and the protrusion 14d directly oppose each other, but also the configuration in which the base 14c and the protrusion 14d indirectly oppose each other with a third object in between. As shown in Figure 5, a substrate 19 is placed on the upper surface of the base 14c. A Hall sensor HS is placed on the upper surface of the substrate 19 in an electrically connected state. As a result, the magnet MG located inside the joystick 12 and the Hall sensor HS oppose each other with the stick cam 13 and the first link cam 16 in between, as shown in Figure 5. In other words, the magnet MG, stick cam 13, first link cam 16, and Hall sensor HS are arranged in that order on the axis 12a where the joystick 12 is in its reference state. The Hall sensor HS detects the tilting and pushing (downward movement) of the joystick 12 based on its distance from the magnet MG.Specifically, the Hall sensor HS detects when the joystick 12 is tilted, as this increases the distance between the Hall sensor HS and the magnet MG. It also detects when the joystick 12 is pushed in, as this decreases the distance between the Hall sensor HS and the magnet MG. Although not shown in the figure, the housing 14 has engagement holes at its lower end, in addition to the base 14c, into which the pivot axes 23c, 23c of the link lever 22 of the link mechanism 20 (described later) are engaged (see Figure 5). Here, the axis Chl of the engagement hole is positioned such that the projection of the axis Chl of the engagement hole on a virtual projection plane, which is a plane perpendicular to the virtual line (direction of line VL described later) when viewed from one side of the direction of extension of the virtual line (direction of extension of line VL described later) that is perpendicular to both the axis Chl of the engagement hole and the axis 12a of the joystick 12 in the reference state on the virtual projection plane, is perpendicular to the projection of the axis 12a of the joystick 12 in the reference state on the virtual projection plane (see Figure 5). The housing 14 including the axis ring 15 is an example of an embodiment corresponding to the "support" in the present invention. The magnet MG and Hall sensor HS are also examples of an embodiment corresponding to the "state detection unit" in the present invention. 【0037】 As shown in Figures 4 and 6, the first link cam 16 has a substantially cylindrical contact portion 16a and a lever connection portion 16b integrated with the contact portion 16a. The first link cam 16 is an example of an implementation corresponding to the "first link cam" in the present invention. 【0038】 As shown in Figures 4 and 5, the contact portion 16a has a recess 60a on its upper surface (the surface facing upward in Figures 4 and 5) and an annular groove 60b located on the back side of the upper surface. The recess 60a contacts the lower end surface of the stick cam 13 (the surface of the other lower end in Figures 4 and 5 that faces downward) while accommodating at least a portion of the lower end of the stick cam 13. This makes the tilting motion of the joystick 12 stable. 【0039】The lever connection portion 16b has a pair of legs 17a, 17a. The pair of legs 17a, 17a each have through holes 17b, 17b at their tips (the lower ends of the vertical ends of the pair of legs 17a, 17a (the lower ends in Figure 6)) (only one through hole 17b is shown in Figure 6). The engaging shafts 23a, 23a of the link lever 22 of the link mechanism 20, which will be described later, engage with these through holes 17b, 17b. The inner diameter of the through holes 17b, 17b is set to be slightly larger than the outer diameter of the engaging shafts 23a, 23a. The first link cam 16 is positioned inside the housing 14 such that the legs 17a, 17a are inserted through the notched openings in the intermediate wall 14b of the housing 14 (see Figure 4). In other words, the first link cam 16 is positioned between the stick cam 13 and the protruding portion 14d, with its legs 17a, 17a inserted through the notched opening in the intermediate wall 14b of the housing 14. When the first link cam 16 is positioned in the housing 14, the axes of the through holes 17b, 17b are perpendicular to the axis 12a of the joystick 12 in its reference state. 【0040】 As shown in Figures 4 and 5, the coil spring 18 is positioned between the intermediate wall 14b of the housing 14 and the first link cam 16. More specifically, the coil spring 18 is supported with its lower end (the lower end in Figure 5) inserted through a projection 14d, with the lower end in contact with the intermediate wall 14b, and its upper end (the upper end in Figure 5) positioned within the annular groove 60b of the contact portion 16a of the first link cam 16. The coil spring 18, positioned in this manner, biases the first link cam 16 upward (upper in Figure 5), and more specifically, in the direction that the first link cam 16 is tilted toward the tilt center 12b. 【0041】 As shown in Figures 2 and 3, the link mechanism 20 includes a link lever 22, a second link cam 24 connected to the link lever 22, and a third link cam 26 connected to the second link cam 24. The link mechanism 20 is an example of an implementation corresponding to the "motion direction conversion transmission mechanism" in the present invention. The second link cam 24 is also an example of an implementation corresponding to the "link cam" in the present invention. 【0042】As shown in Figure 7, the link lever 22 includes a lever body 22a having a longitudinal direction, a pair of extension pieces 22b, 22b integrated with one longitudinal end of the lever body 22a, a pair of extension pieces 22c, 22c integrated with the other longitudinal end of the lever body 22a, engaging shafts 23a, 23a integrated with the extension pieces 22b, 22b, engaging shafts 23b, 23b integrated with the extension pieces 22c, 22c, and pivot shafts 23c, 23c integrated near the joint 21 between the lever body 22a and the extension pieces 22b, 22b. The link lever 22 has a substantially H-shape in plan view. Furthermore, the link lever 22 is set such that the distance from the pivot shafts 23c, 23c to the engaging shafts 23a, 23a is smaller than the distance from the pivot shafts 23c, 23c to the engaging shafts 23b, 23b. The link lever 22 thus configured has its engaging shafts 23a, 23a engaged with the through holes 17b, 17b of the leg portions 17a, 17a, respectively. In other words, the link lever 22 is directly engaged with the first link cam 16. The engaging shafts 23a, 23a correspond to the "first part" in the present invention, and the engaging shafts 23b, 23b are an example of an implementation corresponding to the "second part" and "second follower" in the present invention. 【0043】 As shown in Figure 7, the extension pieces 22b, 22b are connected to the lever body 22a at a predetermined angle of inclination. Specifically, the extension pieces 22b, 22b have an upward inclination in the direction away from the joint 21 with the lever body 22a (to the left in the plan view and side view of Figure 7). The link lever 22 is supported by the housing 14 so as to have a roughly V-shape in side view (see Figure 5). 【0044】The engagement shafts 23a, 23a are arranged at the tips of the extending pieces 22b, 22b (the ends on the side opposite to the side where the lever main body 22a is integrated among the longitudinal ends of the extending pieces 22b, 22b), as shown in Fig. 7. The engagement shafts 23a, 23a extend in the lateral direction (the direction perpendicular to the longitudinal direction, the vertical direction in the plan view of Fig. 7) of the lever main body 22a and extend in a direction away from each other. Also, the engagement shafts 23b, 23b are arranged at the tips of the extending pieces 22c, 22c (the ends on the side opposite to the side where the lever main body 22a is integrated among the longitudinal ends of the extending pieces 22c, 22c). The engagement shafts 23b, 23b extend in the lateral direction (the direction perpendicular to the longitudinal direction, the vertical direction in the plan view of Fig. 7) of the lever main body 22a and extend in a direction away from each other. The axes of the engagement shafts 23b, 23b are parallel to the axes of the engagement shafts 23a, 23a. Note that the engagement shafts 23b, 23b engage with the elongated holes 32a, 34a (described later) of the second link cam 24 and function as a conjugate part of the cam mechanism. 【0045】 The swing shafts 23c, 23c extend in the lateral direction (the vertical direction in the plan view of Fig. 7) of the lever main body 22a and extend in a direction away from each other, as shown in Fig. 7. The axes CL of the swing shafts 23c, 23c are parallel to the respective axes of the engagement shafts 23b, 23b and the engagement shafts 23a, 23a. Therefore, when the link lever 22 supported swingably by the housing 14 through the swing shafts 23c, 23c and engagement holes (not shown) of the housing 14 is viewed from one side in the longitudinal direction (the extending direction of the straight line VL described later) of the link lever 22, the projection of the axes CL of the swing shafts 23c, 23c on a virtual projection plane, which is a plane perpendicular to the longitudinal direction (the straight line VL described later) in the longitudinal direction of the link lever 22 (the extending direction of the straight line VL described later), and the projection of the axis 12a of the joystick 12 in the reference state are orthogonal (see Fig. 4). The virtual projection plane perpendicular to the straight line VL is an example of an implementation configuration corresponding to the "first virtual projection plane" in the present invention. 【0046】As shown in FIGS. 8 and 9, the second link cam 24 has a main body portion 30 having a longitudinal direction, and a pair of extending pieces 32 and 34 integrally formed at one end of the main body portion 30 in the longitudinal direction. The main body portion 30 has a substantially rectangular parallelepiped shape with a hollow interior, including a pair of side walls 30a and 30b along the longitudinal direction, an upper wall 30c and a lower wall 30d along the longitudinal direction and perpendicular to the side walls 30a and 30b, and a front wall 30e and a rear wall 30f perpendicular to both the side walls 30a, 30b, the upper wall 30c and the lower wall 30d. 【0047】 The side walls 30a and 30b have openings 31a and 31b that penetrate to the inside almost over the entire area of the side walls 30a and 30b. The upper wall 30c and the lower wall 30d each have elongated holes 31c and 31d, and openings 31e and 31f. The elongated holes 31c and 31d extend from a position near the approximate center in the longitudinal direction of the upper wall 30c and the lower wall 30d to a position closer to the front wall 30e. Further, the elongated holes 31c and 31d penetrate to the inside and have an upward right inclination when the main body portion 30 is viewed from the upper wall 30c side with the front wall 30e on the upper side and the rear wall 30f on the lower side. The elongated holes 31c and 31d function as cams of the cam mechanism when roller followers 27a and 27b of the third link cam 26 described later are engaged. The openings 31e and 31f penetrate to the inside and have a rectangular shape extending from the approximate center in the longitudinal direction of the upper wall 30c and the lower wall 30d to the rear wall 30f. The elongated holes 31c and 31d are an example of an implementation configuration corresponding to the "second cam" in the present invention. 【0048】 As shown in FIGS. 8 and 9, the rear wall 30f has a convex portion 33. The convex portion 33 is disposed on the inner surface of the rear wall 30f, that is, the surface of the rear wall 30f facing the front wall 30e. In other words, it can be said that the convex portion 33 is disposed so as to protrude from the rear wall 30f inside the main body portion 30. The convex portion 33 has a substantially cylindrical shape. The convex portion 33 has an outer diameter slightly smaller than the inner diameter of a coil spring 2b described later. 【0049】As shown in Figures 8 and 9, the extending pieces 32 and 34 have elongated holes 32a and 34a. The elongated holes 32a and 34a penetrate the extending pieces 32 and 34, and when the main body 30 is viewed from the side wall 30a with the front wall 30e on the upper side and the rear wall 30f on the lower side, the holes have an upward slope to the left. The elongated holes 32a and 34a engage with the engagement shafts 23b, 23b of the link lever 22 and function as cams of the cam mechanism. When the link lever 22 is connected to the second link cam 24 via the engagement shafts 23b, 23b and the elongated holes 32a and 34a, as shown in Figure 3, the link lever 22 and the second link cam 24 are linearly positioned on the same straight line VL on a virtual projection plane which is a plane perpendicular to the axis 12a when viewed from one side in the extending direction of the axis 12a. The straight line VL is a straight line perpendicular to both axis 12a and axis CL. Here, the straight line VL is an example of an embodiment corresponding to the "second virtual straight line" in the present invention. The elongated holes 32a and 34a are also an example of an embodiment corresponding to the "first cam" in the present invention. Furthermore, the virtual projection plane, which is a plane perpendicular to axis 12a when viewed from one side in the extending direction of axis 12a, is an example of an embodiment corresponding to the "second virtual projection plane" in the present invention. 【0050】As shown in Figure 10, the third link cam 26 has a mounting portion 26a integrated with the telescopic shaft 52 of the VCM 50, and a pair of extension pieces 26b and 26c integrated with the mounting portion 26a. The third link cam 26 reciprocates in a direction along the axis 52a of the telescopic shaft 52 as the telescopic shaft 52 of the VCM 50 expands and contracts. The extension pieces 26b and 26c extend from the mounting portion 26a parallel to the axis 52a. In other words, it can be said that the extension pieces 26b and 26c extend in a direction along the axis 52a. The extension pieces 26b and 26c also have roller followers 27a and 27b. The roller followers 27a and 27b are rotatably arranged at the tip of the extension pieces 26b and 26c (the end opposite to the connection with the mounting portion 26a). The roller followers 27a and 27b engage with the elongated holes 31c and 31d of the third link cam 26 and function as the paired parts of the cam mechanism. The roller followers 27a and 27b are examples of an embodiment corresponding to the "second follower" in the present invention. The telescopic shaft 52 corresponds to the "moving part" in the present invention, and the third link cam 26 is an example of an embodiment corresponding to the "moving part" in the present invention. 【0051】 In the link mechanism 20 thus configured, the engaging shafts 23a, 23a of the link lever 22 are fitted into the through holes 17b, 17b of the first link cam 16 (see Figures 4 to 6), and the engaging shafts 23b, 23b of the link lever 22 are engaged into the elongated holes 32a, 34a of the second link cam 24 (see Figure 2), thereby realizing a connection between the first link cam 16 and the second link cam 24 via the link lever 22. The roller followers 27a, 27b of the third link cam 26 are engaged into the elongated holes 31c, 31d of the second link cam 24 (see Figures 2 and 3), thereby realizing a connection between the second link cam 24 and the VCM 50 via the third link cam 26. In other words, indirect engagement between the link lever 22 and the VCM 50 (extension shaft) is realized via the second link cam 24 and the third link cam 26. The link lever 22 is made pivotable around the pivot shafts 23c, 23c, by fitting the pivot shafts 23c, 23c into engagement holes (not shown) of the housing. 【0052】Here, the main body 10, the link lever 22, and the second link cam 24 are positioned in the housing 2 such that the straight line VL, which is the alignment direction of the link lever 22 and the second link cam 24, is perpendicular to both the projection of the axis 12a and the projection of the axis CL on a virtual projection plane, which is a plane perpendicular to the axis 12a when viewed from one side in the axial direction of the axis 12a of the joystick 12 in the reference state (see Figures 11 to 13). The third link cam 26 is positioned in the housing 2 such that its longitudinal direction (the direction of movement of the third link cam 26 and the direction in which the axis 52a extends) intersects the straight line VL (see Figures 11 and 12). In other words, the VCM 50, including the third link cam 26, is not positioned on the axis 12a of the joystick 12 in the reference state and below the main body 10, but rather is positioned in a direction intersecting the straight line VL (in other words, it can be said that it is positioned on the same plane as the surface on which the main body 10 of the housing 2 is installed, see Figure 11). As a result, the thickness of the input device 1 can be reduced compared to a configuration in which the main body 10, i.e., the joystick 12, the first link cam 16, and the VCM 50 are all positioned along the same axis 12a (the axis 12a of the joystick 12 in the reference state). Moreover, the output of the VCM 50 can be amplified by the lever ratio of the link lever 22 and transmitted to the joystick 12 via the first link cam 16, so the output required of the VCM 50 can be kept low. This makes it possible to miniaturize the VCM 50, and thereby further reduce the thickness of the input device 1. Furthermore, since the second link cam 24 and the third link cam 26 are cam-engaged by the elongated holes 31c and 31d and the roller followers 27a and 27b, the VCM 50 can be positioned such that the axis 52a of the telescopic shaft 52 intersects with the straight line VL, which is the alignment direction of the link lever 22 and the second link cam 24. This increases the degree of freedom regarding the positioning of the VCM 50, making it possible to achieve both a thinner input device 1 (miniaturization in the thickness direction) and improved design.The plane on which the VCM 50 is positioned, which intersects the axis 12a of the joystick 12 in the reference state (for example, a plane parallel to the surface on which the main body 10 of the housing 2 is installed), is an example of an implementation configuration corresponding to the "virtual plane" in the present invention. The axis 52a is also an example of an implementation configuration corresponding to the "third virtual straight line" in the present invention. 【0053】 As shown in Figure 11, the second link cam 24 is supported by a link cover 70 fixed to the housing 2, guiding it in a direction along the straight line VL. On the other hand, the link cover 70 restricts the movement of the second link cam 24 in directions other than along the straight line VL. When the second link cam 24 is positioned in the housing 2, a locking wall 2a erected on the housing 2 is inserted through the openings 31e and 31f of the second link cam 24 (see also Figure 8), and a coil spring 2b is positioned between the locking wall 2a and the rear wall 30f of the second link cam 24. As a result, a spring force from the coil spring 2b acts on the second link cam 24 in a direction along the straight line VL and away from the link lever 22. The protrusion 33 of the rear wall 30f is inserted through the end of the coil spring 2b that abuts against the rear wall 30f. The reference position of the second link cam 24 in the direction along the straight line VL when the output from the VCM 50 via the roller followers 27a and 27b of the third link cam 26 does not act on the second link cam 24, and only the spring force from the coil spring 2b acts on the second link cam 24, is the reference position of the second link cam 24. The coil spring 2b is an example of an implementation corresponding to the "second biasing member" in the present invention. The link cover 70 is also an example of an implementation corresponding to the "regulating guide member" in the present invention. 【0054】The VCM50 is a single-phase motor in which only the coil reciprocates within a strong magnetic field created by an Nd-Fe-B magnet, and has a telescopic shaft 52 as shown in Figure 10. The telescopic shaft 52 is integrated with the coil and reciprocates along the axis 52a in accordance with the reciprocating motion of the coil. Compared to general actuators such as DC motors, the VCM50 can achieve high-precision positioning, faster response to output increase / decrease, and high-speed vibration. The VCM50 is an example of an embodiment corresponding to the "actuator" in the present invention. 【0055】 Next, we will describe the operation of the input device 1 according to this embodiment, in particular, the operation when resistance force or vibration is applied to the joystick 12 when the joystick 12 is tilted from its reference position. First, we will describe the operation when the VCM 50 is not activated, that is, when resistance force or vibration caused by the output from the VCM 50 is not applied to the joystick 12. Then, we will describe the operation when the VCM 50 is activated, that is, when resistance force or vibration caused by the output from the VCM 50 is applied to the joystick 12. 【0056】When the operator moves the joystick 12 from its reference position in the tilting direction, the joystick 12 tilts around the tilting center 12b. As a result, the cam action between the stick cam 13 and the first link cam 16 (contact portion 16a) pushes the first link cam 16 downward, causing it to move downward (downward in Figures 4 and 5) against the spring force of the coil spring 18. Thus, when the VCM 50 is not activated, the operator perceives the resistance force caused solely by the spring force of the coil spring 18 as the operating load. When the operator releases the tilting direction of the joystick 12, the spring force of the coil spring 18 biases the first link cam 16 upward (upward in Figures 4 and 5) (biased towards the tilting center 12b), causing the first link cam 16 to push the joystick 12 upward via the stick cam 13. As a result, the joystick 12 returns to its standard state due to the cam action between the stick cam 13 and the first link cam 16 (contact portion 16a). The state in which the joystick 12 is tilted by the operator's operation is an example of an implementation configuration corresponding to the "first state" in the present invention. 【0057】Next, we will describe the operation when an operating load caused by the output from the VCM 50 is applied to the joystick 12. For example, when the VCM 50 is operated in the direction that the telescopic shaft 52a retracts (contracts), the third link cam 26, which is integrated with the telescopic shaft 52a, moves linearly in the direction along the axis 52a and in the retracting (contracting) direction (see the solid arrow in Figure 12). This linear motion of the third link cam 26 is converted by the cam action between the roller followers 27a, 27b and the elongated holes 31c, 31d of the second link cam 24 into linear motion of the second link cam 24 in the direction along the straight line VL and approaching the main body 10 from the reference position (see the solid arrows in Figures 12 and 13). The linear motion of the second link cam 24 is converted into a clockwise oscillating (rotating) motion of the link lever 22 with the pivot axis 23c, 23c as the pivot center, by the cam action of the engaging shafts 23b, 23b and the elongated holes 32a, 34a (see solid arrow in Figure 13). The clockwise oscillating (rotating) motion of the link lever 22 is then converted into a linear motion of the first link cam 16 in the upward direction, which is the direction in which the axis 12a of the joystick 12 extends in the reference state (see solid arrow in Figure 13). As a result, when the operator tilts the joystick 12 from the reference state, in addition to the spring force of the coil spring 18, a force acting on the first link cam 16 in a direction that prevents the downward movement of the first link cam 16 caused by the output from the VCM 50 (a force acting upward, which is in the opposite direction to the direction of movement of the first link cam 16). As a result, the operating load when the operator tilts the joystick 12 from its reference position increases compared to when the VCM 50 is not activated. The upward force resulting from the output of the VCM 50 acts directly on the first link cam 16. In other words, the first link cam 16 is subjected to both the upward force resulting from the output of the VCM 50 and the upward force resulting from the spring force of the coil spring 18 acting in parallel. This allows changes in the output of the VCM 50 to be directly transmitted to the first link cam 16 (joystick 12). As a result, the responsiveness when changing the operating load of the joystick 12 can be improved. 【0058】On the other hand, when the VCM 50 is actuated in the direction that extends the telescopic shaft 52a, the third link cam 26, which is integrated with the telescopic shaft 52a, moves linearly in a direction along the axis 52a and in a protruding direction (see dashed arrow in Figure 12). This linear motion of the third link cam 26 is converted by the cam action between the roller followers 27a, 27b and the elongated holes 31c, 31d of the second link cam 24 into linear motion of the second link cam 24 in a direction along the straight line VL and away from the main body 10 from the reference position (see dashed arrows in Figures 12 and 13). This linear motion of the second link cam 24 is converted by the cam action between the engaging shafts 23b, 23b and the elongated holes 32a, 34a into counterclockwise oscillating (rotating) motion of the link lever 22 with the oscillating shafts 23c, 23c as the pivot point (see dashed arrow in Figure 13). The counterclockwise oscillating (rotating) motion of the link lever 22 is converted into a linear motion of the first link cam 16 in the downward direction, which is the direction in which the axis 12a of the joystick 12 extends in the reference state (see dashed arrow in Figure 13). As a result, when the operator tilts the joystick 12 from the reference state, the first link cam 16 is subjected to a force equal to the difference between the spring force of the coil spring 18 and the downward force caused by the output from the VCM 50 that moves the first link cam 16 downward (a downward force acting in the same direction as the direction of movement of the first link cam 16). This reduces the operating load when the operator tilts the joystick 12 from the reference state compared to when the VCM 50 is not activated. The downward force caused by the output from the VCM 50 acts directly on the first link cam 16. In other words, the first link cam 16 is subjected to a downward force resulting from the output of the VCM 50 and an upward force resulting from the spring force of the coil spring 18, acting in parallel. This allows changes in the output from the VCM 50 to be directly transmitted to the first link cam 16 (joystick 12). As a result, the responsiveness when changing the operating load of the joystick 12 can be improved. 【0059】In this way, by operating the VCM 50 in either the direction in which the telescopic shaft 52a retracts or extends, the operator can perceive a change in the resistance force as an operating load when the operator tilts the joystick 12 from its reference position. In other words, force feedback can be provided to the operator. 【0060】 Furthermore, by operating the VCM 50 so that the telescopic shaft 52a repeatedly extends and retracts, the operator can perceive the operating load when tilting the joystick 12 from its reference position as vibration. In other words, tactile sensation can be provided to the operator. 【0061】 Here, the first link cam 16 is always biased to contact the joystick 12 by the spring force of the coil spring 18, so that changes in the output from the VCM 50 can be transmitted to the joystick 12 without delay. In other words, changes in the output from the VCM 50 can be transmitted to the joystick 12 with good responsiveness. 【0062】 Furthermore, when the operation of the VCM 50 is stopped, that is, when the output from the VCM 50 is stopped, the second link cam 24 returns to its reference position due to the spring force of the coil spring 2b. 【0063】As described above, in the input device 1 according to this embodiment, the link lever 22 for transmitting the output from the VCM 50 to the first link cam 16 is directly connected to the first link cam 16, so that the output from the VCM 50 can be directly transmitted to the first link cam 16. In other words, changes in the output from the VCM 50 can be directly transmitted to the joystick 12. This improves the responsiveness when changing the operating load of the joystick 12. Furthermore, the spring force of the coil spring 18 can be applied to the joystick 12 as an operating load when the operator operates the joystick 12, while at the same time, when the operator interrupts the operation of the joystick 12, it can be applied to the joystick 12 as a restoring force in the direction that returns the joystick 12 to its reference state. Since the first link cam 16 is always biased to contact the joystick 12 by the spring force of the coil spring 18, changes in the output from the VCM 50 can be transmitted to the joystick 12 with good responsiveness. This further improves the responsiveness when changing the operating load of the control unit. Since a single VCM 50 can apply resistance and vibration to the joystick 12 via the link mechanism 20, it is possible to reduce the number of parts and miniaturize the device while still allowing the operator to feel changes in the operating load. In other words, it is possible to achieve both the presentation of operating sensation (force and touch) to the operator and the reduction of the number of parts and miniaturization of the device. 【0064】 Furthermore, according to the input device 1 of this embodiment, the VCM 50 is positioned in a direction intersecting the extending direction of the axis 12a of the joystick 12 in the reference state, in other words, on a virtual plane intersecting the axis 12a of the joystick 12 in the reference state (the surface on which the main body 10 of the housing 2 is installed, see Figure 11). Therefore, the thickness of the input device 1 can be reduced compared to a configuration in which the VCM 50 is positioned in the extending direction of the axis 12a of the joystick 12. 【0065】Furthermore, according to the input device 1 of this embodiment, the link lever 22 can amplify the output of the VCM 50 and transmit it to the first link cam 16 (joystick 12), thus reducing the required output of the VCM 50. This allows for miniaturization of the VCM 50. As a result, the thickness of the input device 1 can be further reduced. Note that the output of the VCM 50 can be amplified to a desired value by simply changing the lever ratio, i.e., the relationship between the distance from the pivot axes 23c, 23c to the engagement axes 23a, 23a and the distance from the pivot axes 23c, 23c to the engagement axes 23b, 23b. 【0066】 Furthermore, according to the input device 1 of this embodiment, the second link cam 24 and the third link cam 26 are cam-engaged by the elongated holes 31c, 31d and the roller followers 27a, 27b. Therefore, the VCM 50 can be positioned such that the axis 52a of the telescopic shaft 52 intersects with the straight line VL, which is the arrangement direction of the link lever 22 and the second link cam 24. This increases the degree of freedom regarding the positioning of the VCM 50, making it possible to achieve both a thinner input device 1 (miniaturization in the thickness direction) and improved design. 【0067】 Furthermore, according to the input device 1 of this embodiment, when the operation of the VCM 50 is stopped, that is, when the output from the VCM 50 is stopped, the second link cam 24 can return to the reference position by the spring force of the coil spring 2b. As a result, compared to a configuration in which the VCM 50 is operated to return the second link cam 24 to the reference position, power consumption can be reduced and responsiveness can be improved. 【0068】 Furthermore, according to the input device 1 of this embodiment, since the link cover 70 supports the second link cam 24 in a state that allows movement only in the direction along the straight line VL, the second link cam 24 can smoothly perform linear motion in the direction of the straight line VL while effectively preventing it from moving in the direction of extension of the axis 52a due to the expansion and contraction of the third link cam 26. 【0069】Furthermore, according to the input device 1 of this embodiment, since a VCM 50 is used as the actuator, compared to the case where a DC motor is used as the actuator, it is possible to achieve highly accurate positioning, faster response to output increase / decrease, and high-speed vibration. 【0070】 Furthermore, according to the input device 1 of this embodiment, the magnet MG is positioned on the joystick 12 such that its center Cp coincides with the tilt center 12b of the joystick 12, thereby improving the detection accuracy of the tilt direction and tilt angle of the joystick 12. 【0071】 In this embodiment, the link mechanism 20 includes a link lever 22 connected to a first link cam 16, a second link cam 24 connected to the link lever 22, and a third link cam 26 connected to the second link cam 24, and is configured to transmit the output from the VCM 50 in the order of the third link cam 26, the second link cam 24, and the link lever 22, but is not limited to this configuration. For example, the link mechanism 20 may be configured to include only a link lever 22 connected to the first link cam 16, and the telescopic shaft 52 of the VCM 50 may be connected to the link lever 22, so that the link lever 22 is directly oscillated by the telescopic movement of the telescopic shaft 52. 【0072】 In this embodiment, the VCM 50 is positioned such that the axis 52a of the telescopic shaft 52 intersects with the straight line VL, which is the direction of alignment of the link lever 22 and the second link cam 24. However, the embodiment is not limited to this. For example, the VCM 50 may be positioned such that the axis 52a of the telescopic shaft 52 and the straight line VL, which is the direction of alignment of the link lever 22 and the second link cam 24, are parallel (including on the same straight line). 【0073】 In this embodiment, the magnet MG is positioned on the joystick 12 such that its center Cp coincides with the tilt center 12b of the joystick 12, but the embodiment is not limited to this configuration. 【0074】In this embodiment, the operating unit is a joystick 12 that tilts in response to the operator's operation, but it is not limited to this. For example, the operating unit may be a push button that moves back and forth in the pushing direction (up and down direction) in response to the operator's pushing operation. In this case, the first link cam 16 may be configured to be integrated with the push button. 【0075】 In this embodiment, a configuration has been described in which an operating load caused by the output from the VCM 50 is applied to the joystick 12 when the joystick 12 is tilted from its reference state. However, it goes without saying that in addition to or instead of this configuration, a configuration may also be used in which an operating load caused by the output from the VCM 50 is applied to the joystick 12 when the joystick 12 is pushed in from its reference state. 【0076】 In this embodiment, a VCM 50 was used, but it is not limited to this. For example, a general actuator such as a DC motor may be used. In this case, a separate conversion mechanism can be provided to convert the rotational motion of the DC motor's rotating shaft into the linear motion of the third link cam 26. 【0077】 In this embodiment, the input device 1 according to an embodiment of the present invention is configured to be applied to a home game console, but the invention is not limited to this. For example, the input device 1 according to an embodiment of the present invention may be applied to various toys, various mobile devices, various measuring devices, industrial robots, etc. 【0078】<Note> In view of the spirit of the invention described above, the input device 1 according to the present invention can be configured in the following forms. (Aspect 1) An input device for receiving input, comprising: an operating unit that receives operation from an operator and can change its state from a reference state to a first state in accordance with the operator's operation; a support that supports the operating unit so that its state can be changed; a movable body that is arranged on a first virtual straight line passing through the operating unit and is supported by the support so as to be able to reciprocate along the first virtual straight line in accordance with the change in the state of the operating unit; an actuator having a movable part; a motion direction conversion transmission mechanism having a first part that is directly engaged with the movable body and a second part that is directly or indirectly engaged with the movable part, which converts the motion of the movable part into linear motion along the first virtual straight line and transmits it to the movable body; and a first biasing member that is arranged on the first virtual straight line so as to contact the movable body on the side opposite to the side on which the operating unit is arranged with respect to the movable body, and which biases the movable body with a biasing force parallel to the first virtual straight line and in the direction toward the operating unit. (Aspect 2) "The actuator is an input device according to embodiment 1, which is arranged on a virtual plane intersecting the first virtual straight line." (Embodiment 3) "The motion direction conversion transmission mechanism is an input device according to embodiment 1 or 2, which amplifies the output from the actuator and transmits it to the moving body."" (Aspect 4) "The motion direction conversion transmission mechanism comprises a link lever having a first part, a second part, and a pivot shaft disposed between the first part and the second part, wherein the pivot shaft extends in a direction perpendicular to the projection of the first virtual line on a first virtual projection plane, which is a plane perpendicular to the second virtual line when viewed from one side in the extending direction of the second virtual line perpendicular to the first virtual line, and the link lever is supported by the support so as to be pivotable with the pivot shaft as a fulcrum, and the distance from the pivot shaft to the first part is set to be shorter than the distance from the pivot shaft to the second part, as described in any one of the above aspects 1 to 3." (Aspect 5) "Further comprising a moving part connected to the moving part and capable of reciprocating along a third virtual line intersecting the second virtual line in conjunction with the movement of the moving part, The input device according to Embodiment 4, wherein the projection of the link lever on a second virtual projection plane, which is a plane perpendicular to the first virtual line when viewed from one side in the extending direction of the first virtual line, extends along the extending direction of the second virtual line, the second part has a first follower, the moving part has a second follower, the motion direction conversion transmission mechanism has a first cam with which the first follower engages, and a second cam with which the second follower engages, and further has a link cam arranged to reciprocate along the second virtual line, the first cam converts the linear motion of the link cam along the second virtual line into the oscillating motion of the link lever with the oscillating axis as a pivot point, and the second cam converts the linear motion of the moving part along the third virtual line into the linear motion of the link cam along the second virtual line. (Embodiment 6) The link cam has a reference position on the second virtual line, The input device according to embodiment 5, further comprising a second biasing member that biases the link cam in a direction that returns it to the reference position. (Embodiment 7) The input device according to embodiment 5 or 6, further comprising a restricting guide member that restricts the link cam from moving in the direction of extension of the third virtual line and guides the linear motion of the link cam along the second virtual line." (Aspect 8) "The input device according to any one of aspects 1 to 7, wherein the actuator is a voice coil motor." (Aspect 9) "Further comprising a state detection unit capable of detecting the state of the operating unit, wherein the state detection unit has a magnet positioned on the operating unit on the first virtual straight line, and a Hall sensor positioned on the first virtual straight line at a predetermined distance from the magnet, the operating unit having a tilt center on the first virtual straight line and being supported by the support so as to be tiltable about the tilt center, the magnet being positioned on the operating unit in a manner that includes the tilt center inward, according to any one of aspects 1 to 8." (Aspect 10) "The input device according to aspect 9, wherein the magnet is positioned on the operating unit so as to coincide with the center of the magnet." 【0079】 The input device of the present invention can be widely applied to input devices and the like for controlling objects, as it allows the operator to perceive changes in the operating load by applying resistance or vibration to the operating part using an actuator when the operator operates the operating part. 【0080】1 Input device (input device) 2 Housing 2a Locking wall 2b Coil spring (second biasing member) 2R Gripping part 2L Gripping part 2M Connecting part 4 Joystick mechanism 4R Joystick mechanism 4L Joystick mechanism 6 Operation button 7 Operation button 10 Main body 12 Joystick (operating part) 12a Joystick axis 12b Tilt center (tilting center) 13 Stick cam 14 Housing (support) 14a Hollow part 14b Intermediate wall 14c Base 14d Protruding part 15 Axis ring 16 First link cam (moving body) 16a Contact part 16b Lever connection part 17a Leg part 17b Through hole 18 Coil spring (first biasing member) 19 Circuit board 20 Link mechanism (motion direction conversion transmission mechanism) 22 Link lever (link lever) 22a Lever body 22b Extension piece 22c Extension piece 23a Engaging shaft (first part) 23b Engaging shaft (second part, first follower) 23c Oscillating shaft (oscillating shaft) 24 Second link cam (link cam) 26 Third link cam (moving part) 26a Mounting part 26b Extension piece 26c Extension piece 27a Roller follower (second follower) 27b Roller follower (second follower) 30 Main body 30a Side wall 30b Side wall 30c Top wall 30d Bottom wall 30e Front wall30f Rear wall 31a Opening 31b Opening 31c Slotted hole (second cam) 31d Slotted hole (second cam) 31e Opening 31f Opening 32 Extension piece 32a Slotted hole (first cam) 33 Protrusion 34 Extension piece 34a Slotted hole (first cam) 50 Voice coil motor, VCM (actuator) 52 Telescopic shaft (movable part) 52a Axis of the telescopic shaft (third virtual straight line) 60a Recess 60b Annular groove 70 Link cover (regulating guide member) MG Magnet (state detection part) Cp Center of the magnet (center of the magnet) HS Hall sensor (state detection part) CL Axis of the oscillating shaft Chl Axis of the engagement hole VL Straight line along the alignment direction of the link lever and second link cam (second virtual straight line)

Claims

1. Input device for receiving input: An input device comprising: an operating unit that receives operation from an operator and can change its state from a reference state to a first state in accordance with the operator's operation; a support that supports the operating unit so that its state can be changed; a movable body that is arranged on a first virtual straight line passing through the operating unit and is supported by the support so as to be able to reciprocate along the first virtual straight line in accordance with the change in the state of the operating unit; an actuator having a movable part; a motion direction conversion transmission mechanism having a first part that is directly engaged with the movable body and a second part that is directly or indirectly engaged with the movable part, which converts the motion of the movable part into linear motion along the first virtual straight line and transmits it to the movable body; and a first biasing member that is arranged on the first virtual straight line and in contact with the movable body on the side opposite to the side on which the operating unit is arranged with respect to the movable body, and biases the movable body with a biasing force parallel to the first virtual straight line and in the direction toward the operating unit.

2. The input device according to claim 1, wherein the actuator is arranged on a virtual plane that intersects the first virtual straight line.

3. The input device according to claim 1 or 2, wherein the motion direction conversion transmission mechanism amplifies the output from the actuator and transmits it to the moving body.

4. The input device according to claim 1 or 2, wherein the motion direction conversion transmission mechanism comprises a link lever having a first portion, a second portion, and a pivot shaft disposed between the first portion and the second portion, the pivot shaft extending in a direction perpendicular to the projection of the first virtual line on a first virtual projection plane which is a plane perpendicular to the second virtual line when viewed from one side in the extending direction of the second virtual line perpendicular to the first virtual line, the link lever being supported by the support so as to be pivotable with respect to the pivot shaft, and the distance from the pivot shaft to the first portion being set to be shorter than the distance from the pivot shaft to the second portion.

5. The input device according to claim 4, further comprising a moving part connected to the moving part and capable of reciprocating along a third virtual line intersecting the second virtual line in conjunction with the movement of the moving part, wherein the projection of the link lever on a second virtual projection plane, which is a plane perpendicular to the first virtual line when viewed from one side in the extending direction of the first virtual line, extends along the extending direction of the second virtual line, the second part has a first follower, the moving part has a second follower, the motion direction conversion transmission mechanism further comprises a link cam having a first cam with which the first follower engages, and a second cam with which the second follower engages, and is arranged to be capable of reciprocating along the second virtual line, the first cam converts the linear motion of the link cam along the second virtual line into oscillating motion of the link lever with the oscillating axis as a pivot point, and the second cam converts the linear motion of the moving part along the third virtual line into linear motion of the link cam along the second virtual line.

6. The input device according to claim 5, wherein the link cam has a reference position on the second virtual straight line, and further comprises a second biasing member that biases the link cam in a direction that returns it to the reference position.

7. The input device according to claim 5, further comprising a restricting guide member that restricts the movement of the link cam in the direction of extension of the third virtual line and guides the linear motion of the link cam along the second virtual line.

8. The input device according to claim 1 or 2, wherein the actuator is a voice coil motor.

9. The input device according to claim 1 or 2, further comprising a state detection unit capable of detecting the state of the operating unit, wherein the state detection unit includes a magnet positioned on the first virtual line and on the operating unit, and a Hall sensor positioned on the first virtual line and at a predetermined distance from the magnet, the operating unit having a tilt center on the first virtual line and being supported by the support so as to be tiltable about the tilt center, and the magnet being positioned on the operating unit in such a manner that the tilt center is inside.

10. The input device according to claim 9, wherein the magnet is positioned in the operating section such that the center of the magnet and the tilting center coincide.

Images