JP2015215730A - Input / output operation device - Google Patents

Abstract

An input / output operation device with higher operability is provided. An input / output operation device has a point or line contact between an operation unit 850 having a surface with which a finger contacts, a movable unit 180 having a concave part, and a concave part of the movable unit and a convex spherical surface 102R. A fixed unit that includes a base 200 that freely rotates and supports the movable unit around a spherical surface 70 of a convex spherical surface, and a first drive that rotates the operation unit about the X axis 11 that passes through the spherical center with respect to the fixed unit. A second drive unit that rotates about a Y axis 12 that is orthogonal to the X axis in a plane that includes the X axis, and a Z axis that is orthogonal to the X and Y axes and that is the central axis of the operation unit And a detector for detecting a first rotation angle around the X axis and a second rotation angle around the Y axis of the operation unit with respect to the fixed unit. Receiving a target rotation angle signal, the first and second A driving circuit unit for generating a signal for driving the driving unit. [Selection] Figure 1

Description

  In the present application, the manually operated operation unit can be tilted in the X-axis direction and the Y-axis direction, and can be rotated (rolled) with respect to the Z-axis which is the central axis of the operation unit. The present invention relates to an input / output operation device that performs output control of a tactile force sense.

  2. Description of the Related Art In recent years, electronic devices mounted on automobiles have become more sophisticated and multifunctional for the purpose of improving safety, security, and comfort. For this reason, the operation procedure to be performed by the driver has become very complicated. From the viewpoint of simplifying complex operations, for example, HMI (Human-Machine-Interface) that matches the operator's feeling well and has high operability is required for operations such as navigation, air conditioning, audio, and radio. Yes.

  As compatible HMIs, input devices capable of three-axis operation and haptic devices having a force feedback function have been proposed.

  For example, Patent Document 1 regulates the movement direction of the operation unit so that the operation unit can be moved only in the X, Y, and Z axis directions, and detects the position of the operation unit in the X, Y, and Z axis directions. A three-axis input operating device is disclosed.

  Patent Document 2 discloses an input operation device that holds an operation unit so as to be rotatable around three axes and can detect a rotation angle.

  Patent Document 3 discloses a haptic device that rotates an operation unit around X and Y axes, detects a relative displacement amount around the axis, and applies a force sense to the operation unit by a motor mounted on each rotation mechanism. Disclosure.

Sho58-172739 JP-A-5-57645 JP 2005-332039 A

  Conventional input devices and haptic devices have been required to have an HMI with higher operability. The non-limiting exemplary embodiment of the present application provides an input / output operating device and a haptic device with higher operability.

  The input / output operation device according to the present disclosure includes an operation unit having a surface that comes into contact with a finger, a movable unit that includes the operation unit and at least one attracting magnet, and has a concave portion in part. The movable unit has a convex spherical surface into which the concave portion of the movable unit and the concave portion of the movable unit are loosely fitted. The magnetic attractive force between the at least one attracting magnet and the at least one magnetic body allows the movable unit to A concave unit and the convex spherical surface are in point or line contact, and a fixed unit that freely rotates and supports the movable unit around the spherical center of the convex spherical surface, and the operation unit is positioned on the spherical center with respect to the fixed unit. A first drive unit that rotates about an X axis that passes through the second unit, and a second drive unit that rotates the operation unit with respect to the fixed unit about a Y axis that is orthogonal to the X axis in a plane that includes the X axis. Driving A third drive unit that rotates the movable unit with respect to the fixed unit perpendicularly to the X-axis and the Y-axis and that is centered on a Z-axis that is a central axis of the operation unit; A detector that detects a first rotation angle around the X axis and a second rotation angle around the Y axis of an operation unit, wherein the spherical center of the convex spherical surface is the X axis, the Y axis, Based on an actuator provided at the origin of the Z-axis, a detection circuit unit that generates first and second rotation angle signals from the first and second rotation angles, and the first and second rotation angle signals, A control calculation processing unit that generates first and second target rotation angle signals, and the first and second target rotation angle signals are received, and a signal that drives the first and second drive units is generated. A drive circuit unit is provided.

  According to the input / output operation device of the present disclosure, on the extension of the central axis of the operation unit having a surface that comes into contact with the finger, the movable part is in contact with the spherical center of the spherical protrusion provided on the fixed part and the protrusion. The operation part is arranged by arranging the central axis of the conical concave contact surface provided on the movable part and joining the movable part divided into two so as to wrap around the spherical protrusion part. The center of gravity of the movable part to be mounted can be supported, and mechanical resonance can be greatly suppressed in the drive frequency region.

  As a result, it is possible to provide an input / output operation device that can realize three-axis multi-speed operation of the X, Y, and Z axes of the operation unit and can make the operator feel a new sense of tactile force that has not existed before.

It is a disassembled perspective view which shows schematic structure of the actuator 165 in the input / output operating device 750 of the 1st Embodiment of this invention. It is a disassembled perspective view which shows the detailed structure of the movable part 180 of the actuator 165 of the 1st Embodiment of this invention. It is the perspective view which looked at the magnetic back yoke 670 of the movable part 180 of the actuator 165 of embodiment of this invention from upper direction. It is the top view which looked at the magnetic back yoke 670 of the movable part 180 of the actuator 165 of the 1st Embodiment of this invention from the Z-axis 10 direction upper direction. It is the perspective view which looked at the actuator 165 of the 1st Embodiment of this invention from upper direction. It is the perspective view which excluded the drop-off prevention member 201 which looked at the actuator 165 of the 1st Embodiment of this invention from upper direction. FIG. 3 is a perspective view of a dropout prevention member 201 viewed from above the actuator 165 according to the first embodiment of the present invention. It is the top view seen from the Z-axis 10 direction of the actuator 165 of the 1st Embodiment of this invention. It is the top view seen from the straight line 13 direction of the actuator 165 of the 1st Embodiment of this invention. FIG. 5 is a perspective view of the actuator 165 excluding the operation unit 850 and the upper movable unit 150 as viewed from above the actuator 165 according to the first embodiment of the present invention. It is a perspective view of the fixed unit seen from the upper part of actuator 165 of a 1st embodiment of the present invention. It is a disassembled perspective view which shows schematic structure of the fixing unit of the actuator 165 of the 1st Embodiment of this invention. It is a disassembled perspective view which shows the structure of the one drive means mounted in the fixed unit of the actuator 165 of the 1st Embodiment of this invention. It is the top view seen from Z-axis 10 of actuator 165 of a 1st embodiment of the present invention. FIG. 3 is a cross-sectional view of the actuator 165 in a plane including the upper Z axis 10 and the rotation axis 11 of the actuator 165 according to the first embodiment of the present invention. It is the top view seen from Z-axis 10 of actuator 165 of a 1st embodiment of the present invention. It is sectional drawing of the actuator 165 in the plane containing the Z-axis 10 and the rotating shaft 12 of the actuator 165 of the 1st Embodiment of this invention. It is the top view seen from Z-axis 10 of actuator 165 of a 1st embodiment of the present invention. It is sectional drawing of the actuator 165 in the plane containing the Z-axis 10 and the straight line 13 of the actuator 165 of the 1st Embodiment of this invention. FIG. 6 is a perspective view of the actuator 165 according to the first embodiment of the present invention from which the dropout prevention member 201 is removed when viewed from above in a state where the actuator 165 is rotated to a combined angle θxy rotated by the same angle in the rotation direction 20 and the rotation direction 21. The drop-off prevention member 201 viewed from the Z-axis 10 of the present invention in a state where the actuator 165 of the first embodiment of the present invention is rotated to the combined angle θxy rotated by the same angle in the rotation direction 20 and the rotation direction 21 is excluded. It is a top view. The plane including the Z-axis 10 and the straight line 13 excluding the dropout prevention member 201 in the state where the actuator 165 according to the first embodiment of the present invention is rotated to the combined angle θxy rotated by the same angle in the rotation direction 20 and the rotation direction 21. FIG. It is a top view of the fixed unit of the actuator 165 of the first embodiment of the present invention. It is sectional drawing in the plane containing the Z-axis 10 and the Y-axis direction rotating shaft 11 of the fixed unit of the actuator 165 of the 1st Embodiment of this invention. FIG. 3 is a top view of the sensor substrate 502 of the actuator 165 according to the first embodiment of the present invention as viewed from above the Z axis 10. It is a block diagram which shows the whole input / output operating device 750 of the 1st Embodiment of this invention. It is a detailed block diagram which shows the structure of the input / output operating device 750 of the 1st Embodiment of this invention. It is a detailed block diagram which shows the structure of the input / output operating device 750 of the 2nd Embodiment of this invention. It is a detailed block diagram which shows the structure of the input / output operating device 750 of the 3rd Embodiment of this invention. It is a detailed block diagram which shows the structure of the input / output operating device 750 of the 4th Embodiment of this invention. It is a detailed block diagram which shows the structure of the input / output operating device 750 of the 5th Embodiment of this invention. It is a detailed block diagram which shows the structure of the input / output operating device 750 of the 6th Embodiment of this invention. It is a figure which shows the input detection signal of the input / output operating device 750 of the 6th Embodiment of this invention.

  For example, in-vehicle input devices that accept the operations of in-vehicle operators are of a quality that supports intuitive operation that is gentle to the driver, blind operation that does not look at the operation section, and a comfortable driving environment from the viewpoint of safety and security A feeling of operation is required.

  In general, many multi-axis input devices are realized by combining a plurality of rotation mechanisms that can rotate around an axis because the combination configuration is relatively easy. Each rotation mechanism is coupled to a drive motor via a transmission mechanism such as a gear (rack & pinion, worm wheel & worm gear), and the operation unit is configured to be driven to rotate about each rotation axis. Yes. In addition, an encoder or the like is provided on the drive shaft of the drive motor, and the relative displacement of the operation unit is detected.

  However, when this configuration is used, the weight of the movable operation unit increases, and the entire input device tends to be large. Further, in the bearing of the rotating mechanism, rattle noise and axial play due to the bearing gap are generated, which may cause abnormal noise and mechanical and structural defects.

  Further, it is necessary to provide a backlash in a transmission mechanism such as a gear interposed between the movable part and the drive motor. For this reason, the gap increases due to wear or the like, which may cause a decrease in the position accuracy of the operation unit, generation of mechanical vibration and noise, and a decrease in the life of the apparatus.

  Further, when the relative position of the operation unit is detected by an encoder or the like, the absolute position is not known unless the origin is detected by the start / end switch. For this reason, it is necessary to convert the absolute position into a count number, and it is also necessary to return to the start and end at reset.

  Such problems may exist in the techniques disclosed in Patent Documents 1 to 3. The present inventor has conceived a new input device in view of such problems.

  An input / output operation device of the present disclosure includes an operation unit having a surface that comes into contact with a finger, the operation unit and at least one attracting magnet, a movable unit having a concave portion in part, at least one magnetic body, and The concave portion of the movable unit has a convex spherical surface in which the concave portion is loosely fitted, and the concave portion of the movable unit and the convex spherical surface are generated by a magnetic attractive force between the at least one attracting magnet and the at least one magnetic body. And a fixed unit that makes a point or line contact, and freely supports the movable unit around the spherical center of the convex spherical surface, and the operation unit with respect to the fixed unit is centered on the X axis passing through the spherical center A first driving unit that rotates the operating unit with respect to the fixed unit; a second driving unit that rotates the operating unit about a Y axis orthogonal to the X axis in a plane including the X axis; and the fixed unit Yu A third drive unit that rotates the movable unit about a Z axis that is perpendicular to the X axis and the Y axis and that is a central axis of the operation unit, and the operation unit with respect to the fixed unit. A detector for detecting a first rotation angle around the X axis and a second rotation angle around the Y axis, wherein the spherical center of the convex spherical surface is the origin of the X axis, Y axis, and Z axis Based on the first and second rotation angle signals, the actuator provided in the detection circuit, the detection circuit unit for generating the first and second rotation angle signals from the first and second rotation angles, A control calculation processing unit that generates two target rotation angle signals, and a drive circuit unit that receives the first and second target rotation angle signals and generates signals for driving the first and second drive units. Prepare.

  In a preferred embodiment, the control calculation processing unit generates a current position coordinate of the operation unit in a two-dimensional coordinate system corresponding to a movable range region of the operation unit based on the first and second rotation angle signals. The first and second target rotation angle signals based on position feedback control using a difference between the target position coordinates and the current position coordinates are generated.

  In a preferred embodiment, the control calculation processing unit sets a target identification coordinate area including the target position coordinates in the two-dimensional coordinate system, and the current position coordinate of the operation unit is the identification coordinate area. If the current position coordinate is outside the range of the identification coordinate area, a gain larger than the first gain is set. .

  In a preferred embodiment, the control arithmetic processing unit sets a plurality of target identification coordinate areas in the two-dimensional coordinate system, and according to the current position coordinates of the operation unit or an external signal, When the target position coordinate is set in one identification coordinate area selected from the plurality of identification coordinate areas, and the current position coordinate of the operation unit is within the range of the identification coordinate area, the position feedback control A first gain is set, and when the current position coordinate is outside the range of the identification coordinate area, a gain larger than the first gain is set.

  In a preferred embodiment, the control arithmetic processing unit generates a drive signal having a predetermined drive waveform pattern, the drive circuit unit receives the drive signal, generates a signal for driving the third, and The movable unit is driven to vibrate in the direction around the Z-axis by the third drive unit.

  In a preferred embodiment, the predetermined drive waveform pattern includes a vibration waveform having a frequency component in an audible region.

  In a preferred embodiment, the detector detects a rotation angle around the Z axis of the operation unit relative to the fixed unit, and a first detection unit that detects rotation angles around the X axis and the Y axis of the operation unit relative to the fixed unit. Including the second detection unit.

  In a preferred embodiment, the concave portion of the movable unit is a convex spherical surface, and the convex spherical surface of the fixed unit is a concave portion.

  In certain preferred embodiments, the recess of the movable unit has a conical surface.

  In a preferred embodiment, the movable unit has an opening into which a holder bar for fixing the convex spherical surface is inserted, and the rotation angle of the movable unit is limited by contact between the opening and the holder bar.

  In a preferred embodiment, the apparatus further comprises a drop-off preventing member provided on the fixed unit and having a restriction surface that restricts movement of the movable unit so that the movable unit does not fall off the fixed unit, and the restriction surface has a center that coincides with the center of the ball. A concave partial spherical surface.

  In a preferred embodiment, the first drive unit is fixed in the movable unit so as to face the pair of first drive magnets arranged symmetrically with respect to the Z axis and the pair of first drive magnets. A pair of first magnetic yokes disposed in the unit, and a pair of first drive coils wound around the pair of first magnetic yokes, respectively, and the second drive unit is movable In the unit, a pair of second drive magnets arranged symmetrically with respect to the Z-axis, and a pair of second magnetic yokes arranged respectively on the fixed unit so as to face the pair of second drive magnets And a pair of second drive coils wound around a pair of second magnetic yokes, respectively, and the pair of first drive magnets and the pair of first drive coils are convex spherical surfaces. A pair of second drive magnets and second drive provided on a straight line passing through the ball center The coils are provided on another straight line that passes through the spherical center of the convex spherical surface and is orthogonal to the straight line, and each of the first drive magnet, the first drive coil, the second drive magnet, and the Z of the second drive coil. The position of the center in the axial direction substantially coincides with the position of the spherical center of the convex spherical portion.

  In a preferred embodiment, the third drive unit includes a third drive coil wound around the pair of first magnetic yokes and the pair of second magnetic yokes, respectively, and the pair of first magnetic yokes. A drive magnet and a pair of second drive magnets are used as a third drive magnet.

  In a preferred embodiment, the at least one magnetic body is a pair of first magnetic yokes and a pair of second magnetic yokes.

  In a preferred embodiment, the at least one attracting magnet is a pair of first drive magnets and a pair of second drive magnets.

  In a preferred embodiment, with the movable unit in a neutral position, the pair of first drive magnets and the pair of second drive magnets are relative to a horizontal plane passing through a sphere center that is perpendicular to the Z axis. It is arrange | positioned so that the rotation angle A of 45 degrees or less may be made downward, and a 1st drive coil and 1 pair of 1 pair so as to oppose 1 pair of 1st drive magnets and 1 pair of 2nd drive magnets A pair of second magnetic yokes are arranged so as to rotate around the fixed unit between the first magnetic yoke and the pair of second drive coils.

  In a preferred embodiment, the rotation angle A is 15 to 25 degrees.

  In a preferred embodiment, the pair of first drive magnets and the pair of second drive magnets are located inside the movable unit and are not exposed on the outer surface of the movable unit.

  In a preferred embodiment, the pair of first drive coils, the pair of second drive coils, and the pair of third drive coils are each provided inside the fixed unit, and on the outer surface of the fixed unit Not exposed.

  In a preferred embodiment, the movable unit is made of a resin material.

  In a preferred embodiment, the movable unit is integrally formed with a pair of first drive magnets and a pair of second drive magnets.

  In a preferred embodiment, the fixing unit is made of a resin material.

  In a preferred embodiment, the fixed unit includes a pair of first drive coils, a pair of second drive coils, a third drive coil, a pair of first magnetic yokes, and a pair of second magnetic coils. Molded together with the yoke.

  In a preferred embodiment, the center of gravity of the movable unit is coincident with the ball center.

  In a preferred embodiment, the first detection unit includes a first magnetic sensor fixed to the fixed unit and a rotation detection magnet provided in the movable unit, and the first magnetic sensor is used for rotation detection. A magnetic force change due to the rotation of the magnet is detected, and a two-dimensional rotation angle around the X and Y axes is calculated.

  In a preferred embodiment, the first magnetic sensor and the rotation detection magnet are located on the Z axis.

  In a preferred embodiment, the first detection unit includes a photosensor fixed to the fixed unit and a photodetection pattern provided on a part of the convex spherical portion of the movable unit. A change in light incident on the optical sensor due to the rotation of the pattern is detected, and a two-dimensional rotation angle around the X axis and Y axis of the operation unit is calculated.

  In a preferred embodiment, the photosensor and photodetection pattern are located on the Z axis.

  In a preferred embodiment, when the movable unit is in a neutral position, the first magnetic sensor has a straight line connecting a pair of first drive magnets and a pair of second in a plane perpendicular to the Z axis. Are arranged on a straight line forming an angle of 45 degrees with respect to a straight line connecting the drive magnets.

  In a preferred embodiment, the second detection unit includes a pair of rotation detection magnets arranged symmetrically with respect to the Z axis in the movable unit, and a pair of rotation detection magnets fixed to the fixed unit. The pair of second magnetic sensors includes a pair of second magnetic sensors fixed so as to face each other, and the pair of second magnetic sensors detects a change in magnetic force due to the rotation of the rotation detection magnet, and Calculate the rotation angle.

  In a preferred embodiment, the pair of rotation detection magnets is composed of magnets that are parallel to a straight line passing through the sphere center and divided into two poles in opposite directions in a plane orthogonal to the Z axis. .

  In a preferred embodiment, a gap is provided between the regulating surface of the drop-off preventing member and the outer surface of the movable unit, and even if the concave portion of the movable unit is separated from the convex spherical surface of the fixed unit, the magnetic attraction force The air gap is determined so as to return to the point or line contact state.

  According to the input / output operation device of the present disclosure, on the extension of the central axis of the operation unit having a surface that comes into contact with the finger, the movable part is in contact with the spherical center of the spherical protrusion provided on the fixed part and the protrusion. The operation part is arranged by arranging the central axis of the conical concave contact surface provided on the movable part and joining the movable part divided into two so as to wrap around the spherical protrusion part. The center of gravity of the movable part to be mounted can be supported, and mechanical resonance can be greatly suppressed in the drive frequency region.

  In addition, with a magnetic attraction force that does not affect the rotation angle, a constant normal force is applied to the pipette structure consisting of the protrusion of the fixed part and the concave contact surface of the movable part, thereby reducing the friction load fluctuation with respect to the rotation angle. It is possible to realize good phase / gain characteristics in the drive frequency region.

  Furthermore, with regard to prevention of falling off of the movable part due to disturbances such as vibration and impact, which has been a major problem in the conventional support structure using magnetic attraction force, the movable part falls off to the fixed part via a predetermined gap that can be rotated. By providing the prevention regulating surface, it is possible to reliably prevent the movable part from falling off while avoiding the enlargement of the apparatus.

  In addition, even when the concave contact surface is disengaged from the protrusion, the movable contact is instantaneous even if the concave contact surface is moved to the protrusion by the magnetic attraction force so that the contact can be restored. Therefore, even if the device falls off, it is possible to provide an extremely safe input / output operation device that can immediately return to the original good support state.

  Furthermore, the rotation driving means around the X axis and the Y axis and the rotation driving means around the Z axis are a drive magnet fixed to two pairs of movable parts orthogonal to each other and arranged in a circle around the Z axis, It consists of two pairs of drive coils and magnetic yokes arranged on the fixed part so as to face the drive magnet, and the height position arranged in the Z-axis direction is almost equal to the height position of the spherical center of the projection part As a result, the center of gravity of the movable part can be driven and mechanical resonance can be significantly suppressed in the driving frequency region.

  Further, by making the projected area of the magnetic yoke facing the drive magnet substantially equal, when the rotation angle of the movable part about the X axis and the Y axis and the rotation angle about the Z axis are 0 degrees, the magnetic yoke, the drive magnet, The neutral point of the movable part can be held by the magnetic spring.

  Furthermore, after rotating the movable part, it can be returned to the neutral point by this magnetic spring, and no special structure or drive current to be added is required for the return operation.

  In addition, in an operation input device such as an in-vehicle electronic shifter, it is necessary to automatically return to and hold the neutral point after input to each set shift position. The input / output operation device of the present invention capable of returning to the neutral point can be applied to an electronic shifter or the like.

  In addition, because it is an actuator that can realize good frequency response characteristics and high rotation angle resolution, the motion detection sensitivity of the movable unit by the fingertip is very high, and detection of flick operation input and swipe operation input often used in mobile terminals It is also possible to detect text input.

  Further, by covering the conical surface of the concave portion of the movable unit, which is the contact surface, or the surface layer portion of the convex spherical surface of the fixed unit with a resin member, it is possible to realize a support structure with low friction and excellent wear resistance.

  A drive magnet and a fixed part mounted on the movable part by filling a viscous member for damping vibration or a magnetic fluid into a pivotal space constituted by a conical concave contact surface and a concave part spherical surface that is loosely fitted. The amplitude increase coefficient (Q value) due to the magnetic spring effect of the magnetic attraction force generated between the magnetic yoke and the magnetic yoke and the Q value of mechanical natural vibration can be reduced, and good control characteristics can be obtained.

  As described above, according to the present invention, the pivot support system that enables a large rotational drive of ± 25 degrees or more around the X axis and the Y axis and a rotational drive around the Z axis of ± 5 degrees or more is arranged on the spherical center that is the origin. By doing so, it is possible to realize good input / output control of the operation unit in a wide frequency range up to about 200 Hz.

  As a result, it is possible to provide an input / output operation device that can realize a three-axis multi-speed operation of the X, Y, and Z axes of the operation unit and can make the operator feel a new haptic sensation that has not existed before.

  Furthermore, since the three-axis simultaneous operation in which the operation unit is rotated clockwise or counterclockwise about the Z-axis and simultaneously moved to the X-axis and the Y-axis is possible, the operator can use a pinch often used in mobile terminals. It is also possible to detect enlargement / reduction of the screen by the operation input and alternative input of the scroll operation input.

  Furthermore, since a robust structure for preventing the movable part from falling off can be realized by downsizing, it is possible to provide a highly safe input / output operation device that can completely protect against disturbances such as vibration and drop impact.

(First embodiment)
Hereinafter, a first embodiment of an input / output operation device according to the present invention will be described.

  FIG. 1 is an exploded perspective view showing an actuator 165 of the input / output operation device 750 according to the first embodiment of the present invention, and FIG. 2 is an exploded perspective view of the movable unit 180 according to the first embodiment of the present invention. FIG. 3A and 3B are perspective views showing the magnetic back yoke 670 of the movable part 180. FIG. FIG. 4A is a perspective view of the actuator 165 as viewed obliquely from above. FIG. 4B is a perspective view of the actuator 165 in a state in which the dropout prevention member 201 as a part of the components is removed, as viewed obliquely from above. FIG. 4C is a perspective view of the drop-off prevention member 201, which is a part of the constituent elements, as viewed obliquely from above. FIG. 5A is a top view seen from the Z-axis 10 direction. FIG. 5B is a plan view seen from the direction of the straight line 13 shown in FIG. 5A. FIG. 6 is a perspective view of the actuator 165 excluding the operation unit 850 and the upper movable unit 150. FIG. 7 is a perspective view of the fixed unit as viewed from above. FIG. 8A is an exploded perspective view showing a schematic configuration of the fixed unit. FIG. 8B is an exploded perspective view showing a configuration of one driving means mounted on the fixed unit. 9A and 9B are a top view of the actuator 165 and a cross-sectional view in a plane including the Z axis 10 and the rotation axis 11. 10A and 10B are a top view of the actuator 165 and a cross-sectional view in a plane including the Z axis 10 and the rotation axis 12. 11A and 11B are a top view of the actuator 165 and a cross-sectional view in a plane including the Z-axis 10 and the straight line 13. FIG. 12 is a perspective view excluding the drop-off prevention member 201 viewed from above in the state of being rotated to the combined angle θxy rotated by the same angle in the rotation direction 20 and the rotation direction 21. FIGS. 13A and 13B are a top view of the actuator 165 with the drop-off prevention member 201 removed, and a Z with the drop-off prevention member 201 removed in a state where the actuator 165 is rotated to the combined angle θxy rotated by the same angle in the rotation direction 20 and the rotation direction 21. FIG. 6 is a cross-sectional view in a plane including an axis 10 and a straight line 14. 14A and 14B are a top view of the fixed unit and a cross-sectional view in a plane including the Z axis 10 and the rotation axis 11. FIG. 15 is a top view of the sensor substrate 502 of the actuator 165 as viewed from above the Z-axis 10. FIG. 16 is an overall configuration diagram of the input / output operation device 750 according to the first embodiment of this invention. FIG. 17 is a detailed block diagram illustrating the configuration of the input / output operation device 750 according to the first embodiment of this invention. The main configurations of the actuator 165 and the input / output operation device 750 will be described with reference to these drawings.

  The actuator 165 of the input / output operation device 750 includes an operation unit 850, a movable unit 180 on which the operation unit 850 is mounted, and a fixed unit that supports the movable unit 180.

  The movable unit 180 rotates relative to the fixed unit around the Z axis 10, and rotates around the rotation axis (X axis) 11 orthogonal to the Z axis 10 and passing through the spherical center 70. And it rotates freely in the rotation direction 20 that rotates about a rotation axis (Y axis) 12 that is orthogonal to the Z axis 10 and passes through the spherical center 70. The rotating shaft 11 and the rotating shaft 12 are orthogonal to each other. For this purpose, the actuator 165 rotates the operation unit 850 with respect to the fixed unit and the first drive unit and the second drive unit for rotating (tilting) the movable unit 180 in the rotation direction 20 and the rotation direction 21. A third drive unit that rotates in the direction 22. Each drive unit includes a combination of a drive magnet and a drive coil and a magnetic yoke. For example. The drive magnet is provided in the movable unit 180, and the drive coil and the magnetic yoke are provided in the fixed unit.

  The first drive unit includes a pair of drive magnets 401, a pair of drive coils 301, and a pair of magnetic yokes 203 made of a magnetic material. Further, inside the pair of drive coils 301, a pair of drive coils 303, which is a third drive unit that is rotationally driven in the rotation direction 22 around a Z axis 10 described later, is wound. The drive magnet 401 and the magnetic yoke 203 have a partial circular tube shape having a circumferential curved surface around the spherical center 70 on two side surfaces.

  The second drive unit includes a pair of drive magnets 402, a pair of drive coils 302, and a pair of magnetic yokes 204 made of a magnetic material. Further, inside the pair of drive coils 302, a pair of drive coils 303, which is a third drive unit that is rotationally driven in the rotation direction 22 around a Z axis 10 described later, is wound. The drive magnet 402 and the magnetic yoke 204 also have a partial circular tube shape having circumferential curved surfaces centered on the spherical center 70 on two side surfaces.

  The driving of the movable unit 180 by the first, second and third driving units will be described in detail below.

  The actuator 165 includes a detector for detecting the rotation angle of the movable unit 180 on which the operation unit 850 is mounted with respect to the fixed unit and the rotation angle around the Z axis 10. Specifically, the two-dimensional rotation (tilt) angle of the movable unit 180, that is, the first detection unit for detecting the rotation angle in the rotation direction 20 and the rotation direction 21 and the tilt angle in the rotation direction 22 are detected. A second detection unit. Although not shown, the second detection unit faces a pair of rotation detection magnets and rotation detection magnets arranged at both ends of the movable unit 180 around the spherical center 70 in a plane orthogonal to the Z axis 10. And a pair of magnetic sensors disposed on the base 200. However, as in the embodiment of the present invention, when the input / output operation device 750 only requires forward / reverse detection of the rotational direction 22, the first detection unit can sufficiently detect the second direction. The detecting unit is not necessary.

  The first detector is connected to a rotation detection magnet 406 mounted on the bottom of the movable portion 180 and a straight line 13 that passes through the spherical center 70 and that is orthogonal to the rotation axes 11 and 12 in a plane including the rotation axes 11 and 12. A pair of magnetic sensors 501a and 501b arranged in parallel and centered on the Z axis 10 and the Z axis parallel to the straight line 14 passing through the spherical center 70 and perpendicular to the straight line 13 on the plane including the rotation axes 11 and 12 10 includes a pair of magnetic sensors 503a and 503b arranged around the center. The magnetic sensors 501a, 501b and 503a, 503b are mounted on the sensor substrate 502, and are fixed to the base 200 via a coil spring 600 with a predetermined gap from the rotation detection magnet 406. The detector will be described in detail below.

  The fixed unit includes a base 200. The base 200 has a recess in which at least a part of the movable unit 180 is loosely fitted. In the present embodiment, the inner surface of the recess is constituted by a concave spherical surface 200A. The base 200 further includes openings 200P and 200T and a contact surface 200B.

  As shown in FIG. 1, the actuator 165 has a pair of magnetic yokes 203 and a pair of magnetic yokes 204 for rotating the movable unit 180 in the rotational direction 22, and four drive coils 303 for winding them. A pair of drive magnets 401 and a pair of drive magnets 402 are used.

  As shown in FIG. 1, FIG. 8A and FIG. 8B, the drive coil 303 is perpendicular to the coil winding directions of the drive coil 301 and the drive coil 302 with respect to the pair of magnetic yokes 203 and the pair of magnetic yokes 204, respectively. It has a cross-winding configuration that is laminated and wound inside, and is inserted and fixed in the openings 200P and 200T of the base 200, respectively. Specifically, after the drive coil 303 is wound around the pair of magnetic yokes 203 and the pair of magnetic yokes 204, the magnetic yoke holders 203 </ b> L and 203 </ b> R and the magnetic yokes 203 are provided on both sides of the pair of magnetic yokes 203 and the pair of magnetic yokes 204. The yoke holders 204L and 204R are fixed, and then the pair of drive coils 301 and 302 are wound around the whole. Furthermore, by fixing the bottoms of the magnetic yoke holders 203L and 203R and the magnetic yoke holders 204L and 204R to the mounting surface 200S of the base 200, the drive unit is mounted on the fixed unit.

  Preferably, the fixing unit including the base 200 is made of resin. More preferably, the fixed unit including the base 200 includes a drive coil 301 and a drive coil 303 wound around a pair of magnetic yokes 203, and a drive coil 302 and a drive coil 303 wound around a pair of magnetic yokes 204. It is integrally molded with. Further, it is preferable that the drive coil wound around these magnetic yokes is not exposed on the inner surface of the base 200, that is, the concave spherical surface 200A.

  The movable unit 180 includes an upper movable part 150 and a lower movable part 102. The upper movable unit 150 including the operation unit 850 is fixed to the lower movable unit 102. The operation unit 850 is located on the Z axis 10 in the movable unit 180. The operation unit 850 has a generally convex shape, and the center of the convex shape (the most protruding portion) coincides with the Z axis 10. The movable unit 180 is not provided with a camera or a light emitting element.

  The lower movable portion 102 has a bowl shape having a pair of openings 102W. The lower movable portion 102 has a convex spherical surface 102R having a spherical center 70 as a spherical center in its outer shape.

  The convex spherical surface 102R covers the entire outside of the lower movable portion 102. More specifically, the lower movable portion 102 has a pair of openings 102W into which a connecting rod 650 for connecting and fixing a convex spherical portion 651 having a sphere center 70, which will be described later, to the base 200 can be inserted. Yes. The opening 102W prevents the connecting rod 650 from coming into contact with the lower movable portion 102 when the movable unit 180 rotates around the Z axis 10, the rotation axis 11, and the rotation axis 12 within a preset angle range. The lower movable unit 102 is provided at a proper position and size. Furthermore, the opening 102 </ b> W is used as a stopper in the rotation direction 22 of the movable unit 180. Accordingly, the surface of the portion other than the opening 102W constitutes the convex spherical surface 102R.

  The spherical surface 70 of the convex spherical surface portion 651 and the convex spherical surface 102R is located at the center of the lower movable portion 102 and is located below the operation portion 850.

  The movable unit 180 is provided with a rotation detection magnet 406, a pair of drive magnets 401, and a pair of drive magnets 402. It is preferable that the detection magnet and the drive magnet to be mounted are disposed inside the lower movable portion 102 from the opening 102H so as not to be exposed to the convex spherical surface 102R. The lower movable portion 102 is preferably made of resin, and the lower movable portion 102, the rotation detection magnet 406, a pair of drive magnets 401, and a pair of drive magnets 402 are integrally molded.

  As shown in FIGS. 9B and 10B, the magnetic yoke 203 and the magnetic yoke 204 provided inside the base 200 are made of a magnetic material. Therefore, the drive magnet 401 and the drive magnet 402 provided inside the lower movable portion 102 so as to face each other function as an attracting magnet, and a magnetic attractive force is generated between the magnetic yoke and the drive magnet. . Specifically, a magnetic attractive force F1 is generated between the magnetic yoke 203 and the drive magnet 401, and a magnetic attractive force F1 is generated between the magnetic yoke 204 and the drive magnet 402. Actually, the center line 18 of the magnetic yoke 203 and the drive magnet 401 and the center line 19 of the magnetic yoke 204 and the drive magnet 402 are configured with a downward inclination angle θd with respect to the straight line 11 and the straight line 12, respectively. The inclination angle θd is preferably about 15 to 25 degrees. The upper movable part 105 has a bowl shape having an opening corresponding to the bowl-shaped opening of the lower movable part 102. The lower movable portion 102 has a convex spherical surface 105R having a spherical center 70 as a spherical center in its outer shape. In addition, a concave conical member 860 including a concave conical surface 860a is provided inside the bowl shape of the upper movable portion 150. The concave conical surface 860a faces the lower movable portion 102 and contacts the convex spherical surface 651a of the convex spherical surface portion 651 of the fixed unit. Thereby, the movable unit 180 is loosely fitted to the fixed unit.

  As shown in FIG. 9B, the magnetic attractive force F1 is a vertical drag force against the concave conical member 860 of the convex spherical portion 651 of the fixed unit. The magnetic attractive force F1 is a magnetic attractive force F2 that is a combined vector in the Z-axis 10 direction. The balance of this force is very similar to the dynamic structure of the so-called “Yajirobe”. For this reason, the movable unit 180 can rotate in three axis directions very stably. Specifically, the movable unit 180 is pivotally supported by the fixed unit in the vicinity of the ball center 70. This support is extremely stable and has low frictional resistance. Therefore, extremely excellent dynamic characteristics can be realized. That is, the movable unit 180 can be rotated in the rotation directions 22, 21, and 20 around the Z axis 10, the rotation axis 11, and the rotation axis 12.

  In particular, since the movable unit 180 has a spherical shape composed of the upper movable portion 150 and the lower movable portion 102, the spherical center 70 can be made to coincide with the center of the movable unit 180 and the position of the center of gravity. For this reason, the movable unit 180 can rotate in the rotational direction 20, the rotational direction 21, and the rotational direction 22 with almost the same moment. As a result, the movable unit 180 can always be further rotated with substantially the same driving force regardless of how the movable unit 180 is rotated in the rotational direction 20, the rotational direction 21, and the rotational direction 22. It is always possible to drive with high accuracy.

  Further, since the center of rotation of the spherical center 70, that is, the movable unit 180 coincides with the center of gravity of the movable unit 180, the moment that the movable unit 180 rotates in the rotation direction 20, the rotation direction 21, and the rotation direction 22 is very small. . For this reason, the movable unit 180 can be maintained in a neutral state with a small driving force, and can be rotated in the rotation direction 20, the rotation direction 21, and the rotation direction 22. Therefore, the power consumption of the actuator 165 in the input / output operation device 750 can be reduced. In particular, the driving current required for maintaining the movable unit 180 in a neutral state can be made almost zero.

  As described above, according to the present embodiment, the movable unit 180 on which the operation unit 850 is mounted is intensively supported at the ball center 70 that is the position of the center of gravity. Accordingly, it is possible to greatly suppress the load reduction due to friction and mechanical resonance in the driving frequency region.

  In addition, since the drive magnet 401 and the drive magnet 402 have a partial circumferential curved surface, a constant magnetic attractive force F2 can be generated without being affected by the magnitude of the rotation angle, and the convex spherical portion of the fixed unit can be generated. The normal force between 651 and the concave conical member 860 is also constant. As a result, it is possible to suppress the fluctuation of the friction load due to the rotation angle and to realize a favorable phase / gain characteristic in the drive frequency region.

  Further, if the convex spherical portion 651 or the concave conical member 860 is made of a resin member having excellent slidability, it is possible to further reduce the friction between the concave conical surface 860a and the convex spherical surface 651a, and wear resistance. A support structure with excellent properties can be realized.

  The actuator 165 preferably includes a drop-off prevention member 201 that restricts the movement of the movable unit 180 so that the movable unit 180 does not fall off the fixed unit (FIGS. 1, 4A, and 4C). The dropout prevention member 201 has a dropout prevention regulating surface 201A. When the movable unit 180 moves away from the fixed unit, the upper movable portion 150 of the movable unit 180 and the dropout prevention regulating surface 201A come into contact with each other. To limit the movement of the movable unit 180 (FIG. 4A).

  A predetermined gap (not shown) is removed from the convex spherical surface 150R of the upper movable portion 150 and the drop-off preventing member 201 so that the upper movable portion 150 can freely rotate with respect to the spherical center 70 in the entire movable range. It is provided between the regulation surface 201A for prevention.

  Preferably, the drop-off prevention regulating surface 201 </ b> A has a concave partial spherical surface having a center coincident with the spherical center 70. The drop-off prevention member 201 is fixed to the contact surface 200 </ b> B of the base 200. A gap is provided between the convex spherical surface 150R and the drop-off prevention regulating surface 201A in a state where the concave conical surface 860a of the concave conical member 860 is in contact with the convex spherical surface 651a of the convex spherical portion 651 of the fixed unit. . This gap is set to a distance that allows the concave conical surface 860a and the convex spherical surface 651a to return to the contact state by the magnetic attractive force F1 even if the concave conical surface 860a is separated from the convex spherical surface 651a. That is, even when the movable unit 180 moves upward by a distance equal to the gap and the drop-preventing restricting surface 201A and the convex spherical surface 150R are in contact with each other, the movable unit 180 is separated from the concave conical surface 860a by the magnetic attractive force F1. It is possible to return to the original state in which the convex spherical surface 651a contacts. For this reason, according to the present embodiment, even if the movable unit 180 momentarily drops off from a predetermined position, the shock resistance can be immediately restored to the original good support state by the magnetic attractive force F1. It is possible to provide an input / output operation device that is excellent in operation.

  Next, the structure for driving the movable unit 180 of the actuator 165 will be described in detail.

  As shown in FIG. 2, in the lower movable unit 102, a pair of drive magnets 401 are arranged symmetrically with respect to the Z axis 10 in order to rotationally drive the movable unit 180 in the rotation direction 20. In order to rotationally drive in the rotational direction 21, a pair of drive magnets 402 are arranged symmetrically with respect to the Z axis 10. Regarding the components provided in the fixed unit, “symmetric with respect to the Z axis 10” means that the movable unit 180 is in a neutral state, that is, the Z axis 10 in a state in which the movable unit 180 does not rotate with respect to the fixed unit. Yes.

  The drive magnet 401 is magnetized to one pole so as to have a magnetic flux in the direction of the rotating shaft 11, and similarly the drive magnet 402 is magnetized to one pole so as to have a magnetic flux in the direction of the rotating shaft 12. Yes.

  As shown in FIGS. 1, 9B, and 10B and described above, the Z-axis is set so that the pair of magnetic yokes 203 and 204 are opposed to the pair of drive magnets 401 and the pair of drive magnets 402, respectively. 10 are respectively provided on the circumference of the base 200 centering on 10.

  As shown in FIGS. 1 and 8A, each of the pair of magnetic yokes 203 arranged on the base 200 in the direction of the rotation shaft 11 is provided with a drive coil 303 around which the magnetic yoke 203 is wound, and further, the drive coil. A drive coil 301 that is divided into four so as to be orthogonal to the winding direction of the drive coil 303 is provided on the outer side of 303. The drive coil 301 is divided into four because the magnetic yoke 203 has a circumferential curved surface.

  Similarly, each of the pair of magnetic yokes 204 arranged in the direction of the rotation axis 12 orthogonal to the rotation axis 11 is provided with a drive coil 303 around which the magnetic yoke 204 is wound, and a winding of the drive coil 303 outside the drive coil 303. A drive coil 302 is provided so as to be orthogonal to the direction.

  In other words, the drive units in the rotation direction 20, the rotation direction 21, and the rotation direction 22 are separately distributed on the circumference around the Z-axis 10.

  9B and 10B, the magnetic gap between the magnetic yoke 203 and the drive magnet 401 and the magnetic gap between the magnetic yoke 204 and the drive magnet 402 can be evenly provided. it can. For this reason, each magnetic flux density can be improved equally and the drive efficiency to the rotation direction 20, the rotation direction 21, and the rotation direction 22 is improved significantly.

  Next, the height position of each drive unit in the Z-axis 10 direction will be described.

  As shown in FIG. 14B, the straight lines 36 and 37 are perpendicular to the central axis (not shown) of the circumferential curved surface passing through the spherical center 70 of the magnetic yoke 203 fixed to the base 200. The straight lines 36 and 37 are perpendicular to the central axis (not shown) of the circumferential curved surface passing through the spherical center 70 of the drive magnet 401 of the movable unit in the neutral state. The straight lines 36 and 37 form an inclination angle θp of 45 degrees or less downward with respect to the straight line 11. Although not shown, the magnetic yoke 204 and the drive magnet 402 fixed to the base 200 have the same configuration. Thus, the pair of drive magnets 401 and 402 and the pair of magnetic yokes 203 and 204 are centered on the Z axis 10 inclined at an inclination angle θp of 45 degrees or less downward with respect to the horizontal plane including the spherical center 70. It consists of a single petal. Specifically, as shown in FIGS. 14A and 14B, each of the pair of magnetic yokes 203 is sandwiched between the magnetic yoke holders 203L and 203R on both side surfaces, and the bottoms of the magnetic yoke holders 203L and 203R are It is inserted into the opening 200P. Thereby, the magnetic yoke 203 is fixed to the mounting surface 200S.

  Similarly, each of the pair of magnetic yokes 204 is sandwiched between the magnetic yoke holders 204L and 204R on both side surfaces, and the bottoms of the magnetic yoke holders 204L and 204R are inserted into the opening 200T of the base 200. 204 is fixed to the mounting surface 200S.

  As described above, by setting the inclination angle θp to 45 degrees or less, the height of the fixed unit can be reduced, and the space saving and the low profile of the apparatus can be realized. Preferably, the rotation inclination angle θp and the rotation inclination angle θr are about 15 degrees to 25 degrees, and more preferably, for example, 20 degrees.

  By energizing the pair of drive coils 301, the pair of drive magnets 401 receives a couple of electromagnetic forces, and the lower movable portion 102, that is, the movable unit 180 rotates in the rotation direction 20 around the X-axis direction rotation shaft 12. Is driven to rotate. Similarly, by energizing the pair of drive coils 302, the pair of drive magnets 402 receives a couple of electromagnetic forces, and the movable unit 180 is driven to rotate in the rotational direction 21 about the Y-axis direction rotational axis 11. Is done.

Furthermore, by simultaneously energizing the drive coil 301 and the drive coil 302, the movable unit 180 on which the operation unit 850 is mounted can be rotated two-dimensionally.
In FIGS. 12, 13A, and 13B, the same current is applied to the drive coil 301 and the drive coil 302 simultaneously to rotate the same in the rotation direction 20 and the rotation direction 21. As a result, the rotation direction 20 and the rotation direction are rotated. This shows a state in which it is rotated by a combined angle θxy in the direction of a straight line 13 that forms 21 and 45 degrees.

  Further, when the four drive coils 303 are energized, the movable unit 180 receives electromagnetic force in the same rotational direction, and the movable unit 180 is rotationally driven about the Z axis 10 in the rotational direction 22.

  Further, when the four drive coils 303 are energized while being rotated to the combined angle θxy, the movable unit 180 is rotationally driven in the rotational direction 23 about the straight line 32.

  Thus, this embodiment employs a moving magnet drive system in which the movable unit 180 is provided with the drive magnet 401 and the drive magnet 402. In this configuration, a problem that the weight of the movable unit 180 generally increases can be considered. However, according to this configuration, it is not necessary to suspend the drive wiring to the movable unit 180.

  Further, since the center of gravity of the movable unit 180 and the rotation center point of the movable unit 180 coincide with the spherical center 70, even if the weight increases due to the mounting of the drive magnet, the rotational moment of the movable unit 180 is large. Does not increase. For this reason, according to this embodiment, the advantage by a moving magnet drive system can be enjoyed, suppressing the subject by the increase in a weight.

  The rotation angle of the movable unit 180 in the rotational direction 22 about the Z axis 10 is limited by contact between the pair of openings 102 </ b> W provided in the lower movable unit 102 and the connecting rod 650 fixed to the base 200. Since the connecting rod 650 is inserted into the pair of openings 102W, the movable unit 180 does not come into contact with the wall defining the opening 102W within the range of the opening defined by the opening 102W. Rotate around. If the movable unit 180 attempts to rotate beyond the range of the opening, the movable unit 180 cannot rotate any more because the connecting rod 650 and the wall defining the pair of openings 102W come into contact with each other.

  In the moving magnet drive system, the heat generated by the drive coil 301, the drive coil 302, and the drive coil 303 can be cooled by the base 200 via the magnetic yoke 203 and the magnetic yoke holders 203L and 203R, and the magnetic yoke 204 and the magnetic yoke holders 204L and 204R. There are advantages. Furthermore, in designing the rotation angle in the rotation direction 20 and the rotation direction 21 to be 20 degrees or more, it is advantageous in that the movable unit 180 can be reduced in size and weight. On the other hand, in the moving coil drive system, the drive coil may become too large and the weight of the movable unit 180 may increase.

  As described above, according to the present embodiment, the operation unit 850, the upper movable unit 150, the lower movable unit 102, the lower movable unit 102, the rotation detection magnet 406, and the drop detection preventive unit provided in the fixed unit of the movable unit 180 are provided. All the central axes of the two pairs of rotation driving portions provided on the regulating surface 201A and the base 200 are configured to pass through the spherical center 70 which is a support center and a drive center.

  Therefore, the center of gravity of the movable unit 180 coincides with the spherical center 70, and the movable unit 180 is supported by the center of gravity, and rotational driving about three axes that pass through the center of gravity and are orthogonal to each other can be realized. In addition, the movable unit 180 can be prevented from falling off.

  The actuator 165 of the input / output operation device 750 may include a viscous member (not shown) in order to reduce the amplitude increase coefficient (Q value) of the movable unit 180. In this case, as shown in FIGS. 9B and 10B, the viscosity between the concave conical surface 860a of the concave conical member 860 mounted on the upper movable portion 150 and the convex spherical surface 651a of the convex spherical surface portion 651 of the fixed unit. A member is provided. As a result, the rotation angle in the rotation directions 21 and 22 and the rotation angle in the rotation direction 22 are set between the drive magnet 401 provided in the movable unit 180, the drive magnet 402 and the magnetic yoke 203 provided in the base 200, and the magnetic yoke 204. On the other hand, the amplitude increase coefficient (Q value) of vibration due to the magnetic spring effect of the magnetic attraction force fluctuation generated and the Q value of mechanical natural vibration can be reduced, and good control characteristics can be obtained.

  Next, detection of the rotation angle (tilt) of the movable unit 180 will be described. As shown in FIG. 1, FIG. 2, FIG. 11A, FIG. 11B and FIG. 15, the actuator 165 detects the rotation angle of the movable unit 180 on which the operation unit 850 with respect to the fixed unit is mounted and the rotation angle around the Z axis 10. A detector is provided.

  Specifically, the first detection unit for detecting the two-dimensional rotation angle of the movable unit 180, that is, the rotation angle in the rotation direction 20 and the rotation direction 21, and the rotation angle in the rotation direction 22 are detected. A second detector.

  Although not shown, the second detection unit faces a pair of rotation detection magnets and rotation detection magnets arranged at both ends of the movable unit 180 around the spherical center 70 in a plane orthogonal to the Z axis 10. And a pair of magnetic sensors disposed on the base 200.

  However, as in the embodiment of the present invention, when the input / output operation device 750 only requires forward / reverse detection of the rotational direction 22, the first detection unit can sufficiently detect the second direction. The detecting unit is not necessary.

  The first detector is connected to a rotation detection magnet 406 mounted on the bottom of the movable portion 180 and a straight line 13 that passes through the spherical center 70 and that is orthogonal to the rotation axes 11 and 12 in a plane including the rotation axes 11 and 12. A pair of magnetic sensors 501a and 501b arranged in parallel and centered on the Z axis 10 and the Z axis parallel to the straight line 14 passing through the spherical center 70 and perpendicular to the straight line 13 on the plane including the rotation axes 11 and 12 10 includes a pair of magnetic sensors 503a and 503b arranged around the center.

  The magnetic sensors 501a, 501b, 503a, and 503b are mounted on the sensor substrate 502, and are fixed to the bottom of the base 200 via a coil spring 600 with a predetermined gap from the rotation detection magnet 406.

  First, detection of the rotation angle of the movable unit 180 in the rotation direction 20 and the rotation direction 21 of the movable unit 180 will be described in detail.

  The sensor board 502 is fixed to the base 200 with adjustment screws (not shown) 601 via coil springs 600 at three locations, and the rotation detection magnet 406 and the magnetic sensor are rotated by rotating the three adjustment screws 601 respectively. The relative inclination and distance between 501a and 501b and 503a and 503b are changed. As a result, the tilt output signals of the magnetic sensors 501a and 501b and the magnetic sensors 503a and 503b can be optimally adjusted.

  As shown in FIGS. 11B, 13A, and 13B, the magnetic sensors 501a and 501b are arranged in parallel to the straight line 13 so as not to be affected by the magnetic field generated by the drive current of the drive coil 301 and the drive coil 302. The magnetic sensors 503a and 503b are arranged in parallel to the straight line 14. Magnetic sensors 501a and 501b arranged in parallel to the straight line 13 synthesize and detect a magnetic force change of the rotation detection magnet 406 caused by the rotation operation in the rotation direction 20 and the rotation direction 21 of the movable unit 180 as a biaxial component, and further The S / N of the detection signal is improved by differentially detecting the detection outputs of the magnetic sensors 501a and 501b.

  The magnetic sensors 503a and 503b arranged in parallel with the straight line 14 synthesize and detect the magnetic force change of the rotation detection magnet 406 caused by the rotation operation in the rotation direction 20 and the rotation direction 21 of the movable unit 180 as a biaxial component. Further, the S / N of the detection signal is improved by differentially detecting the detection outputs of the magnetic sensors 503a and 503b.

  Further, when the input / output operation device 750 only needs to detect forward / reverse rotation in the rotational direction 22 as in this embodiment, the difference between the magnetic sensors 501a and 503b and the difference between the magnetic sensors 501b and 503a. By detecting the movement, forward / reverse detection of the rotational direction of the rotational direction 22 becomes possible.

  Thus, according to the present embodiment, the movement of the rotation detection magnet 406 can be reduced with respect to the rotation angle by shortening the interval between the rotation detection magnet 406 and the ball core 70. Therefore, the arrangement projected area of the magnetic sensors 501a and 501b and the magnetic sensors 503a and 503b can be reduced.

  In this embodiment, the magnetic sensors 501a and 501b, the magnetic sensors 503a and 503b, and the rotation detection magnet 406 are included, but the detector may be configured by other configurations. For example, on the Z axis 10, a light sensor provided in the fixed unit and a light detection pattern provided in the movable unit 180 may be included. As the movable unit rotates, the light detection pattern rotates, so that the light incident on the optical sensor changes. It is also possible to calculate a two-dimensional rotation angle by detecting the change of the light by the optical sensor.

  As described above, according to the actuator 165 of the input / output operation device 750 of the present embodiment, the structure in which the movable unit is pivotally supported by the spherical center is disposed on the Z axis of the operation unit, and the sphere is perpendicular to the Z axis. In the plane passing through the center, two pairs of drive parts are arranged circumferentially around the spherical center, thereby adding a certain vertical drag by a magnetic attractive force that is less susceptible to the rotational angle of the movable unit. Thus, it is possible to realize a configuration in which the friction load variation due to the rotation angle is reduced and the movable unit is supported and driven by the center of gravity, and mechanical resonance can be significantly suppressed in the driving frequency region.

  Further, in order to prevent the movable unit 180 from falling off due to disturbances such as vibration and impact, which has been a big problem specific to the support structure by magnetic attraction force, it is possible to turn the drop-off preventing member provided in the fixed unit. A drop prevention regulation surface is provided through a predetermined gap. Therefore, it is possible to reliably prevent the movable unit from falling off while avoiding an increase in the size of the apparatus.

  Further, even when the movable unit is dropped until the convex spherical surface of the movable unit comes into contact with the drop-off prevention regulating surface of the fixed unit, the convex spherical surface portion of the fixed unit and the concave conical member of the movable portion are caused by the magnetic attractive force. The position of the drop-off prevention regulating surface is determined so that the point contact can be made again. For this reason, even if the movable unit is momentarily dropped, it is possible to provide an input / output operation device with extremely excellent shock resistance that can immediately return to the original good support state.

  The height position in the Z-axis direction where the drive unit is disposed is disposed at a height position rotated downward from the horizontal plane including the ball center. For this reason, the center of gravity of the movable unit can be driven around the center of the sphere, and the height can be reduced.

  Also, a support structure with low friction and excellent wear resistance is realized by using a resin material for the movable portion and the base, or by covering the convex spherical surface portion of the fixed unit and the surface portion of the concave conical member with a resin member. .

  In addition, by filling the gap formed by the concave conical surface of the upper movable portion and the convex spherical surface of the fixed unit with a viscous member, the gap between the drive magnet provided in the movable unit and the magnetic yoke provided in the fixed unit is increased. It is possible to reduce the amplitude increase coefficient (Q value) of vibration due to the magnetic spring effect and the Q value of mechanical natural vibration due to the generated magnetic attraction force fluctuation, and to obtain good control characteristics.

  Therefore, according to the actuator of the input / output operation device of this embodiment, for example, there are orthogonal X-axis and Y-axis, and the movable unit is rotated at a large angle of ± 20 degrees or more around the X-axis and Y-axis. In addition, the movable unit can be rotated at a large angle of ± 5 degrees or more around the Z axis orthogonal to the X axis and the Y axis. Also, good shake correction control can be realized in a wide frequency range up to about 200 Hz. As a result, the operation unit can rotate around the X, Y, and Z axes, and has a compact and robust drop-off prevention structure, so it has high impact resistance against external impacts such as vibration and drop impact. The actuator of the input / output operation device is realized.

  Next, the operation of the input / output operation device 750 according to the first embodiment having the actuator 165 will be described with reference to FIGS. 16 and 17.

  As illustrated in FIG. 16, the input / output operation device 750 according to the first embodiment of the present invention includes an actuator 165, a drive circuit unit 350, a detection circuit unit 360, and a control arithmetic processing unit 94. The input / output operation device 750 may further include a display calculation processing unit 700 that displays the target position coordinates of the actuator 165.

  The position of the operation unit 850 touching the finger of the actuator 165 in the input / output operation device 750 can be made to follow the target position coordinates 920 displayed on the display calculation processing unit 700. FIG. 17 is a detailed block diagram illustrating the control of the input / output operation device 750.

  As shown in FIG. 17, the drive circuit unit 350 includes drive circuits 96a, 96b, and 96r. The detection circuit unit 360 includes amplification circuits 98x and 98y of the movable unit 180.

  Specifically, the x-coordinate 900 and the y-coordinate 901 of the target position coordinate 920 displayed on the display calculation processing unit 700 correspond to the target rotation angles in the rotation direction 20 and the rotation direction 21 of the movable unit 180, respectively.

  As shown in FIG. 16, the rotation shaft 11 and the rotation shaft 12 of the actuator 165 are inclined 45 degrees with respect to the horizontal reference HS in the display calculation processing unit 700. As described above, this is because the magnetic sensors 501a and 501b and the magnetic sensors 503a and 503b, the driving coil 301, the magnetic yoke 203, and the magnetic yoke holders 203L and 203R, and the driving coil 302 and the magnetic yoke 204 are projected on the projection plane viewed from the Z-axis direction. And the magnetic yoke holders 204L and 204R are installed outside the projection region (in this embodiment, they are shifted by 45 degrees) so that they are not affected by the magnetic field generated by the drive currents of the drive coil 301 and the drive coil 302. Because. Therefore, when rotating in the direction of the straight line 14 that is the horizontal reference HS direction in the display calculation processing unit 700, both the drive coil 301 and the drive coil 302 are energized to correspond to the straight line 14 direction (corresponding to the X-axis direction of the display calculation processing unit 700). ) Can be driven. Further, even in the case of rotationally driving in the direction of the straight line 13 that is a direction perpendicular to the horizontal reference HS, both the drive coil 301 and the drive coil 302 are energized and the direction of the straight line 13 (corresponding to the Y-axis direction of the display arithmetic processing unit 700) Can be driven.

  As a result, the display calculation processing unit 700 shown in FIG. 16 drives the drive coil 301 and the drive coil 302 rotated 45 degrees with respect to the x coordinate 900 and the y coordinate 901 of the position coordinate 920 of θg = 45 °. In this case, the rotation angle of the movable unit 180 around the rotation shaft 12 and the rotation shaft 11 is 1 / √2 times the rotation angle.

  Next, the operation of the position control drive of the movable unit 180 output from the display arithmetic processing unit 700 to the actuator 165 via the control arithmetic processing unit 94 will be described with reference to FIG.

  As shown in FIG. 17, the x-coordinate 900 and y-coordinate 901 of the target position coordinate 920 in the display calculation processing unit 700 are output as digitized target position coordinate signals 80x and 80y, respectively, and the control calculation processing unit 94 Is input.

  The control arithmetic processing unit 94 generates target rotation angle signals 84a and 84b based on the target position signal signals 80x and 80y received from the display arithmetic processing unit 700 and the rotation angle signals 88x and 88y received from the detection circuit unit 360. The feedback control is performed for the angles around the rotation axes 11 and 12. Specifically, first, the control arithmetic processing unit 94 performs processing for converting the target position coordinates into the rotation angle of the actuator 165. At this time, the magnetic sensors 501a and 501b and the magnetic sensors 503a and 503b described above are also corrected by being shifted from the drive coil 301 and the drive coil 302 by 45 degrees on the projection surface. Thereby, the target rotation angles in the rotation direction 20 and the rotation direction 21 corresponding to the x coordinate 900 and the y coordinate 901 are sequentially calculated.

  Further, the positional deviation correction processing for the target position performed by the control arithmetic processing unit 94 suppresses the position error according to the target position coordinate signals 80x and 80y of the x coordinate 900 and the y coordinate 901 output from the display arithmetic processing unit 700. This is position closed control for driving the movable unit 180 of the actuator 165. Therefore, the control arithmetic processing unit 94 sequentially outputs the target rotation angle signals 84a and 84b as the optimum digital shake correction amount including the frequency response characteristics of the actuator 165, phase compensation, gain correction, and the like.

  The target rotation angle signals 84a and 84b are converted into analog signals by the DA converters 95a and 95b, and input to the drive circuit 96a around the rotation shaft 11 and the drive circuit 96b around the rotation shaft 12 as analog target rotation angle signals 85a and 85b. .

  On the other hand, in the actuator 165, the rotation angle signal corresponding to the rotation direction 20, that is, the y-axis direction perpendicular to the HS of the display calculation processing unit 700 from the magnetic sensors 501a and 501b that detect the rotation angle of the movable unit 180 with respect to the base 200. 86y is output, and a rotation angle signal 86x corresponding to the rotation direction 21, that is, the HS direction of the display calculation processing unit 700, is output from the magnetic sensors 503a and 503b. From the rotation angle signals 86x and 86y, noise components and DC drift components are removed by the analog circuits 97x and 97y to become rotation angle signals 87x and 87y. Further, the rotation angle signals 88x and 88y having an appropriate amplitude are obtained by amplification by the amplification circuits 98x and 98y, and the rotation angle signals 89x and 89y digitized via the AD converters 99x and 99y are used for the control calculation. The data is sequentially input to the processing unit 94.

  In the position closed control described above, the control calculation processing unit 94 calculates a difference (position error) between the target position coordinates 920 based on the target position coordinate signals 80x and 80y and the current position coordinates based on the rotation angle signals 89x and 89y of the movable unit 180. The target rotation angle signals 84a and 84b based on the position error are sequentially output again.

  In the control arithmetic processing unit 94, the rotation angle signals 89x and 89y of the movable unit 180 are inversely converted into a position coordinate system displayed on the display arithmetic processing unit 700, and the display arithmetic processing unit is used as feedback position coordinate signals 82x and 82y. 700 is output.

  The drive circuits 96a and 96b are controlled by a feedback system that feeds back rotation angle signals 89x and 89y to the target angle signals 85a and 85b. Therefore, when the external force from the fingers does not act on the movable unit 180, the angle of the rotational direction 20 and the rotational direction 21 of the movable unit 180 is controlled to be constant so that the predetermined rotational angle position is obtained. .

  Therefore, drive signals for driving the drive coil 301 and the drive coil 302 based on the target position coordinate signals 80x and 80y of the display calculation processing unit 700, the target rotation angle signals 85a and 85b, and the rotation angle signals 89x and 89y of the movable unit 180. Is output to the drive circuits 96a and 96b. As a result, the feedback control of the angular position with respect to the target position coordinate 920 is executed in the input / output operation device 750, and the movable unit 180 of the actuator 165 is adjusted so that the feedback position coordinate signals 82x and 82y are equal to the target position coordinate signals 80x and 80y. Driven. By this series of drive control, the position follow-up control of the operation unit 850 of the movable unit 180 is performed, and a good tactile force sense operation can be realized.

  Next, a drive control operation around the rotation direction 22 output from the display calculation processing unit 700 to the actuator 165 will be described with reference to FIG.

  The movable unit 180 is also driven in the rotational direction 22 around the Z axis 10. This operation mainly includes vibration of the movable unit 180 by a drive signal such as a sine wave, a rectangular wave, a pulse wave, or a triangular wave. In the present embodiment, this operation is based on open control.

  The control arithmetic processing unit 94 generates a driving signal 84r having a predetermined driving waveform pattern based on the selection signal 80r received from the display arithmetic processing unit 700, and drives the movable unit 180 to vibrate around the Z axis 10. For this purpose, the control arithmetic processing unit 94 stores various drive waveform patterns that give a predetermined vibration mode. The drive waveform pattern is considered to be suitable for presentation of a tactile sensation function, and includes a drive waveform pattern having a high frequency characteristic expressed as a stick-and-slip feeling and a click feeling.

  The display calculation processing unit 700 outputs a selection signal 80 r for selecting a drive waveform pattern to the control calculation processing unit 94. The control arithmetic processing unit 94 selects a predetermined drive waveform pattern based on the selection signal 80r, and outputs a digitized drive signal 84r to the DA converter 95r. The analog drive signal 85r is input to the drive circuit 96r in the rotation direction 22. As a result, the movable unit 180 is driven to vibrate in the rotational direction 22, and it is possible to give a vibration feeling to the operator's fingertip via the operation unit 850 and a tactile sensation that stimulates the pachinko body inside the fingertip.

  The vibration of the movable unit 180 in the rotation direction 22 is, for example, when the movable unit 180 is viewed from above, it rotates to the right at a predetermined angle around the Z axis 10 and reverses and rotates to the left at a predetermined angle. It consists of repeated exercises.

  Further, the movable unit 180 may be driven in the rotation direction 22 by a drive signal having a frequency component in the audible region other than the vibration drive. As a result, the movable unit 180 can vibrate at a frequency in the audible range, and sound can be output from the actuator 165.

  As described above, the operating unit 850 of the movable unit 180 is controlled in two dimensions with respect to the angles around the rotation axes 11 and 12 and is driven to vibrate in the rotation direction 22, thereby being used in various fields. As the interface (HMI), the input / output operation device of this embodiment can be used.

  Next, the detection operation of the rotation angle of the movable unit 180 output from the actuator 165 to the display arithmetic processing unit 700 via the control arithmetic processing unit 94 will be described with reference to FIG.

  Since the actuator 165 rotates the movable unit 180 two-dimensionally around the rotation axes 11 and 12 with the fingertip from the configuration, the magnetic sensors 501a and 501b and the magnetic sensors 503a and 503b are moved to the movable unit 180. It functions as a sensor that detects the rotation angle around the rotation shafts 11 and 12.

  Furthermore, since the actuator 165 has a good frequency response characteristic and a high rotational angle resolution, the motion detection sensitivity of the movable unit 180 by fingers is very high, and detection of flick input and swipe input often used in mobile terminals is possible. It is also possible to detect character input.

  The rotation angle signal 86y corresponding to the rotation direction 20, that is, the y-axis direction perpendicular to the HS of the display calculation processing unit 700 is output from the magnetic sensors 501a and 501b, and the rotation direction 21, that is, display calculation, is output from the magnetic sensors 503a and 503b. A rotation angle signal 86x corresponding to the HS direction that is the horizontal direction of the processing unit 700 is output.

  From the rotation angle signals 86x and 86y, noise components and DC drift components are removed by the analog circuits 97x and 97y to become rotation angle signals 87x and 87y. Further, rotation angle signals 88x and 88y having appropriate output values are obtained by the amplification circuits 98x and 98y, and the rotation angle signals 89x and 89y digitized via the AD converters 99x and 99y are sequentially input to the control arithmetic processing unit 94. Is done. The control arithmetic processing unit 94 stores various input detection waveform patterns including special input pattern modes such as flick input and swipe input, and which input pattern mode is the rotation angle signals 89x and 89y which are input waveforms. Are detected and compared, and output to the display calculation processing unit 700 as a selection signal 82s.

  Next, the operation of detecting the rotation of the movable unit 180 in the rotation direction 22 will be described. In this embodiment, a magnetic sensor dedicated to rotation detection is not provided. However, as described above, in addition to the rotation of the movable unit 180 in the rotation direction 20 and the rotation direction 21, the rotation is performed in the rotation direction 22. It is possible to detect whether the movable unit 180 has been operated clockwise or counterclockwise in the rotation direction 22 from the relative output difference between the angle signals 89x and 89y.

  As a result, it is possible to rotate the operation unit 850 mounted on the movable unit 180 clockwise or counterclockwise while simultaneously rotating in the rotation direction 20 and the rotation direction 21. It is also possible to detect the enlargement / reduction of the screen and the alternative input of the scroll input. For example, the control calculation processing unit 94 may detect a difference between the rotation angle signals 89x and 89y and output the result as a detection signal 82r to the display calculation processing unit 700.

  The input / output control operations of the display arithmetic processing unit 700, the control arithmetic processing unit 94, and the actuator 165 have been described above. For example, as shown in FIGS. 16 and 17, the display arithmetic processing unit 700 can move the actuator 165. A movable identification coordinate area 710 of the unit 180 may be provided. Thus, the operator can freely operate the operation unit 850 without moving load in a range corresponding to the inside of the identification coordinate area 710, but when the operation unit 850 moves to an area other than the identification coordinate area 710, The movable unit 180 can be driven so as to return to the inside of the identification coordinate area 710 closest to the coordinate axis. That is, the range of the operation unit 850 can be restricted, and the functions and application fields as the input / output operation device 750 are expanded. In this case, for example, the control calculation processing unit 94 sets the target position coordinate at the center of the identification coordinate area 710, and when the current position coordinates by the rotation angle signals 89x and 89y are within the range of the identification coordinate area 710, When the above feedback control is set to the first gain and the current position coordinate is outside the range of the identification coordinate area 710, a gain larger than the first gain is set. Thereby, for example, when the operator moves the operation unit 850 with a finger, a tactile sensation as if a wall surface to be regulated is provided around the identification coordinate area 710 can be given. Furthermore, it is possible to change the wall to be controlled to a hard material feeling or a soft material feeling by changing control variables including phase compensation and gain correction.

  Furthermore, by changing the identification coordinate area instantaneously in software, it becomes possible to create an input / output operation device that meets various range restrictions.

(Second Embodiment)
FIG. 18 is a detailed block diagram illustrating the configuration of the input / output operation device 750 according to the second embodiment of this invention. The operation of the input / output operation device 750 according to the second embodiment having the actuator 165 will be described with reference to FIG. The configuration of the input / output operation device 750 of the second embodiment is the same as that of the first embodiment. The difference is that the shape of the identification coordinate area 720 is changed to a ring.

  As in the first embodiment, the control calculation processing unit 94 sets a target position coordinate at the center of the identification coordinate area 720, for example, and the current position coordinates by the rotation angle signals 89x and 89y are within the range of the identification coordinate area 710. If the current position coordinate is outside the range of the identification coordinate area 710, a gain larger than the first gain is set. Thereby, in the range corresponding to the inside of the identification coordinate area 720, the operator can freely operate the operation unit 850 without moving load. However, when the operation unit 850 is moved to a region other than the identification coordinate area 720, control is performed so as to return to the inside of the identification coordinate area 720 that is closest on the coordinate axis. That is, the circular orbit control of the operation unit 850 can be performed, and the functions and application fields as the input / output operation device 750 are expanded.

  As described above, in the input / output operation device 750 according to the second embodiment, the operator can place his / her fingers so as to coincide with a predetermined target trajectory without visually observing the operation unit 850, and there is a feeling of blind touch. Operation can be realized.

(Third embodiment)
FIG. 19 is a detailed block diagram illustrating the configuration of the input / output operation device 750 according to the third embodiment of this invention. The operation of the input / output operation device 750 according to the third embodiment having the actuator 165 will be described with reference to FIG. The configuration of the input / output operation device 750 of the third embodiment is the same as that of the first embodiment. The difference is that the identification coordinate area is changed to an identification coordinate area 730 in which discrete identification areas are arranged.

  As shown in FIG. 19, a target is an identification coordinate area 730 in which a plurality of areas are distributed in a circle. The control arithmetic processing unit 94 sets the target position coordinates in one area selected from a plurality of areas in accordance with the current position coordinates 930 of the operation unit 850 of the movable unit 180 or an external signal. As described in the embodiment, feedback control is performed. For example, as shown by a thick broken line in FIG. 19, the control arithmetic processing unit 94 sets a sector area corresponding to a plurality of areas of the identification coordinate area 730, and the current position coordinate 930 of the operation unit 850 is a sector area. If it is within one, the target position coordinate is set at the center of the identification coordinate area in the sector area. For example, when the movable unit 180 is at the current position coordinate 930, the identification coordinate area that is close in position is the area 530. The control arithmetic processing unit 94 selects the area 530 as the identification coordinate area. In addition, target position coordinates are set at the center of the area 530. Accordingly, the operation unit 850 mounted on the movable unit 180 is driven so as to be positioned in the area 530 by feedback control.

  For example, the operation unit 850 located inside the area 540 is forcibly moved toward the area 530 outside the area 540 by the power of the operator's fingers, and the current position coordinate 930 is moved to the sector-shaped area of the area 540. In this case, the control calculation processing unit 94 sets the target position coordinates at the center of the area 540. Thereby, the operation unit 850 moves to the area 540 by feedback control.

  Further, when transitioning from the area 540 to the area 530, the hard textured wall and the soft textured wall described in the first embodiment can be freely selected. You can freely change the feeling of damping that worked.

  Furthermore, the determination of the target position coordinates may be based on an operator command. For example, regarding the selection operation of the area 530 and the area 540, if the operator rotates the operation unit 850 about the rotation axis 22 after reaching either area, the detection signal 82r is output from the control arithmetic processing unit 94. It is possible to make a selection determination with.

  Therefore, in the input / output operation device 750 of the third embodiment, the detection signal 82r around the rotation shaft 22 can be used as a selection switch, and there is no need to newly provide a selection switch.

(Fourth embodiment)
FIG. 20 is a detailed block diagram illustrating the configuration of the input / output operation device 750 according to the fourth embodiment of this invention. The operation of the input / output operation device 750 of the fourth embodiment having the actuator 165 will be described with reference to FIG. The configuration of the input / output operation device 750 of the fourth embodiment is the same as that of the first embodiment. The difference is that the identification coordinate area 740 has a plurality of discretely arranged areas, and the operation unit 850 is driven to vibrate around the rotation axis 22.

  As shown in FIG. 20, the target is an identification coordinate area 740 in which two identification coordinate areas are arranged. The feedback control for guiding the operation unit 850 to a plurality of areas is as described in the third embodiment. For example, as shown in FIG. 20, when the movable unit 180 is at the current position coordinate 940 inside the area 550, the area 560 is a candidate for the identification coordinate area that is close in position. When the operation unit 850 located inside the area 550 is forcibly moved to the area 560 outside the area 540 by the force of the operator's fingers and reaches the area 560, the operation unit is reached upon reaching the area 560. 850 is driven to vibrate around the rotation shaft 22.

  As a result, the operator can perceive that he / she has reached the area 560 by vibration driving without visually checking the operation unit 850. The drive signal 84r to be driven to vibrate preferably has a drive frequency from 10 Hz to 200 Hz that can be received by a pachinko body at the fingertip. It is also possible to use an audio signal as the drive signal 84r.

(Fifth embodiment)
FIG. 21 is a detailed block diagram showing the configuration of the input / output operation device 750 according to the fifth embodiment of the present invention. The operation of the input / output operation device 750 according to the fifth embodiment having the actuator 165 will be described with reference to FIG. The configuration of the input / output operation device 750 of the fifth embodiment is the same as that of the first embodiment. The difference is that the identification coordinate area 760 has a plurality of discretely arranged areas, and the operator freely changes the transition state 590 in which the operation unit 850 is changed from the area 570 to the area 580. is there.

  As shown in FIG. 21, an identification coordinate area 760 including areas 570 and 580 is set in the display calculation processing unit 700. For example, as shown in FIG. 21, when the movable unit 180 is at the current position coordinate 950 in the middle of the transition from the area 570 to the area 580, the identification coordinate area closest in position is the area 570. The feedback control for guiding the operation unit 850 to the areas 570 and 580 is as described in the third embodiment.

  There are two areas that can be selected, area 570 and area 580, and the current position coordinate 950 is closer to area 570 than area 580. Even when the operation unit 850 is at the current position coordinate 950, the rotation angle signals 89x and 89y are sequentially input to the control arithmetic processing unit 94. Therefore, using the rotation angle signals 89x and 89y, it is possible to give a movement additional resistance to the operation unit 850 in a stepwise manner in accordance with the transitional position coordinates. For example, if this additional resistance is added in the form of a rectangular wave, minute click vibrations can be felt through the operation unit 850 to the operator's fingers. Further, by providing an additional resistance depending on the speed of the operation unit 850, it is possible to make the operator's fingers feel a viscous resistance damping feeling. Accordingly, the operator receives a tactile sensation of resistance from the vibration applied to the operation unit 850 when moving the operation unit 850 from the current position coordinates 950 to the area 580 rather than moving the operation unit 850 to the area 580. Therefore, for example, when the position of the operation unit 850 is moved from the area 570 to the area 580, the operator can be guided to the sense of touch and operate the operation unit 850 with a natural feeling.

(Sixth embodiment)
FIG. 22A is a detailed block diagram illustrating a configuration of an input / output operation device 750 according to the sixth embodiment of this invention. FIG. 22B is a diagram illustrating an input detection signal of the input operation device 750 according to the sixth embodiment of the present invention. The operation of the input / output operation device 750 according to the sixth embodiment having the actuator 165 will be described with reference to FIGS. 22A and 22B.

  FIG. 22B is a transient response signal detected by the rotation angle signals 89x and 89y when the operator gives a flick operation or a swipe operation to the operation unit 850. The configuration of the input / output operation device 750 of the sixth embodiment is the same as that of the first embodiment. The difference is that the control arithmetic processing unit 94 recognizes this transient response signal pattern.

  In general, as a method of operation on a touch panel used in a mobile terminal, an operation method called flicking is performed by pressing the screen with a finger and then quickly flicking, and swipe moving to sweep in a certain direction by pressing the finger on the screen. There is an operation method called. These are operation methods unique to a touch panel. Flicking speeds up text entry without having to press the same key over and over, and swiping allows you to switch screens and page forward.

  However, in an input / output operation device such as a joystick having a mechanical structure, it is difficult to realize the input by the flick operation or the swipe operation from the viewpoint of insufficient frequency response characteristics and the problem of sensing resolution. It was.

  The input / output operation device 750 of this embodiment has a high frequency response characteristic that can solve the above problems and a high-resolution magnetic sensor, and the transient response signal of the operation unit 850 as shown in FIG. It can be detected sufficiently. Therefore, when the control arithmetic processing unit 94 recognizes the pattern of the rotation angle signals 89x and 89y due to the movement of the operation unit 850, the flick operation and swipe operation of the operation unit 850 can be detected as an input signal.

  As a result, it is possible to realize a flick swipe with a real actual operation that cannot be experienced by touch panel operation. Specifically, two-dimensional operations in the display directions 830 and 820 can be performed as shown in FIG. 22A by performing a flick operation / swipe operation on the operation unit.

  In the input / output operation device 750 of the first to sixth embodiments of the present invention, the position control system mainly including the position signal is shown. However, the rotation angle signals 89x and 89y are taken into the control arithmetic processing unit 94 from the magnetic sensors 501a and 501b and the magnetic sensors 503a and 503b of the actuator 165 via the AD converter, and the differential arithmetic processing is performed to rotate the movable unit 180. It is also possible to detect a speed signal. As a result, the control arithmetic processing unit 94 can further construct a speed feedback system using the rotational speed signal of the movable unit 180 by performing the differential arithmetic processing of the target position coordinate signals 80x and 80y, and the position at higher speed. Control can be implemented.

  The input / output operation device disclosed in the present application is suitably used as a human machine interface (HMI) used in various fields. For example, an input / output operation device for navigation, air conditioning, audio, radio, etc. in an automobile is used. It is suitably used as an output operation device.

10 Z-axis 11, 12 Rotating shaft 13, 14 Straight line 20, 21, 22 Rotating direction 94 Control arithmetic processing unit 70 Ball center 850 Operation unit 180 Movable unit 102 W Opening portion 102 R Convex spherical surface 165 Actuator 200 Base 200 A Concave spherical surface 200 P, 200 T Opening 201 Drop-off prevention member 201A Drop-off prevention regulating surface 203, 204 Magnetic yoke 301, 302, 303 Drive coil 350 Drive circuit unit 360 Detection circuit unit 401, 402 Drive magnet 406 Rotation detection magnet 501a, 501b, 503a, 503b Magnetic Sensor 600 Coil spring 650 Connecting rod 670 Magnetic back yoke 700 Display calculation processing unit 750 Input / output operation device

Claims (33)

An operation unit having a surface with which a finger contacts;
A movable unit having the operation portion and at least one magnet for adsorption and having a recess in part;
The movable unit has a convex spherical surface into which the concave portion of the movable unit and the concave portion of the movable unit are loosely fitted. The magnetic attractive force between the at least one attracting magnet and the at least one magnetic body allows the movable unit to A concave unit and the convex spherical surface are in point or line contact, and a fixed unit that freely rotates and supports the movable unit around the spherical center of the convex spherical surface;
A first driving unit that rotates the operation unit with respect to the fixed unit around an X axis passing through the spherical center;
A second drive unit that rotates the operation unit with respect to the fixed unit around a Y axis orthogonal to the X axis in a plane including the X axis;
A third drive unit that rotates the movable unit relative to the fixed unit about a Z axis that is orthogonal to the X axis and the Y axis and that is a central axis of the operation unit;
A detector that detects a first rotation angle around the X axis and a second rotation angle around the Y axis of the operation unit with respect to the fixed unit, and the spherical center of the convex spherical surface is the X Actuator provided at the origin of the axis, Y axis, Z axis,
A detection circuit for generating first and second rotation angle signals from the first and second rotation angles;
A control arithmetic processing unit that generates first and second target rotation angle signals based on the first and second rotation angle signals; and
A drive circuit unit that receives the first and second target rotation angle signals and generates signals for driving the first and second drive units;
I / O operation device with   The control calculation processing unit generates a current position coordinate of the operation unit in a two-dimensional coordinate system corresponding to a movable range region of the operation unit based on the first and second rotation angle signals, The input / output operation device according to claim 1, wherein the first and second target rotation angle signals are generated based on position feedback control using a difference between current position coordinates.   In the two-dimensional coordinate system, the control calculation processing unit includes the target position coordinates, sets a target identification coordinate area, and the current position coordinates of the operation unit are within the range of the identification coordinate area The first gain of the position feedback control is set, and when the current position coordinate is outside the range of the identification coordinate area, a gain larger than the first gain is set. Input / output operating device. The control arithmetic processing unit is
In the two-dimensional coordinate system, a plurality of target identification coordinate areas are set,
In accordance with the current position coordinates of the operation unit or an external signal, the target position coordinates are set in one identification coordinate area selected from the plurality of identification coordinate areas,
When the current position coordinate of the operation unit is within the range of the identification coordinate area, the first gain of the position feedback control is set, and the current position coordinate is outside the range of the identification coordinate area The input / output operation device according to claim 3, wherein a gain larger than the first gain is set. The control arithmetic processing unit generates a drive signal having a predetermined drive waveform pattern,
The drive circuit unit receives the drive signal and generates a signal for driving the third;
The input / output operation device according to claim 1, wherein the movable unit is driven to vibrate in a direction around the Z-axis by the third drive unit.   The input / output operation device according to claim 5, wherein the predetermined drive waveform pattern includes a vibration waveform having a frequency component in an audible region. The detector includes a first detection unit that detects a rotation angle of the operation unit around the X axis and the Y axis with respect to the fixed unit;
The input / output operation device according to claim 1, further comprising a second detection unit that detects a rotation angle of the operation unit around the Z axis with respect to the fixed unit.   The input / output operation device according to claim 1, wherein the concave portion of the movable unit is a convex spherical surface, and the convex spherical surface of the fixed unit is a concave portion.   The input / output operation device according to claim 1, wherein the concave portion of the movable unit has a conical surface.   The movable unit has an opening into which a holder bar for fixing the convex spherical surface is inserted, and a rotation angle of the movable unit is limited by contact between the opening and the holder bar. The input / output operation device according to 1. Further comprising a drop-off prevention member provided on the fixed unit and having a restricting surface that restricts movement of the movable unit so that the movable unit does not fall off the fixed unit;
The input / output operation device according to claim 1, wherein the regulating surface has a concave partial spherical surface having a center coincident with the spherical center. The first drive unit includes a pair of first drive magnets arranged symmetrically with respect to the Z axis in the movable unit;
A pair of first magnetic yokes respectively disposed on the fixed unit to face the pair of first drive magnets;
A pair of first drive coils wound respectively on the pair of first magnetic yokes;
The second drive unit includes a pair of second drive magnets arranged symmetrically with respect to the Z axis in the movable unit;
A pair of second magnetic yokes respectively disposed on the fixed unit to face the pair of second drive magnets;
A pair of second drive coils wound respectively on the pair of second magnetic yokes;
The pair of first drive magnets and the pair of first drive coils are provided on a straight line passing through the spherical center of the convex spherical surface,
The pair of second drive magnets and the second drive coil are provided on another straight line passing through the spherical center of the convex spherical surface and orthogonal to the straight line,
The center position of each first drive magnet, first drive coil, second drive magnet, and second drive coil in the Z-axis direction substantially coincides with the position of the spherical center of the convex spherical surface. The input / output operation device according to claim 1. The third driving unit includes:
A third drive coil wound around each of the pair of first magnetic yokes and the pair of second magnetic yokes;
The input / output operation device according to claim 10, wherein the pair of first drive magnets and the pair of second drive magnets are used as a third drive magnet.   The pair of first drive magnets and the pair of second drive magnets are connected by a pair of magnetic back yokes, and the pair of magnetic back yokes are provided on the spherical center side of the movable portion. Item 15. The input / output operation device according to Item 10.   2. The input / output operation device according to claim 1, wherein the at least one magnetic body is the pair of first magnetic yokes and the pair of second magnetic yokes.   2. The input / output operation device according to claim 1, wherein the at least one attracting magnet is the pair of first drive magnets and the pair of second drive magnets.   In a state where the movable unit is in a neutral position, the pair of first drive magnets and the pair of second drive magnets face downward with respect to a horizontal plane passing through the sphere center perpendicular to the Z axis. Are arranged so as to form a rotation angle A of 45 degrees or less, and the first drive coil and the pair of second drive magnets are opposed to the pair of first drive magnets and the pair of second drive magnets. The input / output operation device according to claim 10, wherein a pair of second magnetic yokes are arranged so as to rotate around the fixed unit between the pair of first magnetic yokes and the pair of second drive coils. .   The input / output operation device according to claim 15, wherein the rotation angle A is not less than 15 and not more than 25 degrees.   The pair of first drive magnets and the pair of second drive magnets are located inside the movable unit, respectively, and are not exposed on the outer surface of the movable unit. I / O operation device.   The pair of first drive coils, the pair of second drive coils, and the pair of third drive coils are each provided inside the fixed unit and exposed on the outer surface of the fixed unit. The input / output operation device according to claim 10, which is not provided.   The input / output operation device according to claim 1, wherein the movable unit is made of a resin material.   The input / output operation device according to claim 21, wherein the movable unit is integrally formed with the pair of first drive magnets and the pair of second drive magnets.   The input / output operation device according to claim 1, wherein the fixing unit is made of a resin material.   The fixed unit includes the pair of first drive coils, the pair of second drive coils, the third drive coil, the pair of first magnetic yokes, and the pair of second magnets. 24. The input / output operation device according to claim 23, wherein the input / output operation device is integrally formed with the yoke.   The input / output operation device according to claim 1, wherein the center of gravity of the movable unit coincides with the spherical center. The first detection unit includes a first magnetic sensor fixed to the fixed unit;
A rotation detecting magnet provided in the movable unit,
The input / output operation device according to claim 7, wherein the first magnetic sensor detects a change in magnetic force due to rotation of the rotation detection magnet and calculates a two-dimensional rotation angle around the X axis and the Y axis.   27. The input / output operation device according to claim 26, wherein the first magnetic sensor and the rotation detection magnet are located on the Z-axis. The first detection unit includes an optical sensor fixed to the fixed unit,
A light detection pattern provided on a part of the convex spherical surface of the movable unit,
The said optical sensor detects the change of the light which injects into the said optical sensor by rotation of the said optical detection pattern, and calculates the two-dimensional rotation angle of the said operation part around the said X-axis and a Y-axis. I / O operation device.   29. The input / output operation device according to claim 28, wherein the light sensor and the light detection pattern are located on the Z axis.   When the movable unit is in a neutral position, the first magnetic sensor has a straight line connecting the pair of first drive magnets and the pair of second second magnets in a plane perpendicular to the Z-axis. 27. The input / output operation device according to claim 26, wherein the input / output operation device is arranged on a straight line forming an angle of 45 degrees with respect to a straight line connecting the drive magnets. The second detection unit includes a pair of rotation detection magnets arranged symmetrically with respect to the Z axis in the movable unit;
A pair of second magnetic sensors fixed to the fixed unit and fixed to face each of the pair of rotation detection magnets, the pair of second magnetic sensors comprising: The input / output operation device according to claim 5, wherein a change in magnetic force due to rotation of the rotation detection magnet is detected to calculate a rotation angle of the operation unit.   32. The pair of rotation detection magnets is composed of magnets that are parallel to a straight line passing through the spherical center and magnetized in two poles in opposite directions in a plane perpendicular to the Z-axis. The input / output operation device described in 1.   A gap is provided between the regulating surface of the drop-off prevention member and the outer surface of the movable unit, and the magnetic attraction is achieved even if the concave portion of the movable unit is separated from the convex spherical surface of the fixed unit. The input / output operation device according to claim 11, wherein the gap is determined so as to return to a point or line contact state by force.

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